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This paper describes the development of a fuzzy control scheme for functional electrical stimulation, (FES)-assisted paraplegic walking with wheel walker. The simulation in this study starts with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. The humanoid model is designed based on anthropometric data. Two stimulated muscle models, quadriceps and...
During the last decades, many robotic platforms aimed at post-stroke neurorehabilitation of locomotion have been developed. These devices have been designed to enhance the possibilities of conventional rehabilitation providing safe, highly accurate, intensive and prolonged treatments. Nevertheless, up to now, robotic aided therapy has not yet promoted improvements of the motor performance significantly...
We address a gait pattern generation on a legged locomotor device (WPAL: wearable power-assist locomotor) for paraplegics. In the gait movement with WPAL, a backward falling is a considerable problem, and a foot-floor collision during a swing movement would induce a loss of balance. In addition, adjustability of the gait parameters, such as stride length, gait cycle and maximum hight of the toe clearance,...
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