Abstract-This paper describes the modification and instrumentation
of standard parallel bars to allow for the measurement of
applied forces on both horizontal bars in three dimensions. This
measurement system has been used in the develop~nenat nd evaluation
of functional electrical stimulation (FES) devices for
standing and gait restoration in paralyzed patients. Real-time
measurement of forces applied by the upper body of the patient
to the parallel bars is of use in the evaluation of FES stimulation
patterns (or automatic controllers of stimulation). Such
measurements are useful in the redesign of stimulation patterns
andlor stimulation controllers.