Development of FES Upper and Lower Limbs Interlocking Motion Control System to Induce Periodic Rhythm

This paper proposes an FES upper and lower limbs interlocking motion control system to induce periodic rhythm for rehabilitation of the interlocking rhythms of upper and lower limbs during exercise, such as walking. This system, which consists of the human body and the proposed mechanism, can be regarded as a closed chain mechanism with a six-link and five-joint system. In particular, input force is modeled by considering the monoarticular and biarticular muscle groups as actuators. Because the effective muscle force values are very different, inputs of upper and lower limbs are modeled respectively. The control objective can be achieved by RISE control for the FES upper and lower limbs interlocking motion control system.