An Approach for the Cooperative Control of FES With a Powered Exoskeleton During Level Walking for Persons With Paraplegia

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 24; no. 4; pp. 455 - 466
• Main Authors: Ha, Kevin H., Murray, Spencer A., Goldfarb, Michael
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.04.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Artificial Limbs; Biofeedback, Psychology - instrumentation; Biofeedback, Psychology - methods; Combined Modality Therapy - instrumentation; Combined Modality Therapy - methods; Cooperative controller; Electric Stimulation Therapy - instrumentation; Electric Stimulation Therapy - methods; Equipment Design; Equipment Failure Analysis; Exoskeleton Device; Exoskeletons; functional electrical stimulation (FES); Gait; Hip; Humans; hybrid FES; Joints; Knee; Knees; Legged locomotion; Man-Machine Systems; Motors; Muscles; Paraplegia - physiopathology; Paraplegia - rehabilitation; powered lower limb exoskeleton; Spinal cord injuries; spinal cord injury (SCI); Stimulation; Torque; Trajectories; Treatment Outcome; Walking

This paper describes a hybrid system that combines a powered lower limb exoskeleton with functional electrical stimulation (FES) for gait restoration in persons with paraplegia. The general control structure consists of two control loops: a motor control loop, which utilizes joint angle feedback con...