Timing and kinematics of quadrupedal walking pattern

Improved walking of completely paralyzed paraplegic subjects assisted by multichannel functional electrical stimulation (FES) and crutches is proposed. In the resulting quadrupedal gait the center of body (COB) is both actively and passively transferred in the direction of progression. Active transfer of the COB is accomplished by electrical stimulation of ankle plantarflexors of the trailing leg. Passive displacement of the COB occurs during the unstable state when the paraplegic person is only supported by a single foot and the contralateral crutch. Comparison of the time parameters measured during human crawling on knees and arms with the crutch assisted walking is presented. Results of kinematic modeling of the present and the improved FES and crutch assisted walking are displayed in the form of supporting polygons with the trajectory of the COB projected to the ground.