Automatic vs hand-controlled walking of paraplegics.

A rule-based control and its application in functional electrical stimulation (FES) assisted walking of subjects with paraplegia are described in this paper. The design of rules for control comprises the following two steps: (1) determination of muscle activation patterns by using a fully customized spatial (3D) model of paraplegic walking, and (2) learning of rules, that is, correlation between the muscle activation patterns and kinematics of walking by means of an artificial neural network. The adopted FES system activated eight muscle groups with surface electrodes.