Modular hybrid functional electrical stimulation system

We consider the design of a modular hybrid functional electrical stimulation (FES) system for an injured person. We propose a system using an assistant robot to follow the FES performance, as FES control has many uncertainties in characteristics. The assistant robot used is a 3-link serial type, and attached to the injured person to actively assist the FES performance. The assistant robot must be very simple, light, and can be easily attached to the injured person. We constitute various types of human models which can be used to show the exact actions and muscle function characteristics. Furthermore, we propose a control system for the model of an injured person fitted with the assistant robot. Finally, we show that a robust performance of the injured person has been achieved in the standing motion using the modular hybrid FES system