Optimisation of a combined ARGO-FES system: adaptation of the knee mechanism to allow flexion of the knee during the swing phase

The knee mechanism of an Advanced Reciprocating Gait Orthosis is adapted to allow flexion of the knee during the swing phase. The new knee mechanism is electrically controlled and consists of a mini DC motor with gearbox, a cam and a follower. Preliminary tests with the system are positive, but they show that it should not be used without FES.