the invention summarized above may be better understood by referring to the following description , the accompanying drawings , and the claims listed below . this description of an embodiment , set out below to enable one to practice an implementation of the invention , is not intended to limit the preferred embodiment , but to serve as a particular example thereof . those skilled in the art should appreciate that they may readily use the conception and specific embodiments disclosed as a basis for modifying or designing other methods and systems for carrying out the same purposes of the present invention . those skilled in the art should also realize that such equivalent assemblies do not depart from the spirit and scope of the invention in its broadest form . as shown in fig1 , one embodiment of the invention is a trainer 100 that combines a robotic device that simulates stepping and standing with fes while the individual 110 is safely supported in a harness 120 . this design has the potential to tap into neuro - plasticity driven loco - motor patterning while increasing muscle strength and cardiovascular endurance and be safely applied in a center or home - based environment . the motion of the individual &# 39 ; s feet is controlled by a foot assembly 200 as shown in fig2 . the foot assembly 200 ( also referred to as the stepper assembly ) incorporates three motors . the primary drive motor 210 provides for transverse motion of foot plates 220 while a servo 230 built into both the left and right footplate 220 allow the software to independently control the motion of the foot about the ankle in the sagittal plane . this control can either assist the foot movement being evoked volitionally or electrically or it can resist such movement . in one further embodiment of the present invention , a stand training mode allows the foot plates to be brought together helping the individual patient to develop standing skills utilizing a combination of electrically evoked peripheral muscle contractions or volitional and or electrically evoked centrally driven muscle contractions . in this mode the footplate servos 230 can be used to induce perturbations , which the individual can train to counteract . the motors controlling each footplate 220 can also be commanded to produce a vibration motion of the footplates in the sagittal plane either during standing or stepping motions . this vibration can be used to deliver therapeutic benefits including the reduction of spasticity . fes driven gait training utilizing the training device 100 will be safe for both motor complete and incomplete neurologically impaired individuals . in addition , the training device 100 can increase the walking abilities of individuals with many types of neurological impairments . given this the training device 100 can be safely used in a home based environment to perform long term gait training in individuals with varying degrees of neurological related paralysis . as shown in fig1 , training device 100 is composed of a stepper assembly 200 , a control unit 130 , and a patient hoist 150 and harness 120 . the stepper assembly 200 , as shown in fig2 , has a drive motor 210 connected to the drive assembly 250 . the drive assembly 250 is connected to the foot plates 220 by cranks 260 ( left and right respectively ) through a drive arm 280 . the cranks 220 are connected to the drive arm 280 at different positions 270 and held in place by a magnet . the positions 270 determine the step lengths for the foot plates 220 . in one particular embodiment , the drive arm 280 has three positions 270 resulting in 18 ″, 15 ″, and 12 ″ steps . an additional position 290 brings the footplates 220 together proving a standing position to the individual , as shown in fig3 . as shown in fig4 , the stepper assembly 200 further comprises an emergency stop 277 that allows a technician to stop the drive assembly 250 from moving the foot plates 220 . fig5 shows a close up view of the right side foot plate 220 and servo 230 . in fig6 , the servo cover 600 has been removed and the servo 230 is shown . fig7 shows a view of the footplate from the opposite side than that shown in fig6 . the servo 230 motor connects to a drive belt 700 that controls the foot plate 220 . the servo 230 connects to a pulley 745 through the drive belt 700 . when the servo motor actuates the belt 700 , the pulley 745 turns around the axis 730 causing the footplate to rotate about the axis 730 . left unpowered , each footplate moves through a range of plantar and dorsi flexion movement that is a natural product of the transverse motion . in one particular embodiment , the trainer 100 has a control unit 130 , as shown in fig8 , which includes a computer and a 6 channel stimulator . the stimulator produces the functional electrical stimulation to evoke muscle contractions . the computer controls the operation of the stimulator , the drive motor 210 and the two footplate servos 230 . software controlling the servo motors which power the left and right footplates can be used to guide a patient &# 39 ; s foot through a normal range of motion in the sagittal plane during stepping training . when in use , the trainer 100 can be utilized to track the appropriate travel of the individual &# 39 ; s feet . fig1 is a graph that shows how the footplate pedal moves with respect to gravity when unpowered ( pedal trace ) compared with how the ankle of an able bodied individual moves when stepping ( target pedal trace ) vs . percentage of phase of the gait cycle . furthermore , in fig1 shows one way in which a footplate servo motor may be commanded to make the footplate &# 39 ; s position coincident with normal gait . for example , commanding the motor to move 2452 positions results in a 1 degree movement of the footplate . superimposing this motor driven footplate movement with the unpowered footplate movement that arises from the transverse motion brings the footplate motion ( corrected pedal trace ) coincident with the ankle movement of normal gait ( target pedal trace ) vs . percent of the gait cycle as shown in fig1 . producing this normal ankle movement on this trainer 100 is one of the possible uses of the footplate servo motors . in one exemplary embodiment , the motors are also be used to produce vibration while standing or an exaggerated ankle motion for motor skill relearning purposes or a reduced ankle motion to accommodate patients with reduced range of motion in one or both ankle joints . in one exemplary embodiment , software varies the current supplied to each footplate servo which has the effect of varying the firmness of the footplate . footplate firmness can be varied during a therapy session for example to gradually overcome plantar flexion muscle tone . in one embodiment of the present invention , the control unit 130 provides up to 10 channels of electrical . it is contemplated that any number of channels may be utilized to provide electrical stimulation . in one alternative embodiment , the control unit 130 further includes a 6 channel electrical stimulator and a bluetooth communications link that allows it to control up to four additional single channel stimulators . the muscle groups to be stimulated are selected based upon how the patient presents . for example a hemiparetic patient may only require muscles on one side to be electrically stimulated . our invention allows the following muscle groups to be selected for electrical stimulation each either bilaterally or unilaterally : the electrical stimulation is delivered to each muscle group via adhesive skin surface electrodes at the appropriate time in the gait cycle as determined by the position of drive arms in their circular path . a further embodiment of the invention allows the electrical stimulation angles to be adjusted . the following is a table of default angles that can be provided in one particular embodiment of the present invention . the 0 degree position is the left drive arm at top dead center . the invention has been described with references to a preferred embodiment . while specific values , relationships , materials and steps have been set forth for purposes of describing concepts of the invention , it will be appreciated by persons skilled in the art that numerous variations and / or modifications may be made to the invention as shown in the specific embodiments without departing from the spirit or scope of the basic concepts and operating principles of the invention as broadly described . it should be recognized that , in the light of the above teachings , those skilled in the art can modify those specifics without departing from the invention taught herein . having now fully set forth the preferred embodiments and certain modifications of the concept underlying the present invention , various other embodiments as well as certain variations and modifications of the embodiments herein shown and described will obviously occur to those skilled in the art upon becoming familiar with such underlying concept . it is intended to include all such modifications , alternatives and other embodiments insofar as they come within the scope of the appended claims or equivalents thereof . it should be understood , therefore , that the invention may be practiced otherwise than as specifically set forth herein . consequently , the present embodiments are to be considered in all respects as illustrative and not restrictive .
a functional electrical stimulation step and stand system comprising two footplates connected to a primary drive motor that cause the footplates to move in a reciprocal motion . the footplates are further connected to corresponding servos , which allow for control of the movement of the footplate with respect to an axis . system comprises an electrical stimulation control unit . the stimulation step and stand system further comprises a control unit that has electrical stimulation leads connected to electrodes that deliver an electrical impulse to a patient &# 39 ; s muscles . in a further embodiment , the control unit has one or more wireless stimulators .