Cycling by means of functional electrical stimulation.

The goal of this paper was the development of an optimized stimulation pattern of leg muscles that would allow paraplegic subjects to perform the movement of pedaling and thereby to drive a tricycle by means of functional electrical stimulation (FES). To obtain maximum average power output with minimum muscle force, the start, duration and amplitude of the stimulation signal applied to the individual muscles had to be optimized depending on the pedaling frequency. For the basic theoretical investigations the rider-tricycle system was modeled as a rigid body system on which the muscle forces are applied as joint moments. The muscles gluteus maximus, rectus femoris, vastii, and hamstrings were stimulated and the passive forces of some other muscles were considered. The modeling and simulation approach was then used to produce maximum power pedaling and steady-state pedaling at 35 rpm. Hamstrings (41.9%) and vastii (35.8%) were the primary contributors to the optimization cost function of maximum power with minimum muscle loading. Based on these theoretical investigations an efficient stimulation pattern could be provided, taking into account the realistic possibilities of today's practical applications.