Improved four-point walking by functional electrical stimulation

Improved four-point gait pattern assisted by functional electrical stimulation (FES) and crutches is proposed by introducing unstable state into the walking sequence. The unstable state is defined as passive phase of walking where the center of body (COB) is gravity driven in the direction of progression. Kinematic measurements of the unstable state were performed in paraplegic subject by assessing the horizontal displacement of the COB in the sagittal plane.