Abstract
Abstract Walking gait correction is fundamental to restoring body motion function for patients. Functional Electrical Stimulation (FES) is regarded as a promising method and essential to Neurotherapy, and the exoskeleton is fast becoming a key instrument in rehabilitation. Applying FES or exoskeleton alone, however, has its inherent disadvantages. Therefore, the hybrid exoskeleton combined with FES promoted in recent years overcomes the deficiency of more degree of freedom control. In this paper, a hybrid FES-Exoskeleton for walking gait control was first proposed and evaluated. With the Force Sensing Resistors (FSR) sensor, the exoskeleton actively assists in walking. Simultaneously, it also triggers the FES of the soleus, tibialis anterior, and gastrocnemius muscles for dorsilflexion and plantar flexion. Later, three different control strategies are employed for the pulse-width controlled FES. Eventually, an ILC with a PID controller is applied in the hybrid exoskeleton, following the best foot angle trajectory.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
