Enhancing stance phase propulsion during level walking by combining FES with a powered exoskeleton for persons with paraplegia.
Enhancing stance phase propulsion during level walking by combining FES with a powered exoskeleton for persons with paraplegia.
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DOI：
10.1109/embc.2012.6345939
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Ha KH;Quintero HA;Farris RJ;Goldfarb M
本文介绍了一种协作控制器的设计和实现，该控制器结合了功能性电刺激（FES）和动力下肢外骨骼，在截瘫患者站立行走阶段提供增强的髋关节伸展。控制器利用两个驱动源：动力外骨骼的电动机和由FES激活的用户腿筋。它由一个有限状态机（FSM）、一组用于外骨骼的比例导数（PD）控制器和一个用于肌肉刺激的周期对周期自适应控制器组成。平地行走在一个完全T10截瘫的受试者身上进行。结果显示，与单独使用电动机相比，在步态周期的站立阶段，使用协作控制器的髋关节电力需求减少了34%。
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 hamstrings activated by 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.