Methods, Systems, and Apparatuses, for Managing Gait Operation in a Neuroprosthesis

A method comprising:

• providing a first quantity of electrical stimuli to a portion of a paretic leg during a first step of a walking motion;
• providing motorized assistance for the paretic leg at a first quantity of torque during the first step of the walking motion;
• receiving data associated with the paretic leg during the first step of the walking motion;
• determining, based on the data, a deviation of the paretic leg, during the first step of the walking motion, from a target configuration for the paretic leg during the first step of the walking motion;
• and
• modifying, based on the deviation, the first quantity of torque provided by the motorized assistance during a next step of the walking motion for the paretic leg.

A method comprising:

• providing a first quantity of electrical stimuli to a portion of a paretic leg during a first step of a walking motion;
• providing motorized assistance for the paretic leg at a first quantity of torque during the first step of the walking motion;
• receiving data associated with the paretic leg during the first step of the walking motion;
• determining, based on the data, a movement of the paretic leg, during the first step of the walking motion, satisfies a target configuration for the paretic leg during the first step of the walking motion;
• and
• reducing, based on the movement satisfying the target configuration, the first quantity of torque provided by the motorized assistance during a second step of the walking motion for the paretic leg.