The invention presents a gait-adaptive automated control system and method for a wearable electrical stimulator as a gait-corrective device for drop-foot patients. The wearable electrical stimulation control system includes a first inertial sensor, a second inertial sensor, a microcontroller and an electrical stimulator. The first inertial sensor is mounted on a leg and senses a first locomotion data of the leg. The second inertial sensor is mounted on a foot and senses a second locomotion data of the foot. The microcontroller receives the first locomotion data and the second locomotion data, and outputs a command with stimulation parameters modulated by real-time changes in gait phases, calculated using the first locomotion data and the second locomotion data. The electrical stimulator corrects drop foot by generating electrical pulses with stimulation parameters given in the command in order to stimulate the calf.本發明提出一種自適應於即時步態之穿戴式垂足電刺激控制系統及穿戴式垂足電刺激控制方法。穿戴式垂足電刺激控制系統包括第一慣性感測器、第二慣性感測器、微控制器及電刺激器。第一慣性感測器設置於小腿並感測小腿的第一運動姿態數據。第二慣性感測器設置於足部並感測足部的第二運動姿態數據。微控制器接收第一運動姿態數據及第二運動姿態數據,並根據第一運動姿態數據及第二運動姿態數據即時分析步態階段後,以閉環回饋控制方法計算適當刺激參數,最後輸出控制指令。電刺激器根據控制指令輸出脈波以刺激小腿,進而矯正病患步態。100‧‧‧穿戴式電刺激控制系統110‧‧‧第一慣性感測器111、121‧‧‧加速度計112、122‧‧‧陀螺儀120‧‧‧第二慣性感測器130‧‧‧微控制器140‧‧‧電刺激器141‧‧‧第一電極片142‧‧‧第二電極片143‧‧‧脈波產生器150‧‧‧圖形使用者介面
