# US 9,375,569 B2 · Controller unit for a functional electrical stimulation (FES) orthotic system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,375,569 B2 - Document ID: US9375569B2 - Status: Granted - Kind: B2 - Application number: 14/505,705 - Filed: 2014-10-03 - Published: 2015-04-09 - Granted: 2016-06-28 - Earliest claimed: 2013-10-03 - Assignees: Ensilver Canada - Applicants: Ensilver Canada - Inventors: Farsad Kiani; Jinbiao Zheng - Web page: https://patentgrep.com/patent/US9375569B2 ## CPC - A61N 1/36003: {of motor muscles, e.g. for walking assistance} - A43B 3/38: with power sources - A43B 7/00: Footwear with health or hygienic arrangements - A43B 7/20: Ankle-joint supports or holders - A61N: ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY (measurement of bioelectric currents A61B; surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body A61B18/00; anaesthetic apparatus in general A61M; incandescent lamps H01K; infrared radiators for heating H05B) - A43B: CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR ## Abstract Various embodiments are described herein for a method and system for facilitating a gait of a user with a functional electrical stimulation (FES) orthotic system. In some described embodiments, the method includes receiving a foot orientation indicator for a foot of the user; receiving a body inclination indicator for the user; determining a motion state based on the foot orientation indicator and the body inclination indicator; and defining signal parameters for a stimulation signal based on at least the motion state. The motion state can indicate a movement status of the user and therefore, the stimulation signal can be applied to the user for facilitating the gait of the user. ## Claims ### Claim 1 A method of facilitating a gait of a user with a functional electrical stimulation (FES) orthotic system, wherein at a controller unit, the method comprises: receiving a foot orientation indicator for a foot of the user, the foot orientation indicator corresponding to an angular position of the foot relative to a reference axis, the reference axis being a longitudinal axis of the user in an initial state; receiving a body inclination indicator for the user, the body inclination indicator corresponding to a body position relative to the reference axis; receiving an acceleration indicator for the user; determining a motion state based on the foot orientation indicator and the body inclination indicator, the motion state indicating a movement status of the user; identifying the motion state is a fallen state when the acceleration indicator exceeds a drop acceleration threshold and the body inclination indicator exceeds a drop inclination threshold; identifying the motion state is an active state when the acceleration indicator indicates that the user is not stationary and is less than the drop acceleration threshold; and defining signal parameters for a stimulation signal based on at least the motion state, the stimulation signal being applied to the user for facilitating the gait of the user. ### Claim 2 (depends on 1) The method of claim 1, wherein, in response to determining the motion state is the fallen state, defining signal parameters further comprises generating an end signal for terminating any existing stimulation signal. ### Claim 3 (depends on 1) The method of claim 1, wherein, in response to determining the motion state is the fallen state, defining signal parameters for the stimulation signal further comprises at least one of: turning off the FES orthotic system; transmitting an emergency message to a remote system; transmitting the motion state to the remote system; and generating an alarm signal. ### Claim 4 (depends on 1) The method of claim 1, wherein the drop acceleration threshold is within a range of 1.5 g to 2.5 g. ### Claim 5 (depends on 1) The method of claim 1, wherein the drop inclination threshold is within a range of 30 to 60 degrees. ### Claim 6 (depends on 1) The method of claim 1, further comprising: in response to determining the motion state is the active state, determining a terrain change of an environment of the user based on the foot orientation indicator and the body inclination indicator. ### Claim 7 (depends on 6) The method of claim 6, wherein determining the terrain change comprises: identifying the terrain change is an ascending change when each of the foot orientation indicator and the body inclination indicator exceeds an ascent threshold; and identifying the terrain change is a descending change when each of the foot orientation indicator and the body inclination indicator exceeds a descent threshold. ### Claim 8 (depends on 7) The method of claim 7, wherein defining signal parameters for the stimulation signal further comprises varying at least one aspect of the stimulation signal. ### Claim 9 (depends on 8) The method of claim 8, wherein the at least one aspect of the stimulation signal comprises an intensity of the stimulation signal, a frequency of the stimulation signal and a duration of the stimulation signal. ### Claim 10 (depends on 9) The method of claim 9, wherein varying the at least one aspect of the stimulation signal comprises: increasing an intensity of the stimulation signal when the terrain change is the ascending change; and decreasing the intensity of the stimulation signal when the terrain change is the descending change. ### Claim 11 (depends on 7) The method of claim 7, wherein the ascent threshold is within a range of 15 to 25 degrees in a backward direction relative to the reference axis. ### Claim 12 (depends on 7) The method of claim 7, wherein the descent threshold is within a range of 15 to 25 degrees in a forward direction relative to the reference axis. ### Claim 13 (depends on 1) The method of claim 1, wherein the body inclination indicator is associated with a body part of the user other than the foot. ### Claim 14 (depends on 1) The method of claim 1, wherein defining signal parameters for the stimulation signal further comprises adjusting an aspect of the stimulation signal by a predetermined interval. ### Claim 15 A functional electrical stimulation (FES) orthotic system for facilitating a gait of a user, the FES orthotic system comprising: a controller unit comprising a controller processor and at least one sensor, the controller processor configured to: receive a foot orientation indicator for a foot of the user, the foot orientation indicator corresponding to an angular position of the foot relative to a reference axis, the reference axis being a longitudinal axis of the user in an initial state; receive, from the at least one sensor, a body inclination indicator for the user, the body inclination indicator corresponding to a body position relative to the reference axis; receive, from the at least one sensor, an acceleration indicator for the user: determine a motion state based on the foot orientation indicator and the body inclination indicator, the motion state indicating a movement status of the user; identify the motion state is a fallen state when the acceleration indicator exceeds a drop acceleration threshold and the body inclination indicator exceeds a drop inclination threshold; identify the motion state is an active state when the acceleration indicator indicates that the user is not stationary and is less than the drop acceleration threshold; and define signal parameters for a stimulation signal based on at least the motion state, the stimulation signal being applied to the user to facilitate the gait of the user. ### Claim 16 (depends on 15) The FES system of claim 15, wherein, in response to the controller processor determining the motion state is the fallen state, the controller processor is further configured to generate an end signal for terminating any existing stimulation signal. ### Claim 17 (depends on 15) The FES system of claim 15, wherein, in response to the controller processor determining the motion state is the fallen state, the controller processor is further configured to perform at least one of: turning off the FES system; transmitting an emergency message to a remote system; transmitting the motion state to the remote system; and generating an alarm signal. ### Claim 18 (depends on 15) The FES system of claim 15, wherein the drop acceleration threshold is within a range of 1.5 g to 2.5 g. ### Claim 19 (depends on 15) The FES system of claim 15, wherein the drop inclination threshold is within a range of 30 to 60 degrees. ### Claim 20 (depends on 15) The FES system of claim 15, wherein, in response to the controller processor determining the motion state is the active state, the controller processor is further configured to: determine a terrain change of an environment of the user based on the foot orientation indicator and the body inclination indicator. ### Claim 21 (depends on 20) The FES system of claim 20, wherein the controller processor is further configured to: identify the terrain change is an ascending change when each of the foot orientation indicator and the body inclination indicator exceeds an ascent threshold; and identify the terrain change is a descending change when each of the foot orientation indicator and the body inclination indicator exceeds a descent threshold. ### Claim 22 (depends on 21) The FES system of claim 21, wherein the controller processor is further configured to vary at least one aspect of the stimulation signal. ### Claim 23 (depends on 22) The FES system of claim 22, wherein the at least one aspect of the stimulation signal comprises an intensity of the stimulation signal, a frequency of the stimulation signal and a duration of the stimulation signal. ### Claim 24 (depends on 22) The FES system of claim 22, wherein the controller processor is further configured to: increase an intensity of the stimulation signal when the terrain change is the ascending change; and decrease the intensity of the stimulation signal when the terrain change is the descending change. ### Claim 25 (depends on 21) The FES system of claim 21, wherein the ascent threshold is within a range of 15 to 25 degrees in a backward direction relative to the reference axis. ### Claim 26 (depends on 21) The FES system of claim 21, wherein the descent threshold is within a range of 15 to 25 degrees in a forward direction relative to the reference axis. ### Claim 27 (depends on 15) The FES system of claim 15, wherein the body inclination indicator is associated with a body part of the user other than the foot. ### Claim 28 (depends on 15) The FES system of claim 15, wherein the controller processor is further configured to adjust an aspect of the stimulation signal by a predetermined interval. ### Claim 29 A non-transitory computer readable medium comprising a plurality of instructions executable on a processor of a device for adapting the processor to implement a method of facilitating a gait of a user with a functional electrical stimulation (FES) orthotic system, wherein the instructions comprise, at the device: receiving a foot orientation indicator for a foot of the user, the foot orientation indicator corresponding to an angular position of the foot relative to a reference axis, the reference axis being a longitudinal axis of the user in an initial state; receiving a body inclination indicator for the user, the body inclination indicator corresponding to a body position relative to the reference axis; receiving an acceleration indicator for the user; determining a motion state based on the foot orientation indicator and the body inclination indicator, the motion state indicating a movement status of the user; identifying the motion state is a fallen state when the acceleration indicator exceeds a drop acceleration threshold and the body inclination indicator exceeds a drop inclination threshold; identifying the motion state is an active state when the acceleration indicator indicates that the user is not stationary and is less than the drop acceleration threshold; and defining signal parameters for a stimulation signal based on at least the motion state, the stimulation signal being applied to the user for facilitating the gait of the user.