Simulation and evaluation of FES induced walking

A computermodel is developed for the simulation of FES induced walking. The equations of motion for a 8 segments model are derived and solved with the direct dynamics method, i.e. the input to the model are the joint moments or muscle forces and the output is the movement of the system. Constraint equations are used to reduce the set of system equations. A quasi-Newton optimization method is used to find the optimal combination of stimulated muscles and use of orthoses. The emphasis in this paper is on the development of the mathematical model.