Hybrid Dynamics for the simulation of rehabilitation to walking by FES

The numerical simulation of the rehabilitation to walking of disabled people by Functional Electric Stimulation can offer new tools in the design and optimization of stimulation patterns, but some Hybrid Dynamics need to be taken into account. We propose here a specific time-integration scheme for such dynamical systems, with a particular emphasis on the various measures that need to be undertaken in order to handle safely the limited numeric precision of computers.