Author/Editor		Cikajlo, Imre; Bajd, Tadej
Title		Haptic interface for FES orthosis
Type		članek
Source		In: Sinjkaer T, Popovic D, Struijk JJ, editors. IFESS 2000 NP 2000. Proceedings of the 5th annual conference of the international functional electrical stimulation society and 6th triennial conference "Neural prostheses: motor systems"; 2000 Jun 18-24; Aalborg. Aalborg: International functional electrical stimulation society,
Publication year		2000
Volume		str. 413-6
Language		eng
Abstract		One-degree of freedom haptic interface is proposed for peroneal electrical stimulator. Single channel of functional electrical stimulation (FES) provokes ankle dorsiflexion during walking. FES amplitude is manually controlled by a lever built into the crutch handle. The measured ankle joint angle provides the feedback information, presented to the user as a force feedback applied to the control lever. As the first step in the development of a complex micromechatronic device, a simulated testing environment was provided. A computer model, comprising dynamic ankle foot characteristics, as well as properties of the agonistic and antagonistic muscle groups, substitutes the ankle joint. The model includes fatiguing of the electrically stimulated muscles. A group of six healthy persons was involved in testing of the proposed haptic interface. It was demonstrated that fatiguing af ankle dorsiflexors, stimulated by intermittent pulse trains, can be efficiently overcome by the voluntary control of the peroneal brace through the haptic interface.
Descriptors		ORTHOTIC DEVICES ELECTRIC STIMULATION THERAPY WALKING RANGE OF MOTION, ARTICULAR KNEE JOINT MUSCLE FATIGUE