Performance improvement of walker-assisted FES-supported paraplegic walking
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چکیده
In this paper we present a method to generate optimal stimulation pattern for walker-assisted paraplegic walking using FES systems. To determine the stimulation patterns, a musculoskeletal model of walker-assisted FES-supported paraplegic walking is introduced. The optimal stimulation patterns are determined through minimizing the trajectory tracking error of the lower body and mechanical energy of the upper body with penalty functions on the activation of the muscles and handle reaction force. Experimental results on two thoracic-level complete spinal cord injury subjects show that the walking performance is improved compared to the conventional FES walking in terms of the handle reaction force and walking speed.
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