Automatic stimulation activation for a sliding stretcher FES-rowing system

FES-rowing has been developed as an alternative `hybrid\´ exercise modality that has the capacity to increase exercise training intensity, and thus elicit greater cardiorespiratory and health responses. A novel manual controlled sliding stretcher FES rowing system has been recently developed, but it requires the rower with paralyzed lower limbs to maintain prolonged concentration and possess high finger dexterity to initiate leg neurostimulation. In contrast, an automatic controller for a fixed stretcher FES rowing system is able to stimulate legs over a longer stroke cycle compared to a manually controlled system. The present work describes the development of an automatic stimulation controller for a sliding stretcher FES rowing system with improved motion control by the rower during exercise by integrating a "state-based rules" derived from handle position. This new controller has the potential to explore novel paradigms of whole body exercise and promote further research into delaying onset of FES-evoked muscle fatigue in the SCI population.