title: Restoration of stance phase knee flexion during walking after spinal cord injury using a variable impedance orthosis.
abstract: A hybrid neuroprosthesis (HNP) combines lower extremity bracing with functional neuromuscular stimulation (FNS) to restore walking function and enhance the efficiency of ambulation. This report details the development of a novel HNP containing a variable impedance knee mechanism (VIKM) capable of supporting the knee against collapse while allowing controlled stance phase knee flexion. The design of a closed loop, finite state controller for coordination of VIKM activity with FNS-driven gait is presented. The controller is verified in testing during able bodied gait. The improved functionality provided by this system has the potential to delay the onset of fatigue and to expand FNS driven gait to allow walking over uneven terrains and down stairs.
authors.affiliation: Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA. tcb9@case.edu
authors.forename: Thomas C
authors.initials: TC
authors.lastname: Bulea
authors.forename: Rudi
authors.initials: R
authors.lastname: Kobetic
authors.forename: Ronald J
authors.initials: RJ
authors.lastname: Triolo
mesh_terms: D003198:Computer Simulation; D017076:Computer-Aided Design; D055119:Elastic Modulus; D019544:Equipment Failure Analysis; D020233:Gait Disorders, Neurologic / Q000209:etiology / Q000503:physiopathology* / Q000534:rehabilitation*; D007720:Knee Prosthesis; D008954:Models, Biological; D009989:Orthotic Devices; D011474:Prosthesis Design; D013119:Spinal Cord Injuries / Q000150:complications / Q000503:physiopathology* / Q000534:rehabilitation*; D014783:Viscosity