Prolonged immobilization results in several physiological problems. It has been demonstrated that standing exercises can ameliorate many of these problems. Standing exercises can be performed ...efficiently with the help of functional electrical stimulation (FES). A novel robotic mechanism which aids the unsupported standing of paraplegics, providing balancing exercise has been developed. The balancing strategy is based on voluntary activity of the paraplegic's upper body and artificially controlled stiffness in the ankles.
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