During FES assisted walking of the paraplegic, the real time of the upper limb support were obtained and transformed into a 3 D center of gravity (CG) motion map with a paraplegic upper body mechanical model to describe the CG motion locus.

• 其主要构件是一套基于标准步行器的测试系统 ,该系统可以实时获得上肢支撑力数据 ,通过一套截瘫上躯干力学模型转化为三维重心动态图来显示重心运动轨迹 ,从而客观定量地评估出用身体平衡状况表征的FES行走效率。