The EMS-RGO: a physician prescribable FES ambulation exercise system

A system has been developed that utilizes commercially available electrical muscle stimulators (EMS) for functional electrical stimulation (FES) and interfaces them with the reciprocating gait orthosis (RGO). The advantages of the system include the availability of commercial subsystems from various manufacturers and the use of subsystems approved by the US Food and Drug Administration for applications such as gait training. The system itself currently uses four EMS units worn on a belt, controlled by remote switches and interfacing with electrodes placed over the quadriceps, hamstring, and gluteal muscle groups of each leg. Two EMS units (for quadriceps stimulation) function primarily during stand-up and sit-down. Two other EMS units (for stimulation of the hip extensors) function primarily during ambulation. Each EMS unit is powered by a 9-V alkaline transistor battery that provides about 36 stand-ups and sit-downs and approximately two miles (over 10000 ft) of walking before replacement is necessary.<>