Short and Longer Term Changes in Amputee Walking Patterns Due to Increased Prosthesis Inertia

Transfemoral prosthetic simulators versus amputees: ground reaction forces and spatio-temporal parameters in gait

This study aimed to compare the ground reaction forces (GRFs) and spatio-temporal parameters as well as their asymmetry ratios in gait between individuals wearing a transfemoral prosthetic simulator (TFSim) and individuals with unilateral transfemoral amputation (TFAmp) across a range of walking speeds (2.0-5.5 km h-1). The study recruited 10 non-disabled individuals using TFSim and 10 individuals with unilateral TFAmp using a transfemoral prosthesis. Data were collected using an instrumented treadmill with built-in force plates, and subsequently, the GRFs and spatio-temporal parameters, as well as their asymmetry ratios, were analysed. When comparing the TFSim and TFAmp groups, no significant differences were found among the gait parameters and asymmetry ratios of all tested metrics except the vertical GRFs. The TFSim may not realistically reproduce the vertical GRFs during the weight acceptance and push-off phases. The structural and functional variations in prosthetic limbs and components between the TFSim and TFAmp groups may be primary contributors to the difference in the vertical GRFs. These results suggest that TFSim might be able to emulate the gait of individuals with TFAmp regarding the majority of spatio-temporal and GRF parameters. However, the vertical GRFs of TFSim should be interpreted with caution.

A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint

Robotic leg prostheses promise to improve the mobility and quality of life of millions of individuals with lower-limb amputations by imitating the biomechanics of the missing biological leg. Unfortunately, existing powered prostheses are much heavier and bigger and have shorter battery life than conventional passive prostheses, severely limiting their clinical viability and utility in the daily life of amputees. Here, we present a robotic leg prosthesis that replicates the key biomechanical functions of the biological knee, ankle, and toe in the sagittal plane while matching the weight, size, and battery life of conventional microprocessor-controlled prostheses. The powered knee joint uses a unique torque-sensitive mechanism combining the benefits of elastic actuators with that of variable transmissions. A single actuator powers the ankle and toe joints through a compliant, underactuated mechanism. Because the biological toe dissipates energy while the biological ankle injects energy into the gait cycle, this underactuated system regenerates substantial mechanical energy and replicates the key biomechanical functions of the ankle/foot complex during walking. A compact prosthesis frame encloses all mechanical and electrical components for increased robustness and efficiency. Preclinical tests with three individuals with above-knee amputation show that the proposed robotic leg prosthesis allows for common ambulation activities with close to normative kinematics and kinetics. Using an optional passive mode, users can walk on level ground indefinitely without charging the battery, which has not been shown with any other powered or microprocessor-controlled prostheses. A prosthesis with these characteristics has the potential to improve real-world mobility in individuals with above-knee amputation.

Could Prosthesis Use Provide a Competitive Advantage in Darts?

Competitive darts has become increasingly popular over the past few decades, and efforts have been made to have the game recognized as an Olympic sport in the future. The raised profile of the sport and the associated rewards bring up new challenges for the integrity of the game, as athletes are incentivized to exploit rule ambiguities in order to gain competitive advantages. In this research, it was hypothesized that uneven leg lengths and weights, which are comparatively easily realizable in prosthetic limbs, allow players to lean closer to the target and thus improve their throwing accuracy. This hypothesis was tested in a sample of 13 able-bodied subjects who participated in the study, with three sets of throwing trials; one to establish the baseline and two with a longer and heavier trailing leg, respectively. The findings suggest that these modifications are indeed beneficial, resulting in significantly shorter throwing distances and average accuracy improvements of up to 11%. The debate about the potential competitive advantages of prosthesis-wearing Paralympic athletes over their able-bodied peers previously focused on short track running events, where rules have been established that govern the allowable geometry and configuration of sprint prostheses. It appears that comparable regulations should be considered for darts competitions, in order to ensure fair conditions for all participants.

Design, development, and testing of a lightweight hybrid robotic knee prosthesis

We present a lightweight robotic knee prosthesis with a novel hybrid actuation system that enables passive and active operation modes. The proposed hybrid knee uses a spring-damper system in combination with an electric motor and transmission system, which can be engaged to provide a stair ambulation capability. In comparison to fully powered prostheses that power all ambulation activities, a hybrid knee prosthesis can achieve significant weight reduction by focusing the design of the actuator on a subset of activities without losing the ability to produce equivalent torque and mechanical power in the active mode. The hybrid knee prototype weighs 1.7 kg, including battery and control, and can provide up to 125 Nm of repetitive torque. Experiments with two transfemoral amputee subjects show that the proposed hybrid knee prosthesis can support walking on level ground in the passive mode, as well as stair ambulation with a reciprocal gait pattern in the active mode.

Mediolateral angular momentum changes in persons with amputation during perturbed walking

Over 50% of individuals with lower limb amputation fall at least once each year. These individuals also exhibit reduced ability to effectively respond to challenges to frontal plane stability. The range of whole body angular momentum has been correlated with stability and fall risk. This study determined how lateral walking surface perturbations affected the regulation of whole body and individual leg angular momentum in able-bodied controls and individuals with unilateral transtibial amputation. Participants walked at fixed speed in a Computer Assisted Rehabilitation Environment with no perturbations and continuous, pseudo-random, mediolateral platform oscillations. Both the ranges and variability of angular momentum for both the whole body and both legs were significantly greater (p<0.001) during platform oscillations. There were no significant differences between groups in whole body angular momentum range or variability during unperturbed walking. The range of frontal plane angular momentum was significantly greater for those with amputation than for controls for all segments (p<0.05). For the whole body and intact leg, angular momentum ranges were greater for patients with amputation. However, for the prosthetic leg, angular momentum ranges were less for patients than controls. Patients with amputation were significantly more affected by the perturbations. Though patients with amputation were able to maintain similar patterns of whole body angular momentum during unperturbed walking, they were more highly destabilized by the walking surface perturbations. Individuals with transtibial amputation appear to predominantly use altered motion of the intact limb to maintain mediolateral stability.

The influence of ankle-foot orthosis stiffness on walking performance in individuals with lower-limb impairments

BACKGROUND

Passive-dynamic ankle-foot orthoses utilize stiffness to improve gait performance through elastic energy storage and return. However, the influence of ankle-foot orthosis stiffness on gait performance has not been systematically investigated, largely due to the difficulty of manufacturing devices with precisely controlled stiffness levels. Additive manufacturing techniques such as selective laser sintering have been used to successfully manufacture ankle-foot orthoses with controlled stiffness levels. The purpose of this study was to use passive-dynamic ankle-foot orthoses manufactured with selective laser sintering to identify the influence of orthosis stiffness on walking performance in patients with lower-limb neuromuscular and musculoskeletal impairments.

METHODS

Thirteen subjects with unilateral impairments were enrolled in this study. For each subject, one passive-dynamic ankle-foot orthosis with stiffness equivalent to the subject's clinically prescribed carbon fiber orthosis, one 20% more compliant and one 20% more stiff, were manufactured using selective laser sintering. Three-dimensional kinematic and kinetic data and electromyographic data were collected from each subject while they walked overground with each orthosis at their self-selected velocity and a controlled velocity.

FINDINGS

As the orthosis stiffness decreased, ankle range of motion and medial gastrocnemius activity increased while the knee became more extended throughout stance. Minimal changes in other kinematic, kinetic and electromyographic quantities were observed.

INTERPRETATION

Subjects effectively compensated for changes in ankle-foot orthosis stiffness with altered gastrocnemius activity, and the stiffness levels analyzed in this study had a minimal effect on overall walking performance.

Selective Laser Sintered Versus Carbon Fiber Passive-Dynamic Ankle-Foot Orthoses: A Comparison of Patient Walking Performance

Selective laser sintering (SLS) is a well-suited additive manufacturing technique for generating subject-specific passive-dynamic ankle-foot orthoses (PD-AFOs). However, the mechanical properties of SLS PD-AFOs may differ from those of commonly prescribed carbon fiber (CF) PD-AFOs. Therefore, the goal of this study was to determine if biomechanical measures during gait differ between CF and stiffness-matched SLS PD-AFOs. Subject-specific SLS PD-AFOs were manufactured for ten subjects with unilateral lower-limb impairments. Minimal differences in gait performance occurred when subjects used the SLS versus CF PD-AFOs. These results support the use of SLS PD-AFOs to study the effects of altering design characteristics on gait performance.

Effects of prosthetic mass distribution on metabolic costs and walking symmetry

Unilateral, transtibial amputees exhibit walking asymmetries and higher metabolic costs of walking than nonamputees walking at similar speeds. Using lightweight prostheses has previously been suggested as a contributing factor to walking asymmetries. The purpose was to investigate the effects of prosthesis mass and mass distribution on metabolic costs and walking asymmetries among six unilateral, transtibial amputees. Kinematic and temporal symmetry did not improve when mass was added at different locations on the limb. Stance and swing time asymmetries increased by 3.4% and 7.2%, respectively, with loads positioned distally on the limb. Maximum knee angular velocity asymmetries increased by 6% with mass added to the thigh, whereas maximum thigh angular velocity asymmetries increased by approximately 10% with mass positioned near the prosthetic ankle. Adding 100% of the estimated mass difference between intact and prosthetic legs to the ankle of the prosthesis increased energy costs of walking by 12%; adding the same mass to the prosthesis center of mass or thigh center of mass increased metabolic cost by approximately 7% and 5%, respectively. Unless other benefits are gained by increasing prosthesis mass, this should not be considered as a possible alternative to current lightweight prosthesis designs currently being prescribed to unilateral amputees.