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Aim of this paper is to generate joint angle trajectory of knee joint and fed it to a myoelectric controlled lower body exoskeleton to regenerate lost gait pattern.
Until today it is not entirely clear how humans interact with automated gait rehabilitation devices and how we can, based on that interaction, maximize the effectiveness of these exoskeletons. The goal of this study was to gain knowledge on the human–robot interaction, in terms of kinematics and muscle activity, between a healthy human motor system and a powered knee exoskeleton (i.e., KNEXO). Therefore,...
In contrast to the muscle recruitment during voluntary walking, only a limited number of muscles are activated during functional electrical stimulation (FES)-based walking. This implies that a trajectory designed or recorded from the normal human walking data may not be the best choice for tracking control. Another major challenge during FES-based walking is the rapid onset of muscle fatigue. Two...
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...
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