FES Coupled With A Powered Exoskeleton For Cooperative Muscle Contribution In Persons With Paraplegia.

This paper describes the effects of a novel functional electrical stimulation (FES) system which has been integrated in a powered exoskeleton to provide up to 10 channels of stimulation to users with paraplegia via surface electrodes. Experimental data collected from three users with spinal cord injury (SCI) indicate the system reduced the exoskeleton motor torques necessary to perform sit-to-stand transitions in the exoskeleton. All subjects exhibited reduced muscle spasticity immediately after walking in the exoskeleton with FES. Additionally, one subject with stretch-reflex spasms exhibited increased joint excursion and reduced exoskeleton motor torques required to achieve over-ground gait when FES was incorporated.