A hydraulic hybrid neuroprosthesis for gait restoration in people with spinal cord injuries

Abstract

The Hybrid Neuroprosthesis (HNP) is a hydraulically actuated exoskeleton and implanted Functional Electrical Stimulation (FES) system that has been designed and fabricated to restore gait to people with spinal cord injuries. The exoskeleton itself does not supply any active power, instead relying on an implanted FES system for all active motor torques. The exoskeleton instead provides support during quiet standing and stance phases of gait as well as sensory feedback to the stimulation system. Three individuals with implanted functional electrical stimulation systems have used the system to successfully walk short distances, but were limited in the flexion torques the stimulation system could provide.