A Muscle Synergy-Inspired Control Design to Coordinate Functional Electrical Stimulation and a Powered Exoskeleton: Artificial Generation of Synergies to Reduce Input Dimensionality

Mobility disorders caused by spinal cord injury (SCI), stroke, or progressive neurological diseases such as multiple sclerosis and amyotrophic lateral sclerosis, lead to a deterioration in quality of life. Resulting sequelae, such as pressure ulcers, depression, and urinary infections, require constant medical care throughout a patient's lifetime. Evidence has shown that, following an injury or a disease, individuals who use rehabilitative interventions to restore walking and standing functions experience fewer secondary medical complications than do wheelchair users [1]. Two such rehabilitative interventions include functional electrical stimulation (FES) and powered exoskeletons. These technologies have the potential to mitigate secondary health complications, lower medical expenses, and achieve independent ambulation in individuals following an SCI.