Device, system and apparatus for functional electrical stimulation of muscle

A system for stimulating a muscle comprising:

• a set of stimulators is configured for stimulating a first set of muscles within a first body part;
• a first set of sensors configured for providing a first measurement comprising a set of electromyograms (EMG) from a second set of muscles coupled to the first body part;
• a second set of sensors mounted in a vicinity of the set of stimulators and the first set of sensors, configured for providing a second measurement representing a motion and an orientation of the first body part;
• a third set of sensors consisting at least one of a camera, an infrared sensor, sound sensor, near field sensor, radar sensor configured for providing a third measurement representing a spacial relation between an external object and the first body part;
• a first processor generating a position estimate of the first body part at a first time instance from the first, second, third measurements;
• a second processor adjusting at least one of a time duration, a trigger instance, and a trigger strength of the set of stimulators;
• and
• a comparator configured for generating a position error as a difference between the position estimate comprising a first position, an orientation and a direction of motion of the first body part and a reference trajectory and the second processor adjusting at least one of the time duration, the trigger instance, and the trigger strength of the set of stimulators to reduce the position error,
• wherein the second set of sensors comprising a set of flex sensors and an inertial measurement unit (IMU) configured to be mounted over the first body part, in that the set of flex sensors is configured for providing flex sensor measurements and the IMU is configured for providing IMU measurements, and the position estimate is determined after correcting the IMU measurements from the flex sensor measurements.