Thomas Fuhr

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To control movements aided by functional electrical stimulation (FES) in paraplegic patients, stimulation of the paralyzed lower limbs might be adjusted in response to voluntary upper body effort. Recently, Donaldson and Yu proposed a theoretical approach, called "control by handle reactions of leg muscle stimulation" (CHRELMS), in which stimulation of the(More)
Neuroprostheses enabling patients to ascend and descend stairs can provide real functional gain. A novel finite state control scheme is presented and validated experimentally. The motion tasks Ascent and Descent are specified by sequences of motion phases for each leg separately. A supervisory controller coordinates motion phases and synchronizes left and(More)
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