ADJUSTMENT OF FUNCTIONAL ELECTRICAL STIMULATION (FES) ACCORDING TO KNEE FLEXION ANGLE

To clarify the different results of our simulation and FES-cycling tests, measurements on a knee dynamometer were made. The m. quadriceps of 16 healthy test persons was activated both by FES and voluntary contraction. Stimulated with the same level of intensity in a knee flexion angle range from 5° to 105°, the diagrams showed a very unusual course. The knee torque shows its maximum at the knee flexion angle of approx. 30°. Additional isometric measurements using stimulation intensity on constant on-verge-to pain levels for different knee angles were made. The measured courses of the resulting knee torque as a function of the knee angle are much closer to the results of physiologically activated muscle. These measurements show that for optimum power release, the stimulation intensity must be regulated depending on the knee flexion angle

Feedback control of arm movements using Neuro-Muscular Electrical Stimulation (NMES) combined with a lockable, passive exoskeleton for gravity compensation.

Within the European project MUNDUS, an assistive framework was developed for the support of arm and hand functions during daily life activities in severely impaired people. This contribution aims at designing a feedback control system for Neuro-Muscular Electrical Stimulation (NMES) to enable reaching functions in people with no residual voluntary control of the arm and shoulder due to high level spinal cord injury. NMES is applied to the deltoids and the biceps muscles and integrated with a three degrees of freedom (DoFs) passive exoskeleton, which partially compensates gravitational forces and allows to lock each DOE The user is able to choose the target hand position and to trigger actions using an eyetracker system. The target position is selected by using the eyetracker and determined by a marker-based tracking system using Microsoft Kinect. A central controller, i.e., a finite state machine, issues a sequence of basic movement commands to the real-time arm controller. The NMES control algorithm sequentially controls each joint angle while locking the other DoFs. Daily activities, such as drinking, brushing hair, pushing an alarm button, etc., can be supported by the system. The robust and easily tunable control approach was evaluated with five healthy subjects during a drinking task. Subjects were asked to remain passive and to allow NMES to induce the movements. In all of them, the controller was able to perform the task, and a mean hand positioning error of less than five centimeters was achieved. The average total time duration for moving the hand from a rest position to a drinking cup, for moving the cup to the mouth and back, and for finally returning the arm to the rest position was 71 s

Energetics of paraplegic cycling: a new theoretical framework and efficiency characterisation for untrained subjects

Complete lower-limb paralysis resulting from spinal cord injury precludes volitional leg exercise, leading to muscle atrophy and physiological de-conditioning. Cycling can be achieved using phased stimulation of the leg muscles. With training there are positive physiological adaptations and health improvement. Prior to training, however, power output may not be sufficient to overcome losses involved in rotating the legs and little is known about the energetics of untrained paralysed muscles. Here we propose efficiency measures appropriate to subjects with severe physical impairment performing cycle ergometry. These account for useful internal work (i.e. muscular work done in moving leg mass) and are applicable even for very low work rates. Experimentally, we estimated total work efficiency of ten untrained subjects with paraplegia to be 7.6 +/- 2.1% (mean +/- SD). This is close to values previously reported for anaesthetised able-bodied individuals performing stimulated cycling exercise, but is less than 1/3 of that of able-bodied subjects cycling volitionally. Correspondingly, oxygen cost of the work (38.8 +/- 13.9 ml min(-1) W-1) was found to be similar to 3.5 times higher. This indicates the need, for increased power output from paralysed subjects, to maximise muscle strength through training, and to improve efficiency by determining better methods of stimulating the individual muscles involved in the exercise