Dynamic musculo-skeletal model for FES-aided gait applications

A musculoskeletal model has been developed for use in designing controllers for FES-aided gait applications. The model contains a set rigid links coupled by ideal joints to model the limb segments, and dynamic torque generators at the joints to rep- resent the actions of electrically stimulated muscle. The model is parameterized experimentally for customizing to individual subjects. This parameterization includes experimental estimation of the static and dynamic torque generation properties of the muscle.