Abstract
A finite-state model of paraplegic gait may serve as the basis for the design of an hierarchical control system for locomotion assisted by Functional Electrical Stimulation (FES). The control system detects different states on-line during gait based on a model. In certain states, stimulation is applied.Experimental results of two state detection strategies are presented. The preliminary results include various sensory feedback signals, such as hip angle, footswitch and crutch force signals. Video recordings provided off-line comparison. State detection on the basis of footswitch and gonio data was problematic, probably due to time varying weight distribution in combination with a switch forcelevel and problems with robust attachment of the footswitches. Gonio together with crutch force data appeared to be more reliable for state detection. The latter sensor set was succesfully incorporated in an FES system for the finite-state control of paraplegic gait.
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