Optimal Patterns Synthesis Approach for Knee Motion under Functional Electrical Stimulation

This paper concerns the synthesis of Functional Electrical Stimulation (FES) patterns for efficient functional movement. We propose an approach based on a nonlinear optimization formulation. The study considers a biomechanical knee model and the associated agonist/antagonist muscles. The goal of this method is to synthesize optimal patterns which minimize the muscular activities in order to reduce the fatigue. The approach is illustrated with a sinusoidal desired knee joint trajectory. Moreover, The applied optimal FES patterns allow the muscles co-contraction during the movement.