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Related Experiment Video

Updated: Jun 7, 2026

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

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Upper Limb Movement Assistance Through Model-Based Path Planning and Control of Hybrid FES-Exoskeleton Systems.

Erin E Mahan, Shane T King, Elyse D Z Chase

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |June 5, 2026
    PubMed
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    Research square·2026

    This study introduces personalized trajectory optimization for hybrid functional electrical stimulation (FES)-exoskeleton systems. The method improves assistive device accuracy and reduces torque, enhancing real-world applicability for individuals with neurological impairments.

    Area of Science:

    • Rehabilitation Engineering
    • Biomechatronics
    • Neuroprosthetics

    Background:

    • Hybrid functional electrical stimulation (FES)-exoskeleton systems offer improved upper limb movement accuracy and reduced torque compared to individual systems.
    • Widespread adoption is hindered by FES accuracy limitations, exoskeleton bulk, energy demands, subsystem coordination challenges, and user-specific motor capabilities.

    Purpose of the Study:

    • To develop a nonlinear trajectory optimization methodology for creating personalized, feasible trajectories between set-points.
    • To account for individual user dynamic constraints in trajectory planning.
    • To experimentally validate the personalized trajectories against minimum jerk trajectories and prior simulations.

    Main Methods:

    • Nonlinear trajectory optimization algorithm to generate personalized movement paths.

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    Related Experiment Videos

    Last Updated: Jun 7, 2026

    Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
    06:44

    Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand

    Published on: May 20, 2020

    Enhancing Upper Limb Function and Motor Skills Post-Stroke Through an Upper Limb Rehabilitation Robot
    04:49

    Enhancing Upper Limb Function and Motor Skills Post-Stroke Through an Upper Limb Rehabilitation Robot

    Published on: September 6, 2024

    Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton
    09:46

    Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

    Published on: June 16, 2016

  • Experimental evaluation with eight neurologically intact participants.
  • Case study with one individual with a cervical spinal cord injury.

    • Main Results:

    • Personalized trajectories achieved functional tracking accuracy comparable to exoskeleton-alone systems.
    • Significant reduction in exoskeleton torque was maintained in the hybrid FES-exoskeleton system.
    • The methodology demonstrated feasibility in both unimpaired and neurologically impaired individuals.

    Conclusions:

    • Personalized trajectory optimization is a viable approach for hybrid FES-exoskeleton systems.
    • This method addresses coordination and individual constraint challenges, improving assistive device potential.
    • The findings support the advancement of hybrid systems for real-world assistive applications.