Rule Based Control of Hybrid Fes Orthoses

Abstract A finite state model referenced control method for hybrid orthoses (HO) is introduced. A specific application of a finite state control system for crutch assisted reciprocal stepping using a novel HO is described. This system was based on an instrumented supracondylar knee ankle foot mechanical brace. The HO system has been used, in the laboratory, by a small number of subjects with spinal cord injuries. The HO has enabled these patients to remain upright for extended periods of time by avoiding muscle fatigue due to overstimulation of the extensors of the legs.