Experimental Implementation of Automatic Control of Posture-Dependent Stimulation in an Implanted Standing Neuroprosthesis

Figure 1

Control setup. The user stands erect on force plates, which measure the center of pressure (CoP) position in the anterior-posterior (AP) and medial-lateral (ML) directions. The user leans away from the erect stance, adjusting the overall CoP position towards the ends of the paths in the forward and diagonal directions. The force plates continuously track the resulting changes in the CoP position and the posture follower controller converts the changes in the CoP position to muscle activation, which is applied to the lower extremities.