@Article{SCC.Kobetic.To.ea2009,
  author    = {Kobetic, Rudi and To, Curtis S. and Schnellenberger, John R. and Audu, Musa L. and Bulea, Thomas C. and Gaudio, Richard and Pinault, Gilles and Tashman, Scott and Triolo, Ronald J.},
  title     = {Development of hybrid orthosis for standing, walking, and stair climbing after spinal cord injury},
  journal   = {J. Rehabil. Res. Dev.},
  year      = {2009},
  volume    = {46},
  number    = {3},
  pages     = {447--462},
  issn      = {0748-7711},
  abstract  = {This study explores the feasibility of a hybrid system of exoskeletal bracing and multichannel functional electrical stimulation (FES) to facilitate standing, walking, and stair climbing after spinal cord injury (SCI). The orthotic components consist of electromechanical joints that lock and unlock automatically to provide upright stability and free movement powered by FES. Preliminary results from a prototype device on nondisabled and SCI volunteers are presented. A novel variable coupling hip-reciprocating mechanism either acts as a standard reciprocating gait orthosis or allows each hip to independently lock or rotate freely. Rotary actuators at each hip are configured in a closed hydraulic circuit and regulated by a finite state postural controller based on real-time sensor information. The knee mechanism locks during stance to prevent collapse and unlocks during swing, while the ankle is constrained to move in the sagittal plane under FES-only control. The trunk is fixed in a rig},
  owner     = {Ryan},
  timestamp = {2014.03.27},
}

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