Dynamic modeling and torque estimation of FES-assisted arm-free standing for paraplegics

@article{Kim2006DynamicMA,
  title={Dynamic modeling and torque estimation of FES-assisted arm-free standing for paraplegics},
  author={Joon-young Kim and M. R. Popovi{\'c} and J. K. Mills},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year={2006},
  volume={14},
  pages={46-54}
}
This paper presents an application of recent findings in the field of redundant robotic systems control, toward investigating the feasibility of functional electrical stimulation (FES) assisted arm-free standing for paraplegics. Twelve degrees-of-freedom (DOF) forward and inverse dynamic models of quiet standing have been developed. These models were used to investigate the minimum number of DOF that would need to be actuated in order to generate stable quiet standing in paraplegics despite… CONTINUE READING