Simulation and optimization of basic movements in FES-driven paraplegics

In this study, a computer platform for investigating optimal trajectories of FES-induced motion was developed. Similar to a gait analysis program, this system interprets body segment lengths and joint angle trajectories for a subject undergoing an arbitrary movement, and displays that movement, along with a center of mass and time plot of the moment about the knee joint onscreen. Movements to be optimized in the near term are sit-to-stand transitions, stand-to-sit transitions, shifting weight side-to-side while seated, and single steps over small architectural barriers. These motions will be optimized for stability, efficiency, safety, and stress, as applied to a T-10 paraplegic human subject undergoing FNS of ten motor nerves in each leg. The program was demonstrated to work for sit-to-stand and stand-to-sit motions, and is now used to optimize those transitions.