DocumentCode :
2075873
Title :
Enhancing stance phase propulsion during level walking by combining fes with a powered exoskeleton for persons with paraplegia
Author :
Ha, K.H. ; Quintero, H.A. ; Farris, R.J. ; Goldfarb, Michael
Author_Institution :
Vanderbilt Univ., Nashville, TN, USA
fYear :
2012
fDate :
Aug. 28 2012-Sept. 1 2012
Firstpage :
344
Lastpage :
347
Abstract :
This paper describes the design and implementation of a cooperative controller that combines functional electrical stimulation (FES) with a powered lower limb exoskeleton to provide enhanced hip extension during the stance phase of walking in persons with paraplegia. The controller utilizes two sources of actuation: the electric motors of the powered exoskeleton and the user´s machine (FSM), a set of FES. It consists of a finite-state machine (FSM), a set of proportional-derivative (PD) controllers for the exoskeleton and a cycle-to-cycle adaptive controller for muscle stimulation. Level ground walking is conducted on a single subject with complete T10 paraplegia. Results show a 34% reduction in electrical power requirements at the hip joints during the stance phase of the gait cycle with the cooperative controller compared to using electric motors alone.
Keywords :
artificial limbs; bioelectric phenomena; bone; electric motors; finite state machines; gait analysis; injuries; FES; FSM; actuation; complete T10 paraplegia; cooperative controller; cycle-to-cycle adaptive controller; electric motors; electrical power requirements; enhanced hip extension; finite-state machine; functional electrical stimulation; gait cycle; hip joints; level ground walking; level walking; muscle stimulation; powered exoskeleton; powered lower limb exoskeleton; proportional-derivative controllers; stance phase propulsion; Exoskeletons; Hip; Joints; Knee; Legged locomotion; Muscles; Torque; Adult; Electric Stimulation; Gait; Hip; Humans; Male; Paraplegia; Range of Motion, Articular; Self-Help Devices; Walking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE
Conference_Location :
San Diego, CA
ISSN :
1557-170X
Print_ISBN :
978-1-4244-4119-8
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/EMBC.2012.6345939
Filename :
6345939
Link To Document :
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