Application of optimal control theory in rehabilitation engineering

Abstract We are concerned with developing assistive control technologies to aid in the rehabilitation of people with spinal cord injury. Optimal control theory has been applied in feedback systems which allow paraplegic patients to stand without the support of their hands. This is achieved by combining feedback control with functional electrical stimulation of the paralysed muscles. The approach has been used successfully in experimental trials. Previous work is reviewed in the paper and the current technical and practical problems are discussed.