Application of tilt sensors in functional electrical stimulation

Tilt sensors, or inclinometers have been investigated for the control of functional electrical stimulation (FES) to improve the gait of persons who had a stroke or incomplete spinal cord injury (SCI). Different types of tilt sensors were studied for their characteristics and their performance in measuring the angular displacement of leg segments during gait. Signal patterns of the lower leg with inertial tilt sensors were identified with control subjects and subjects with footdrop who are being stimulated during level walking. To minimize acceleration responses when the foot swings or hits the ground, we use low-pass filtering (1.5-2 Hz). A finite state approach allows the sensor fixed on the shank to effectively detect the step intention in a population of stroke and incomplete SCI subjects and to control the FES. When the lower leg tilts backward, the common peroneal nerve is stimulated to bring the foot up and forward. We have designed a miniature footdrop stimulator with a magnetoresistive tilt sensor built in, so no external sensor cables are required. The thresholds to turn the stimulator on and off can be adjusted, as well as the maximum period of stimulation and the minimum interval between periods of stimulation. This device features several important advantages over traditional AFO's or stimulators controlled by foot switches. Initial trials with stroke and SCI subjects have demonstrated substantial gait improvement for some subjects, while most liked the good cosmesis and ease of using the device with a tilt sensor.