Inverted Pendulum Standing Apparatus for Investigating Closed-Loop Control of Ankle Joint Muscle Contractions during Functional Electrical Stimulation

Figure 2

(a) Static components of the IPSA: this figure illustrates the components of the IPSA that remain fixed in place throughout the experiments: the base plate, metal tubes, bearings, and stoppers; (b) moving components of the IPSA: this figure illustrates the main shaft, end shaft, and the foot plates; (c) inverted pendulum: this figure illustrates the dimensions of the inverted pendulum, which locks into place through the two notches on the 4 in. (10.16 cm) end of the main shaft.

(a)

(b)

(c)