Lower extremity exercise device with stimulation and related methods

A device for facilitating performance of an exercise for the lower extremities of a human subject with partial or total loss of muscle control of the legs using stimulation and with the feet in contact with a stable support structure, comprising:

• an exercise sled for facilitating movement of the subject to and fro between a first position in which the legs are at least partially bent and a second position in which the legs are at least partially extended while the feet remain in contact with the stable support structure;
• a sensor for sensing a position of the subject between the first and second positions, wherein the sensed position relates to pedal angle;
• a sensory stimulator for providing stimulation based on the sensed position of the subject between the first and second positions;
• and
• an electrical stimulator for applying electrical stimulation to the human subject;
• whereby the stimulation provided based on the sensed position of the subject between the first and second positions helps to encourage the subject to voluntarily complete the exercise.

A method of performing a closed-chain leg extension exercise on a human subject with full or partial loss of leg muscle control, comprising:

• mechanically constraining at least a portion of the subject's lower leg;
• electrically stimulating at least a portion of the leg muscles at a predetermined level to move the legs between a first, bent position and a second, extended position during the closed-chain leg extension exercise;
• measuring an angle associated with the subject's leg;
• calculating a revised level of electrical stimulation comprising comparing the measured angle with a predetermined angle to determine a variation and determining the revised level based on the variation;
• and
• electrically stimulating at least a portion of the leg muscles at the revised level.

A method of performing a closed-chain leg extension exercise on a human subject with full or partial loss of leg muscle control, comprising:

• positioning the subject on a sled;
• electrically stimulating at least a portion of the leg muscles at a predetermined level to move the legs between a first, bent position and a second, extended position during the closed-chain leg extension exercise;
• detecting a velocity error signal;
• calculating a revised level of electrical stimulation based on the velocity error signal;
• and
• electrically stimulating at least a portion of the leg muscles at the revised level.