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Feedback control system for walking in man.

J S Petrofsky, C A Phillips, H H Heaton

    Computers in Biology and Medicine
    |January 1, 1984
    PubMed
    Summary
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    A new computer control system enables paraplegic subjects to stand and walk using closed-loop control. This innovative technology successfully maintains lower body postural control, paving the way for future advancements in mobility assistance.

    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Technology
    • Neuroprosthetics

    Background:

    • Paraplegia results in loss of voluntary motor control below the waist.
    • Restoring mobility and postural control is a significant challenge for individuals with spinal cord injuries.
    • Existing assistive technologies have limitations in providing dynamic support and enabling naturalistic movement.

    Purpose of the Study:

    • To develop and test a computer-controlled functional electrical stimulation (FES) system for paraplegic mobility.
    • To evaluate the system's efficacy in achieving standing and walking capabilities.
    • To explore the potential for closed-loop control in restoring lower body function.

    Main Methods:

    • Implementation of a Z80 microprocessor-based control system.

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  • Integration of analog-to-digital and digital-to-analog converters for multichannel control.
  • Programming using the CPM operating system for real-time postural control.
  • Closed-loop feedback mechanisms to manage balance and gait parameters.

    • Main Results:

    • Successful demonstration of a paraplegic subject standing and walking using the computer-controlled FES system.
    • Effective maintenance of lower body postural control.
    • The system's architecture supports further expansion for advanced gait control.

    Conclusions:

    • Computer-controlled FES systems offer a viable solution for restoring mobility in paraplegia.
    • Closed-loop control is crucial for achieving stable and functional ambulation.
    • Further development can lead to advanced systems supporting multidirectional walking.