Rail supporting transducer posts for three-dimensional force measurement

Parallel bars supported on transducer posts were designed, instrumented and calibrated to measure three-dimensional (3-D) forces applied to the rails. These instrumented rails were designed for measuring forces applied by paraplegic patients during development and evaluation of functional electrical stimulation (FES) patterns for standing, side stepping, and ascending and descending stairs. The focus of this study was on the adaptation of the system for measuring support forces during stair climbing and descent. The specific problems with crosstalk among the three axes, nonlinearity, and hysteresis were investigated. In this design, the crosstalk between axes was less than 5%, nonlinearity was less than 2% of full scale, and force accuracy was better than 5%.