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

Figure 1

Overall view of the IPSA setup. Depicted are (1) the inverted pendulum (with a shaft fitted to accept additional weights); (2) the standing frame; (3) the subject in a standing posture; (4) foot pedals on which the subject stands; and (5) the main shaft of the IPSA which translates the torque generated by the subject to the pendulum’s axis of rotation.