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Liu J, Liu J, Cheah PY, Al Kouzbary M, Al Kouzbary H, Yao SX, Shasmin HN, Arifin N, Razak NAA, Abu Osman NA. Design and preliminary verification of a novel powered ankle-foot prosthesis: From the perspective of lower-limb biomechanics compared with ESAR foot. PLoS One 2024; 19:e0303397. [PMID: 38848334 PMCID: PMC11161064 DOI: 10.1371/journal.pone.0303397] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/05/2023] [Accepted: 04/24/2024] [Indexed: 06/09/2024] Open
Abstract
A novel powered ankle-foot prosthesis is designed. The effect of wearing the novel prosthesis and an energy-storage-and-return (ESAR) foot on lower-limb biomechanics is investigated to preliminarily evaluate the design. With necessary auxiliary materials, a non-amputated subject (a rookie at using prostheses) is recruited to walk on level ground with an ESAR and the novel powered prostheses separately. The results of the stride characteristics, the ground reaction force (GRF) components, kinematics, and kinetics in the sagittal plane are compared. Wearing the powered prosthesis has less prolongation of the gait cycle on the unaffected side than wearing the ESAR foot. Wearing ESAR or proposed powered prostheses influences the GRF, kinematics, and kinetics on the affected and unaffected sides to some extent. Thereinto, the knee moment on the affected side is influenced most. Regarding normal walking as the reference, among the total of 15 indexes, the influences of wearing the proposed powered prosthesis on six indexes on the affected side (ankle's/knee's/hip's angles, hip's moment, and Z- and X-axis GRF components) and five indexes on the unaffected side (ankle's/knee's/hip's angles and ankle's/hip's moments) are slighter than those of wearing the ESAR foot. The influences of wearing the powered prosthesis on two indexes on the unaffected side (knee's moment and X-axis GRF component) are similar to those of wearing the ESAR foot. The greatest improvement of wearing the powered prosthesis is to provide further plantarflexion after reaching the origin of the ankle joint before toe-off, which means that the designed powered device can provide further propulsive power for the lifting of the human body's centre of gravity during walking on level ground. The results demonstrate that wearing the novel powered ankle-foot prosthesis benefits the rookie in recovering the normal gait more than wearing the ESAR foot.
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Affiliation(s)
- Jingjing Liu
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
- School of Mechanical Engineering and Mechanics, Xiangtan University, Xiangtan, Hunan, China
| | - Jingang Liu
- School of Mechanical Engineering and Mechanics, Xiangtan University, Xiangtan, Hunan, China
| | - Pei Yi Cheah
- Centre for Sports and Exercise Science, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Mouaz Al Kouzbary
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Hamza Al Kouzbary
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Selina X. Yao
- Department of Mechanical Engineering, University of Vermont, Burlington, Vermont, United States of America
| | - Hanie Nadia Shasmin
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Nooranida Arifin
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Nasrul Anuar Abd Razak
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
| | - Noor Azuan Abu Osman
- Centre for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, Malaysia
- The Chancellery, Universiti Tenaga Nasional, Kajang, Malaysia
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Tham LK, Al Kouzbary M, Al Kouzbary H, Liu J, Abu Osman NA. Estimation of body segmental orientation for prosthetic gait using a nonlinear autoregressive neural network with exogenous inputs. Phys Eng Sci Med 2023; 46:1723-1739. [PMID: 37870729 DOI: 10.1007/s13246-023-01332-6] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/22/2023] [Accepted: 09/06/2023] [Indexed: 10/24/2023]
Abstract
Assessment of the prosthetic gait is an important clinical approach to evaluate the quality and functionality of the prescribed lower limb prosthesis as well as to monitor rehabilitation progresses following limb amputation. Limited access to quantitative assessment tools generally affects the repeatability and consistency of prosthetic gait assessments in clinical practice. The rapidly developing wearable technology industry provides an alternative to objectively quantify prosthetic gait in the unconstrained environment. This study employs a neural network-based model in estimating three-dimensional body segmental orientation of the lower limb amputees during gait. Using a wearable system with inertial sensors attached to the lower limb segments, thirteen individuals with lower limb amputation performed two-minute walk tests on a robotic foot and a passive foot. The proposed model replicates features of a complementary filter to estimate drift free three-dimensional orientation of the intact and prosthetic limbs. The results indicate minimal estimation biases and high correlation, validating the ability of the proposed model to reproduce the properties of a complementary filter while avoiding the drawbacks, most notably in the transverse plane due to gravitational acceleration and magnetic disturbance. Results of this study also demonstrates the capability of the well-trained model to accurately estimate segmental orientation, regardless of amputation level, in different types of locomotion task.
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Affiliation(s)
- Lai Kuan Tham
- Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, 50603, Malaysia.
| | - Mouaz Al Kouzbary
- Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, 50603, Malaysia
| | - Hamza Al Kouzbary
- Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, 50603, Malaysia
| | - Jingjing Liu
- Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, 50603, Malaysia
| | - Noor Azuan Abu Osman
- Center for Applied Biomechanics, Department of Biomedical Engineering, Faculty of Engineering, Universiti Malaya, Kuala Lumpur, 50603, Malaysia.
- The Chancellery, Universiti Tenaga Nasional, Kajang, 43000, Malaysia.
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Sharifi M, Mehr JK, Mushahwar VK, Tavakoli M. Adaptive CPG-Based Gait Planning With Learning-Based Torque Estimation and Control for Exoskeletons. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3105996] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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