The authors investigate a means to provide paraplegic subjects with an enhanced ability to function during stance through the use of feedback control of hip and trunk stimulation. Both the hip and trunk angles in the coronal plane were regulated using proportional-mntegrated-derivative (PID) control with costimulation of muscle fibers in opposing muscle groups via pulsewidth modulation. Coronal hip and trunk angles were stabilized using feedback control in concert with open-loop stimulation of muscles acting in the sagittal plane. In addition, long leg braces were used to lock the knee and ankle. In an initial evaluation this combination of controllers was found to provide improved stability of stance and adequate disturbance rejection.
|Original language||English (US)|
|Title of host publication||IEEE/Engineering in Medicine and Biology Society Annual Conference|
|Place of Publication||New York, NY, USA|
|Number of pages||2|
|State||Published - 1987|
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