Single channel hybrid FES gait system using an energy storing orthosis: preliminary design

A new system for paraplegic gait by electrical stimulation is presented. The system combines electrical stimulation of the paralyzed quadriceps muscle with a hip-knee orthosis. The orthosis is spring-loaded and contains pneumatic components that store and transfer the energy from knee extension caused by quadriceps stimulation to a pneumatic actuator that drives hip motion. In this manner, cyclic hip and knee motion with arbitrary timing can be achieved using a single channel of surface stimulation. Previous work developed a dynamic model and bench top prototype of the energy storing system. Simulation and design prototypes are presented with the eventual goal of developing a wearable version of the complete gait system.