FES Control Design for Paraplegia Using Indoor Rrowing Machine

Andrews et. al. developed an indoor rowing system for paraplegia using functional electrical stimulation (FES), and presented that the system was safe and healthy for paraplegia. However, the system would be better if the following three terms are improved: Firstly, only quadriceps and hamstrings in both thighs are activated by FES. Secondly, in order to switch FES, it is required to push periodically manual on-off FES switches set on a handle bar at effective timing in every rowing cycle. That might lead to fail to operate switches. Thirdly, constant FES intensity is used, which causes early muscles fatigues and strong pains. This paper describes the following improvements for the system: Firstly, by using gastrocnemius in calf and anterior tibialis in shank in addition, rowing speed is raised. Secondly, switching FES on and off is automated, which avoid failure to operate switches. Thirdly, the intensity for FES is adjusted automatically, which lead to relieve early fatigues and pains.