Finite state control of paraplegic gait using a hybrid FNS orthosis

A system is presented for the restoration of gait in spinal-cord-injured subjects. The system comprises an instrumented knee-ankle-foot-orthosis (KAFO), a functional neuromuscular stimulator with percutaneous intramuscular electrodes, a microcomputer, and software to implement a finite-state controller. Preliminary results on one spinal-cord-injured subject (TB complete) indicate that a functional gait can be produced. The system promises to protect vulnerable joints, reduce muscle fatigue and compensate for external disturbances.<>