Automatic Assist Level Adjustment Function of a Gait Exercise Rehabilitation Robot with Functional Electrical Stimulation for Spinal Cord Injury: Insights from Clinical Trials

This study explores the use of a gait exercise rehabilitation robot combined with functional electrical stimulation (FES) for individuals with spinal cord injuries (SCI). The goal was to see if FES could reduce the amount of motor torque required from the robot during gait exercises. The robot also featured an automatic assist level adjustment system using reinforcement learning, which was designed to optimize the level of assistance provided to the patient during walking. The results showed that using FES in combination with the robot reduced the motor torque needed from the robot and that the automatic assist level adjustment was effective for patients with SCI.

• 1
  The motor torque was significantly lower with the FES than without the FES under steady conditions in both cases.
• 2
  The assist levels were significantly lower with FES than without FES in both cases.
• 3
  Automatic adjustment of the assistance level using reinforcement learning proved to be effective in gait exercises for patients with spinal cord injuries, and the combined use of FES attenuated the assistance level.