Figure 5 Functional electrical stimulation FESopen loop control

Figure 5. Functional electrical stimulation (FES)-open loop control scheme. Variants of this control scheme are implemented in Popovic et al. [1], Kobetic et al. [2], Farris et al. [3], Kangude et al. [4], and Obinata et al. [5]. Ø = joint angle, ω = joint angular velocity, act = actual, I = inertia, T = torque. 1. Popovic D, Tomovi R, Schwirtlich L. Hybrid assistive system—the motor neuroprosthesis. IEEE Trans Biomed Eng. 1989; 36(7): 729– 37. 2. Kobetic R, To CS, Schnellenberger JR, Audu ML, Bulea TC, Gaudio R, Pinault G, Tashman S, Triolo RJ. Development of hybrid orthosis for standing, walking, and stair climbing after spinal cord injury. J Rehabil Res Dev. 2009; 46(3): 447– 62. 3. Farris RJ, Quintero HA, Withrow TJ, Goldfarb M. Design and simulation of a joint-coupled orthosis for regulating FES-aided gait. 2009 IEEE 11 th International Conference on Rehabilitation Robotics; 2009 Jun 23– 26; Kyoto, Japan. Piscataway (NJ): IEEE; 2009. p. 1916– 22. 4. Kangude A, Burgstahler B, Kakastys J, Durfee W. Single channel hybrid FES gait system using an energy storing orthosis: preliminary design. Conf Proc IEEE Eng Med Biol Soc. 2009; 2009: 6798– 6801. 5. Obinata G, Ogisu T, Hase K, Kim Y, Genda E. State estimation of walking phase and functional electrical stimulation by wearable device. Conf Proc IEEE Eng Med Bio Soc. 2009; 2009: 5901– 4. del-Ama AJ, Koutsou AD, Moreno JC, de-los-Reyes A, Gil-Agudo A, Pons JL. Review of hybrid exoskeletons to restore gait following spinal cord injury. J Rehabil Res Dev. 2012; 49(4): 497– 514. http: //dx. doi. org/10. 1682/JRRD. 2011. 03. 0043