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Dynamic Optimization of a Hybrid Gait Neuroprosthesis to Improve Efficiency and Walking Duration: A Simulation Study

Part of the Biosystems & Biorobotics book series (BIOSYSROB,volume 15)

Abstract

The walking duration of gait restoration systems that use functional electrical stimulation (FES) is severely limited by the rapid onset of muscle fatigue. Alternatively, fully actuated orthoses can also be employed to restore walking in paraplegia. However, due to the high power consumption of electric motors the walking duration of such devices are limited by the charge of the batteries. This paper proposes that a hybrid system, which uses FES and an actuated orthosis, is capable of achieving greater walking durations than an FES only system and more energetically efficient than a lower-limb exoskeleton. This is illustrated through results of optimizations of a musculoskeletal gait model for three actuation cases: FES only, electric motors only, and a hybrid system. The presented results illustrate that a hybrid system may be capable of greater walking durations than FES-based systems while using half the energy of a lower-limb exoskeleton.

Keywords

  • Spinal Cord Injury
  • Hybrid System
  • Electric Motor
  • Muscle Fatigue
  • Dynamic Optimization

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Fig. 1

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Acknowledgments

This work was funded in part by the National Science Foundation, and the University of Pittsburghs Competitive Medical Research Fund and Central Research Development Fund.

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Correspondence to Nitin Sharma .

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Kirsch, N.A., Alibeji, N.A., Redfern, M., Sharma, N. (2017). Dynamic Optimization of a Hybrid Gait Neuroprosthesis to Improve Efficiency and Walking Duration: A Simulation Study. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_113

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  • DOI: https://doi.org/10.1007/978-3-319-46669-9_113

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