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Ziemnicki DM, McDonald KA, Molitor SL, Egolf JB, Cruz JP, Lee KE, Zelik KE. Development and Preliminary Evaluation of a Bimodal Foot Prosthesis for Walking and Running. J Biomech Eng 2024; 146:091010. [PMID: 38758531 DOI: 10.1115/1.4065516] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/03/2023] [Accepted: 04/29/2024] [Indexed: 05/18/2024]
Abstract
People often alternate between bouts of walking and running, for instance, when adults participate in recreational activities. Transitioning between activities can be challenging for prosthesis users because existing prosthetic feet are not well-suited for both tasks. Meanwhile, switching between prostheses for different tasks is often impractical. Collectively, these challenges can present barriers to physical activity participation for people with limb loss, which can negatively impact social or physical health. This work describes the development and evaluation of a passive bimodal prosthetic foot prototype with different configurations and stiffnesses for walking and running. Users rated the bimodal prosthesis higher for standing and walking compared to a running prosthesis (+2.3 for both tasks on a seven-point Likert scale). Users rated the bimodal prosthesis higher for running compared to a walking prosthesis (+1.7 and +0.5 for 2.0 and 2.5 m/s running, respectively). Changing from walking to running mode increased the device's stiffness by 23-84%, depending on the user's preference. Users could switch between bimodal prosthesis walking and running modes quickly (21.3 ± 12.0 s). Overall, the preliminary results were encouraging in terms of user satisfaction, stiffness change between modes, and mode-switching speed. These findings motivate future exploration of this bimodal prosthesis concept.
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Affiliation(s)
- David M Ziemnicki
- Department of Mechanical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235
| | - Kirsty A McDonald
- School of Health Sciences, University of New South Wales, Level 2, Wallace Wurth Building, Sydney 2052, NSW, Australia
| | - Stephanie L Molitor
- Department of Biomedical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235; Walker Department of Mechanical Engineering, The University of Texas at Austin, 204 E. Dean Keeton Street, Austin, TX 78712
| | - Jeremiah B Egolf
- Department of Biomedical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235
| | - Justin P Cruz
- Department of Biomedical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235; Feinberg School of Medicine, Northwestern University, 303 E. Chicago Ave, Ward Building 1-003, Chicago, IL 60611-3008
| | - Kathryn E Lee
- Department of Biomedical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235
| | - Karl E Zelik
- Department of Mechanical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235; Department of Biomedical Engineering, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235; Department of Physical Medicine and Rehabilitation, Vanderbilt University, 2201 West End Avenue, Nashville, TN 37235
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Fehr KH, Kent JA, Major MJ, Adamczyk PG. Changes in Dynamic Mean Ankle Moment Arm in Unimpaired Walking Across Speeds, Ramps, and Stairs. J Biomech Eng 2024; 146:094501. [PMID: 38581371 DOI: 10.1115/1.4065269] [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: 03/16/2023] [Accepted: 04/04/2024] [Indexed: 04/08/2024]
Abstract
Understanding the natural biomechanics of walking at different speeds and activities is crucial to develop effective assistive devices for persons with lower-limb impairments. While continuous measures such as joint angle and moment are well-suited for biomimetic control of robotic systems, whole-stride summary metrics are useful for describing changes across behaviors and for designing and controlling passive and semi-active devices. Dynamic mean ankle moment arm (DMAMA) is a whole-stride measure representing the moment arm of the ground reaction impulse about the ankle joint-effectively, how "forefoot-dominated" or "hindfoot-dominated" a movement is. DMAMA was developed as a target and performance metric for semi-active devices that adjust once per stride. However, for implementation in this application, DMAMA must be characterized across various activities in unimpaired individuals. In our study, unimpaired participants walked at "slow," "normal," and "fast" self-selected speeds on level ground and at a normal self-selected speed while ascending and descending stairs and a 5-degree incline ramp. DMAMA measured from these activities displayed a borderline-significant negative sensitivity to walking speed, a significant positive sensitivity to ground incline, and a significant decrease when ascending stairs compared to descending. The data suggested a nonlinear relationship between DMAMA and walking speed; half of the participants had the highest average DMAMA at their "normal" speed. Our findings suggest that DMAMA varies substantially across activities, and thus, matching DMAMA could be a valuable metric to consider when designing biomimetic assistive lower-limb devices.
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Affiliation(s)
- Katherine Heidi Fehr
- Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53705
| | - Jenny A Kent
- Department of Physical Therapy, University of Nevada Las Vegas, 4505 S Maryland Pkwy, Las Vegas, NV 89154
| | - Matthew J Major
- Department of Physical Medicine & Rehabilitation, Northwestern University, Chicago, IL 60611; Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208; Jesse Brown Department of Veterans Affairs Medical Center, U.S. Department of Veterans Affairs, 680 N Lake Shore Dr, Suite 1100, Chicago, IL 60611
| | - Peter Gabriel Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Ave., Rm. 3039, Madison, WI 53705
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Rogers-Bradley E, Yeon SH, Landis C, Lee DRC, Herr HM. Variable-stiffness prosthesis improves biomechanics of walking across speeds compared to a passive device. Sci Rep 2024; 14:16521. [PMID: 39019986 PMCID: PMC11255255 DOI: 10.1038/s41598-024-67230-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/21/2024] [Accepted: 07/09/2024] [Indexed: 07/19/2024] Open
Abstract
Ankle push-off power plays an important role in healthy walking, contributing to center-of-mass acceleration, swing leg dynamics, and accounting for 45% of total leg power. The majority of existing passive energy storage and return prostheses for people with below-knee (transtibial) amputation are stiffer than the biological ankle, particularly at slower walking speeds. Additionally, passive devices provide insufficient levels of energy return and push-off power, negatively impacting biomechanics of gait. Here, we present a clinical study evaluating the kinematics and kinetics of walking with a microprocessor-controlled, variable-stiffness ankle-foot prosthesis (945 g) compared to a standard low-mass passive prosthesis (Ottobock Taleo, 463 g) with 7 study participants having unilateral transtibial amputation. By modulating prosthesis stiffness under computer control across walking speeds, we demonstrate that there exists a stiffness that increases prosthetic-side energy return, peak power, and center-of-mass push-off work, and decreases contralateral limb peak ground reaction force compared to the standard passive prosthesis across all evaluated walking speeds. We demonstrate a significant increase in center-of-mass push-off work of 26.1%, 26.2%, 29.6% and 29.9% at 0.75 m/s, 1.0 m/s, 1.25 m/s, and 1.5 m/s, respectively, and a significant decrease in contralateral limb ground reaction force of 3.1%, 3.9%, and 3.2% at 1.0 m/s, 1.25 m/s, and 1.5 m/s, respectively. This study demonstrates the potential for a quasi-passive microprocessor-controlled variable-stiffness prosthesis to increase push-off power and energy return during gait at a range of walking speeds compared to a passive device of a fixed stiffness.
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Affiliation(s)
- Emily Rogers-Bradley
- K. Lisa Yang Center for Bionics, Massachusetts Institute of Technology, Cambridge, 02139, USA
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA
- Department of Mechanical and Manufacturing Engineering, University of Calgary, Calgary, T2N 1N4, Canada
| | - Seong Ho Yeon
- K. Lisa Yang Center for Bionics, Massachusetts Institute of Technology, Cambridge, 02139, USA
- Media Lab, Massachusetts Institute of Technology, Cambridge, 02142, USA
| | - Christian Landis
- K. Lisa Yang Center for Bionics, Massachusetts Institute of Technology, Cambridge, 02139, USA
- Media Lab, Massachusetts Institute of Technology, Cambridge, 02142, USA
| | - Duncan R C Lee
- K. Lisa Yang Center for Bionics, Massachusetts Institute of Technology, Cambridge, 02139, USA
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA
| | - Hugh M Herr
- K. Lisa Yang Center for Bionics, Massachusetts Institute of Technology, Cambridge, 02139, USA.
- Media Lab, Massachusetts Institute of Technology, Cambridge, 02142, USA.
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Price M, Locurto D, Abdikadirova B, Huber ME, Hoogkamer W. AdjuSST: An Adjustable Surface Stiffness Treadmill. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2024:2024.03.25.586685. [PMID: 38746258 PMCID: PMC11092453 DOI: 10.1101/2024.03.25.586685] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/16/2024]
Abstract
Humans have the remarkable ability to manage foot-ground interaction seamlessly across terrain changes despite the high dynamic complexity of the task. Understanding how adaptation in the neuromotor system enables this level of robustness in the face of changing interaction dynamics is critical for developing more effective gait retraining interventions. We developed an adjustable surface stiffness treadmill (AdjuSST) to trigger these adaptation mechanisms and enable studies to better understand human adaptation to changing foot-ground dynamics. The AdjuSST system makes use of fundamental beam-bending principles; it controls surface stiffness by controlling the effective length of a cantilever beam. The beam acts as a spring suspension for the transverse endpoint load applied through the treadmill. The system is capable of enforcing a stiffness range of 15-300kN/m within 340 ms, deflecting linearly downwards up to 10 cm, and comfortably accommodating two full steps of travel along the belt. AdjuSST offers significant enhancements in effective walking surface length compared to similar systems, while also maintaining a useful stiffness range and responsive spring suspension. These improvements enhance our ability to study locomotor control and adaptation to changes in surface stiffness, as well as provide new avenues for gait rehabilitation.
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Ármannsdóttir AL, Lecomte C, Lemaire E, Brynjólfsson S, Briem K. Perceptions and biomechanical effects of varying prosthetic ankle stiffness during uphill walking: A case series. Gait Posture 2024; 108:354-360. [PMID: 38227995 DOI: 10.1016/j.gaitpost.2024.01.001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 09/03/2023] [Revised: 12/28/2023] [Accepted: 01/02/2024] [Indexed: 01/18/2024]
Abstract
BACKGROUND Prosthetic foot stiffness, which is typically invariable for commercially available prosthetic feet, needs to be considered when prescribing a prosthetic foot. While a biological foot adapts its function according to the movement task, an individual with lower limb amputation may be limited during more functionally demanding gait tasks by their conventional energy storing and return prosthetic foot. RESEARCH QUESTION How do changes in prosthetic foot stiffness during incline walking affect biomechanical measures as well as perception of participants. METHODS Kinetic and kinematic data were collected during incline walking, for five participants with trans-tibial amputation. A mixed model analysis of variance was used to analyse the effects of changing the stiffness during incline walking, using a novel variable-stiffness unit built on a commercially available prosthetic foot. Biomechanical results were also analysed on an individual level alongside the participant feedback, for a better understanding of the various strategies and perceptions exhibited during incline walking. RESULTS Statistically significant effects were only observed on the biomechanical parameters directly related to prosthetic ankle kinematics and kinetics (i.e., peak prosthetic ankle dorsiflexion, peak prosthetic ankle power, dynamic joint stiffness during controlled dorsiflexion). Participant perception during walking was affected by changes in stiffness. Individual analyses revealed varied perceptions and varied biomechanical responses among participants. SIGNIFICANCE While changes in prosthesis mechanical properties influenced the amputee's experience, minimal immediate effects were found with the overall gait pattern. The reported inter-participant variability may be due to the person's physical characteristics or habitual gait pattern, which may influence prosthesis function. The ability to vary prosthetic foot stiffness during the assessment phase of setting up a prosthesis could provide useful information to guide selection of the appropriate prosthetic device for acceptable performance across a range of activities.
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Affiliation(s)
- Anna Lára Ármannsdóttir
- Research Centre of Movement Science, University of Iceland, Reykjavík, Iceland; Össur hf., Grjótháls 5, 110 Reykjavik, Iceland.
| | - Christophe Lecomte
- Faculty of Industrial Engineering, Mechanical Engineering and Computer Science, School of Engineering and Natural Sciences, University of Iceland, Reykjavík, Iceland; Össur hf., Grjótháls 5, 110 Reykjavik, Iceland
| | - Edward Lemaire
- Faculty of Medicine, University of Ottawa, Ottawa, Canada
| | - Sigurður Brynjólfsson
- Faculty of Industrial Engineering, Mechanical Engineering and Computer Science, School of Engineering and Natural Sciences, University of Iceland, Reykjavík, Iceland
| | - Kristín Briem
- Research Centre of Movement Science, University of Iceland, Reykjavík, Iceland
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Sun H, He C, Vujaklija I. Design trends in actuated lower-limb prosthetic systems: a narrative review. Expert Rev Med Devices 2023; 20:1157-1172. [PMID: 37925668 DOI: 10.1080/17434440.2023.2279999] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/11/2023] [Accepted: 11/02/2023] [Indexed: 11/07/2023]
Abstract
INTRODUCTION Actuated lower limb prostheses, including powered (active) and semi-active (quasi-passive) joints, are endowed with controllable power and/or impedance, which can be advantageous to limb impairment individuals by improving locomotion mechanics and reducing the overall metabolic cost of ambulation. However, an increasing number of commercial and research-focused options have made navigating this field a daunting task for users, researchers, clinicians, and professionals. AREAS COVERED The present paper provides an overview of the latest trends and developments in the field of actuated lower-limb prostheses and corresponding technologies. Following a gentle summary of essential gait features, we introduce and compare various actuated prosthetic solutions in academia and the market designed to provide assistance at different levels of impairments. Correspondingly, we offer insights into the latest developments of sockets and suspension systems, before finally discussing the established and emerging trends in surgical approaches aimed at improving prosthetic experience through enhanced physical and neural interfaces. EXPERT OPINION The ongoing challenges and future research opportunities in the field are summarized for exploring potential avenues for development of next generation of actuated lower limb prostheses. In our opinions, a closer multidisciplinary integration can be found in the field of actuated lower-limb prostheses in the future.
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Affiliation(s)
- Haoran Sun
- School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, P.R. China
- Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland
| | - Chaoming He
- School of Mechanical Engineering, Southwest Jiaotong University, Chengdu, P.R. China
| | - Ivan Vujaklija
- Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland
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Mazzarini A, Fantozzi M, Papapicco V, Fagioli I, Lanotte F, Baldoni A, Dell’Agnello F, Ferrara P, Ciapetti T, Molino Lova R, Gruppioni E, Trigili E, Crea S, Vitiello N. A low-power ankle-foot prosthesis for push-off enhancement. WEARABLE TECHNOLOGIES 2023; 4:e18. [PMID: 38487780 PMCID: PMC10936261 DOI: 10.1017/wtc.2023.13] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/19/2022] [Revised: 05/04/2023] [Accepted: 05/04/2023] [Indexed: 03/17/2024]
Abstract
Passive ankle-foot prostheses are light-weighted and reliable, but they cannot generate net positive power, which is essential in restoring the natural gait pattern of amputees. Recent robotic prostheses addressed the problem by actively controlling the storage and release of energy generated during the stance phase through the mechanical deformation of elastic elements housed in the device. This study proposes an innovative low-power active prosthetic module that fits on off-the-shelf passive ankle-foot energy-storage-and-release (ESAR) prostheses. The module is placed parallel to the ESAR foot, actively augmenting the energy stored in the foot and controlling the energy return for an enhanced push-off. The parallel elastic actuation takes advantage of the amputee's natural loading action on the foot's elastic structure, retaining its deformation. The actuation unit is designed to additionally deform the foot and command the return of the total stored energy. The control strategy of the prosthesis adapts to changes in the user's cadence and loading conditions to return the energy at a desired stride phase. An early verification on two transtibial amputees during treadmill walking showed that the proposed mechanism could increase the subjects' dorsiflexion peak of 15.2% and 41.6% for subjects 1 and 2, respectively, and the cadence of about 2%. Moreover, an increase of 26% and 45% was observed in the energy return for subjects 1 and 2, respectively.
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Affiliation(s)
- Alessandro Mazzarini
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | | | - Vito Papapicco
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Ilaria Fagioli
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Francesco Lanotte
- Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL, USA
- Max Nader Laboratory for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, Chicago, IL, USA
| | - Andrea Baldoni
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Filippo Dell’Agnello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Paolo Ferrara
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Tommaso Ciapetti
- Institute of Recovery and Care of Scientific Character (IRCCS), Fondazione Don Carlo Gnocchi Florence, Firenze, Italy
| | - Raffaele Molino Lova
- Institute of Recovery and Care of Scientific Character (IRCCS), Fondazione Don Carlo Gnocchi Florence, Firenze, Italy
| | | | - Emilio Trigili
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Simona Crea
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
| | - Nicola Vitiello
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
- Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, Pisa, Italy
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8
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Nichols KM, Adamczyk PG. Sensitivity of lower-limb joint mechanics to prosthetic forefoot stiffness with a variable stiffness foot in level-ground walking. J Biomech 2023; 147:111436. [PMID: 36701959 PMCID: PMC11286132 DOI: 10.1016/j.jbiomech.2023.111436] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/26/2022] [Revised: 12/14/2022] [Accepted: 01/04/2023] [Indexed: 01/15/2023]
Abstract
This paper presents the effectsof the Variable Stiffness Foot (VSF) on lower-limb joint mechanics in level-ground walking. Persons with transtibial amputations use lower-limb prostheses to restore level-ground walking, and foot stiffness and geometry have been shown to be the main factors for evaluating foot prostheses. Previous studies have validated the semi-active and stiffness modulation capabilities of the VSF. The core aim of this study is to investigate the mechanical effects of adjusting stiffness on knee and ankle mechanics for prosthetic users wearing the VSF. For this study, seven human participants walked with three different stiffnesses (compliant, medium, stiff) of the VSF across two force plates in a motion capture lab. Linear mixed models were utilized to estimate the significance and coefficients of determinations for the regression of stiffness on several biomechanical metrics. A stiffer VSF led to decreased ankle dorsiflexion angle (p < 0.0001, r2 = 0.90), increased ankle plantarflexor moment (p = 0.016, r2 = 0.40), increased knee extension (p = 0.021, r2 = 0.37), increased knee flexor moment (p = 0.0007, r2 = 0.63), and decreased magnitudes of prosthetic energy storage (p < 0.0001, r2 = 0.90), energy return (p = 0.0003, r2 = 0.67), and power (p < 0.0001, r2 = 0.74). These results imply lower ankle, knee, and hip moments, and more ankle angle range of motion using a less stiff VSF, which may be advantageous to persons walking with lower-limb prostheses. Responsive modulation of the VSF stiffness, according to these findings, could help overcome gait deviations associated with different slopes, terrain characteristics, or footwear.
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Affiliation(s)
- Kieran M Nichols
- University of Wisconsin-Madison Department of Mechanical Engineering, Room 3034, Mechanical Engineering Building, 1513 University Ave., Madison, WI 53706-1539, United States.
| | - Peter G Adamczyk
- University of Wisconsin-Madison Department of Mechanical Engineering, Room 3039, Mechanical Engineering Building, 1513 University Ave., Madison, WI 53706-1539, United States.
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9
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Tran M, Gabert L, Hood S, Lenzi T. A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint. Sci Robot 2022; 7:eabo3996. [PMID: 36417500 PMCID: PMC9894662 DOI: 10.1126/scirobotics.abo3996] [Citation(s) in RCA: 25] [Impact Index Per Article: 12.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/24/2022]
Abstract
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.
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Affiliation(s)
- Minh Tran
- Department of Mechanical Engineering and Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Lukas Gabert
- Department of Mechanical Engineering and Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Sarah Hood
- Department of Mechanical Engineering and Robotics Center, University of Utah, Salt Lake City, UT, USA
| | - Tommaso Lenzi
- Department of Mechanical Engineering and Robotics Center, University of Utah, Salt Lake City, UT, USA,Corresponding author.
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10
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Nigro L, Arch E. Comparison of Existing Methods for Characterizing Bi-Linear Natural Ankle Quasi-Stiffness. J Biomech Eng 2022; 144:1141606. [PMID: 35698872 DOI: 10.1115/1.4054798] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/24/2022] [Indexed: 11/08/2022]
Abstract
Natural ankle quasi-stiffness (NAS) is a mechanical property of the ankle joint during motion. NAS has been historically calculated as the average slope (linear regression) of the net ankle moment vs. ankle angle during discrete phases of stance. However, recent work has shown that NAS is nonlinear during stance. Specifically, during the loading phase (~10-60% of stance), plantarflexion moment increases at an accelerating rate compared to dorsiflexion angle. Updated models have been developed to better capture this inherent nonlinearity. One type of model is called bi-linear NAS (BL-NAS) divides the loading phase of stance into two sub-phases, called early loading (EL) and late loading (LL) NAS. Two papers, written by Crenna & Frigo in 2011 and Shamaei et al. in 2013, outline different BL-NAS models. Both models fit measured data better (lower RMSE) than standard single linear NAS (SL-NAS) models, but have not been widely adopted, possibly because of methodological discrepancies and lack of applicability to physical devices at the time. This paper compares these existing BL-NAS models and translate those findings to possible orthotic device designs. Results showed that both BL-NAS models had lower RMSE than SL-NAS, EL-NAS was not significantly different across walking speeds, and LL-NAS increased significantly at faster walking speeds. These improved NAS models better approximate natural human movement than commonly used SL-NAS models, and provide a basis to design ankle-foot devices with multiple stiffness properties to emulate and facilitate natural human motion.
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Affiliation(s)
- Luke Nigro
- Department of Mechanical Engineering, University of Delaware, Newark, DE, USA
| | - Elisa Arch
- Department of Kinesiology & Applied Physiology, University of Delaware, Newark, DE, USA; Biomechanics & Movement Science Interdisciplinary Program, University of Delaware, Newark, DE, USA
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11
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The Functionality Verification through Pilot Human Subject Testing of MyFlex-δ: An ESR Foot Prosthesis with Spherical Ankle Joint. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12094575] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
Most biomechanical research has focused on level-ground walking giving less attention to other conditions. As a result, most lower limb prosthesis studies have focused on sagittal plane movements. In this paper, an ESR foot is presented, of which five different stiffnesses were optimized for as many weight categories of users. It is characterized by a spherical ankle joint, with which, combined with the elastic elements, the authors wanted to create a prosthesis that gives the desired stiffness in the sagittal plane but at the same time, gives flexibility in the other planes to allow the adaptation of the foot prosthesis to the ground conditions. The ESR foot was preliminarily tested by participants with transfemoral amputation. After a brief familiarization with the device, each participant was asked to wear markers and to walk on a sensorized treadmill to measure their kinematics and kinetics. Then, each participant was asked to leave feedback via an evaluation questionnaire. The measurements and feedback allowed us to evaluate the performance of the prosthesis quantitatively and qualitatively. Although there were no significant improvements on the symmetry of the gait, due also to very limited familiarization time, the participants perceived an improvement brought by the spherical ankle joint.
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12
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Shetty VS, Lee UH, Ingraham KA, Rouse EJ. A Data Driven Approach for Predicting Preferred Ankle Stiffness of a Quasi-Passive Prosthesis. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3144790] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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13
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Nazon YF, Doshi RM, Rouse EJ. Validation of Methods for Estimation of Knee Joint Mechanical Impedance During Locomotion Using a Torque-Controllable Knee Exoskeleton. J Biomech Eng 2022; 144:1114802. [PMID: 34286824 DOI: 10.1115/1.4051843] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/22/2020] [Indexed: 11/08/2022]
Abstract
The mechanical impedance of the joints of the leg governs the body's response to external disturbances, and its regulation is essential for the completion of tasks of daily life. However, it is still unclear how this quantity is regulated at the knee during dynamic tasks. In this work, we introduce a method to estimate the mechanical impedance of spring-mass systems using a torque-controllable exoskeleton with the intention of extending these methods to characterize the mechanical impedance of the human knee during locomotion. We characterize system bandwidth and intrinsic impedance and present a perturbation-based methodology to identify the mechanical impedance of known spring-mass systems. Our approach was able to obtain accurate estimates of stiffness and inertia, with errors under 3% and ∼13-16%, respectively. This work provides a qualitative and quantitative foundation that will enable accurate estimates of knee joint impedance during locomotion in future works.
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Affiliation(s)
- Yves F Nazon
- Department of Mechanical Engineering, Robotics Institute University of Michigan, Ann Arbor, MI 48109
| | - Raveena M Doshi
- Department of Mechanical Engineering, Robotics Institute University of Michigan, Ann Arbor, MI 48109
| | - Elliott J Rouse
- Department of Mechanical Engineering, Robotics Institute University of Michigan, Ann Arbor, MI 48109
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Hong W, Kumar NA, Patrick S, Um HJ, Kim HS, Kim HS, Hur P. Empirical Validation of an Auxetic Structured Foot With the Powered Transfemoral Prosthesis. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3194673] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Woolim Hong
- Mechanical Engineering, Texas A&M University, College Station, TX, USA
| | - Namita Anil Kumar
- Mechanical Engineering, Texas A&M University, College Station, TX, USA
| | - Shawanee Patrick
- College of Engineering, The Ohio State University, Columbus, OH, USA
| | - Hui-Jin Um
- Department of Mechanical Engineering, Hanyang University, Seoul, South Korea
| | - Heon-Su Kim
- Department of Mechanical Engineering, Hanyang University, Seoul, South Korea
| | - Hak-Sung Kim
- faculty of the Department of Mechanical Engineering and the Institute of Nano Science and Technology, Hanyang University, Seoul, South Korea
| | - Pilwon Hur
- faculty of the School of Mechanical Engineering, Gwangju Institute of Science and Technology, Gwangju, South Korea
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15
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McGeehan MA, Adamczyk PG, Nichols KM, Hahn ME. A simulation-based analysis of the effects of variable prosthesis stiffness on interface dynamics between the prosthetic socket and residual limb. J Rehabil Assist Technol Eng 2022; 9:20556683221111986. [PMID: 35859652 PMCID: PMC9289901 DOI: 10.1177/20556683221111986] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/15/2021] [Accepted: 06/21/2022] [Indexed: 11/23/2022] Open
Abstract
Introduction: Loading of a residual limb within a prosthetic socket
can cause tissue damage such as ulceration. Computational simulations may be
useful tools for estimating tissue loading within the socket, and thus provide
insights into how prosthesis designs affect residual limb-socket interface
dynamics. The purpose of this study was to model and simulate residual
limb-socket interface dynamics and evaluate the effects of varied prosthesis
stiffness on interface dynamics during gait. Methods: A spatial contact model of a residual limb-socket interface
was developed and integrated into a gait model with a below-knee amputation.
Gait trials were simulated for four subjects walking with low, medium, and high
prosthesis stiffness settings. The effects of prosthesis stiffness on interface
kinematics, normal pressure, and shear stresses were evaluated. Results: Model-predicted values were similar to those reported
previously in sensor-based experiments; increased stiffness resulted in greater
average normal pressure and shear stress (p < 0.05). Conclusions: These methods may be useful to aid experimental studies
by providing insights into the effects of varied prosthesis design parameters or
gait conditions on residual limb-socket interface dynamics. The current results
suggest that these effects may be subject-specific.
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Affiliation(s)
| | - Peter G Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA
| | - Kieran M Nichols
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI, USA
| | - Michael E Hahn
- Department of Human Physiology, University of Oregon, Eugene, OR, USA
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16
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McGeehan MA, Adamczyk PG, Nichols KM, Hahn ME. A Computational Gait Model With a Below-Knee Amputation and a Semi-Active Variable-Stiffness Foot Prosthesis. J Biomech Eng 2021; 143:124502. [PMID: 34382638 PMCID: PMC10782860 DOI: 10.1115/1.4052108] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/25/2021] [Revised: 07/25/2021] [Indexed: 11/08/2022]
Abstract
INTRODUCTION Simulations based on computational musculoskeletal models are powerful tools for evaluating the effects of potential biomechanical interventions, such as implementing a novel prosthesis. However, the utility of simulations to evaluate the effects of varied prosthesis design parameters on gait mechanics has not been fully realized due to the lack of a readily-available limb loss-specific gait model and methods for efficiently modeling the energy storage and return dynamics of passive foot prostheses. The purpose of this study was to develop and validate a forward simulation-capable gait model with lower-limb loss and a semi-active variable-stiffness foot (VSF) prosthesis. METHODS A seven-segment 28-DoF gait model was developed and forward kinematics simulations, in which experimentally observed joint kinematics were applied and the resulting contact forces under the prosthesis evolved accordingly, were computed for four subjects with unilateral below-knee amputation walking with a VSF. RESULTS Model-predicted resultant ground reaction force (GRFR) matched well under trial-specific optimized parameter conditions (mean R2: 0.97, RMSE: 7.7% body weight (BW)) and unoptimized (subject-specific, but not trial-specific) parameter conditions (mean R2: 0.93, RMSE: 12% BW). Simulated anterior-posterior center of pressure demonstrated a mean R2 = 0.64 and RMSE = 14% foot length. Simulated kinematics remained consistent with input data (0.23 deg RMSE, R2 > 0.99) for all conditions. CONCLUSIONS These methods may be useful for simulating gait among individuals with lower-limb loss and predicting GRFR arising from gait with novel VSF prostheses. Such data are useful to optimize prosthesis design parameters on a user-specific basis.
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Affiliation(s)
- Michael A. McGeehan
- Department of Human Physiology, University of Oregon, 181 Esslinger Hall, 1525 University St., Eugene, OR 97403
| | - Peter G. Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, Room 3039, Mechanical Engineering Building 1513 University Ave., Madison, WI 53706-1539
| | - Kieran M. Nichols
- Department of Mechanical Engineering, University of Wisconsin-Madison, Room 3039, Mechanical Engineering Building 1513 University Ave., Madison, WI 53706-1539
| | - Michael E. Hahn
- Department of Human Physiology, University of Oregon, 181 Esslinger Hall, 1525 University St., Eugene, OR 97403
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Gabert L, Tran M, Lenzi T. Design of an Underactuated Powered Ankle and Toe Prosthesis. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2021; 2021:4920-4923. [PMID: 34892311 DOI: 10.1109/embc46164.2021.9629842] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
Powered ankle/foot prostheses aim to replicate the biomechanical function of the missing biological limb. Biomechanical analysis shows that while the ankle injects positive energy into the gait cycle, the toe joint dissipates energy. Yet virtually all powered ankle/foot prostheses use custom ankle actuators in combination with carbon fiber foot springs to imitate the function of the missing ankle/foot complex. Here we introduce a powered ankle and toe prosthesis with an underactuated mechanism. The underactuated mechanism connects the toe and ankle joints, providing biomechanically accurate torque and enabling mechanical energy recovery during gait. The proposed powered ankle/toe prothesis is the first device to match the weight, size, and build height of microprocessor-controlled prostheses.
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18
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Design of 3D printable prosthetic foot to implement nonlinear stiffness behavior of human toe joint based on finite element analysis. Sci Rep 2021; 11:19780. [PMID: 34611178 PMCID: PMC8492630 DOI: 10.1038/s41598-021-98839-3] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/11/2021] [Accepted: 09/06/2021] [Indexed: 11/08/2022] Open
Abstract
Toe joint is known as one of the critical factors in designing a prosthetic foot due to its nonlinear stiffness characteristic. This stiffness characteristic provides a general feeling of springiness in the toe-off and it also affects the ankle kinetics. In this study, the toe part of the prosthetic foot was designed to improve walking performance. The toe joint was implemented as a single part suitable for 3D printing. The various shape factors such as curved shape, bending space, auxetic structure, and bending zone were applied to mimic human foot characteristics. The finite element analysis (FEA) was conducted to simulate terminal stance (from heel-off to toe-off) using the designed prosthetic foot. To find the structure with characteristics similar to the human foot, the optimization was performed based on the toe joint geometries. As a result, the optimized foot showed good agreement with human foot behavior in the toe torque-angle curve. Finally, the simulation conditions were validated by comparing with human walking data and it was confirmed that the designed prosthetic foot structure can implement the human foot function.
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19
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Nishikawa K, Huck TG. Muscle as a tunable material: implications for achieving muscle-like function in robotic prosthetic devices. J Exp Biol 2021; 224:272387. [PMID: 34605903 DOI: 10.1242/jeb.225086] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
An ideal prosthesis should perform as well as or better than the missing limb it was designed to replace. Although this ideal is currently unattainable, recent advances in design have significantly improved the function of prosthetic devices. For the lower extremity, both passive prostheses (which provide no added power) and active prostheses (which add propulsive power) aim to emulate the dynamic function of the ankle joint, whose adaptive, time-varying resistance to applied forces is essential for walking and running. Passive prostheses fail to normalize energetics because they lack variable ankle impedance that is actively controlled within each gait cycle. By contrast, robotic prostheses can normalize energetics for some users under some conditions. However, the problem of adaptive and versatile control remains a significant issue. Current prosthesis-control algorithms fail to adapt to changes in gait required for walking on level ground at different speeds or on ramps and stairs. A new paradigm of 'muscle as a tunable material' versus 'muscle as a motor' offers insights into the adaptability and versatility of biological muscles, which may provide inspiration for prosthesis design and control. In this new paradigm, neural activation tunes muscle stiffness and damping, adapting the response to applied forces rather than instructing the timing and amplitude of muscle force. A mechanistic understanding of muscle function is incomplete and would benefit from collaboration between biologists and engineers. An improved understanding of the adaptability of muscle may yield better models as well as inspiration for developing prostheses that equal or surpass the functional capabilities of biological limbs across a wide range of conditions.
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Affiliation(s)
- Kiisa Nishikawa
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
| | - Thomas G Huck
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
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20
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Ármannsdóttir AL, Lecomte C, Brynjólfsson S, Briem K. Task dependent changes in mechanical and biomechanical measures result from manipulating stiffness settings in a prosthetic foot. Clin Biomech (Bristol, Avon) 2021; 89:105476. [PMID: 34517194 DOI: 10.1016/j.clinbiomech.2021.105476] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 03/15/2021] [Revised: 08/28/2021] [Accepted: 09/03/2021] [Indexed: 02/07/2023]
Abstract
BACKGROUND Adaptation of lower limb function to different gait tasks is inherently not as effective among individuals with lower limb amputation as compared to able-bodied individuals. Varying stiffness of a prosthetic foot may be a way of facilitating gait tasks that require larger ankle joint range of motion. METHODS Three stiffness settings of a novel prosthetic foot design were tested for level walking at three speeds as well as for 7,5° incline and decline walking. Outcome measures, describing ankle range of motion and ankle dynamic joint stiffness were contrasted across the three stiffness settings. Standardized mechanical tests were done for the hindfoot and forefoot. FINDINGS Dorsiflexion angle was incrementally increased with a softer foot and a faster walking speed / higher degree of slope. The concurrent dynamic joint stiffness exhibited a less systematic change, especially during INCLINE and DECLINE walking. The small difference seen between the stiffness settings for hindfoot loading limits analysis for the effects of stiffness during weight acceptance, however, a stiffer foot significantly restricted plantarflexion during DECLINE. INTERPRETATIONS Varying stiffness settings within a prosthetic foot does have an effect on prosthetic foot dynamics, and differences are task dependent, specifically in parameters involving kinetic attributes. When considering the need for increased ankle range of motion while performing more demanding gait tasks, a foot that allows the users themselves to adjust stiffness according to the task at hand may be of benefit for active individuals, possibly enhancing the user's satisfaction and comfort during various daily activities.
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Affiliation(s)
- Anna L Ármannsdóttir
- Research Centre of Movement Science, University of Iceland, Sæmundargata 2, 102 Reykjavík, Iceland.
| | - Christophe Lecomte
- Faculty of Industrial Engineering, Mechanical Engineering and Computer Science, School of Engineering and Natural Sciences, University of Iceland, Sæmundargata 2, 102 Reykjavík, Iceland; Össur hf., Grjótháls 5, 110 Reykjavik, Iceland
| | | | - Kristín Briem
- Research Centre of Movement Science, University of Iceland, Sæmundargata 2, 102 Reykjavík, Iceland
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21
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Leestma JK, Fehr KH, Adamczyk PG. Adapting Semi-Active Prostheses to Real-World Movements: Sensing and Controlling the Dynamic Mean Ankle Moment Arm with a Variable-Stiffness Foot on Ramps and Stairs. SENSORS (BASEL, SWITZERLAND) 2021; 21:6009. [PMID: 34577219 PMCID: PMC8468528 DOI: 10.3390/s21186009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/01/2021] [Revised: 08/30/2021] [Accepted: 08/31/2021] [Indexed: 11/16/2022]
Abstract
(1) Background: Semi-active prosthetic feet can provide adaptation in different circumstances, enabling greater function with less weight and complexity than fully powered prostheses. However, determining how to control semi-active devices is still a challenge. The dynamic mean ankle moment arm (DMAMA) provides a suitable biomechanical metric, as its simplicity matches that of a semi-active device. However, it is unknown how stiffness and locomotion modes affect DMAMA, which is necessary to create closed-loop controllers for semi-active devices. In this work, we develop a method to use only a prosthesis-embedded load sensor to measure DMAMA and classify locomotion modes, with the goal of achieving mode-dependent, closed-loop control of DMAMA using a variable-stiffness prosthesis. We study how stiffness and ground incline affect the DMAMA, and we establish the feasibility of classifying locomotion modes based exclusively on the load sensor. (2) Methods: Human subjects walked on level ground, ramps, and stairs while wearing a variable-stiffness prosthesis in low-, medium-, and high-stiffness settings. We computed DMAMA from sagittal load sensor data and prosthesis geometric measurements. We used linear mixed-effects models to determine subject-independent and subject-dependent sensitivity of DMAMA to incline and stiffness. We also used a machine learning model to classify locomotion modes using only the load sensor. (3) Results: We found a positive linear sensitivity of DMAMA to stiffness on ramps and level ground. Additionally, we found a positive linear sensitivity of DMAMA to ground slope in the low- and medium-stiffness conditions and a negative interaction effect between slope and stiffness. Considerable variability suggests that applications of DMAMA as a control input should look at the running average over several strides. To examine the efficacy of real-time DMAMA-based control systems, we used a machine learning model to classify locomotion modes using only the load sensor. The classifier achieved over 95% accuracy. (4) Conclusions: Based on these findings, DMAMA has potential for use as a closed-loop control input to adapt semi-active prostheses to different locomotion modes.
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Affiliation(s)
- Jennifer K. Leestma
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (K.H.F.); (P.G.A.)
- Department of Biomedical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA
- George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA
- Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA 30332, USA
| | - Katherine Heidi Fehr
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (K.H.F.); (P.G.A.)
| | - Peter G. Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (K.H.F.); (P.G.A.)
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22
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Quraishi HA, Shepherd MK, McManus L, Harlaar J, Plettenburg DH, Rouse EJ. A passive mechanism for decoupling energy storage and return in ankle-foot prostheses: A case study in recycling collision energy. WEARABLE TECHNOLOGIES 2021; 2:e9. [PMID: 38486628 PMCID: PMC10936356 DOI: 10.1017/wtc.2021.7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/27/2020] [Revised: 04/28/2021] [Accepted: 05/07/2021] [Indexed: 03/17/2024]
Abstract
Individuals with lower limb amputation experience reduced ankle push-off work in the absence of functional muscles spanning the joint, leading to decreased walking performance. Conventional energy storage and return (ESR) prostheses partially compensate by storing mechanical energy during midstance and returning this energy during the terminal stance phase of gait. These prostheses can provide approximately 30% of the push-off work performed by a healthy ankle-foot during walking. Novel prostheses that return more normative levels of mechanical energy may improve walking performance. In this work, we designed a Decoupled ESR (DESR) prosthesis which stores energy usually dissipated at heel-strike and loading response, and returns this energy during terminal stance, thus increasing the mechanical push-off work done by the prosthesis. This decoupling is achieved by switching between two different cam profiles that produce distinct, nonlinear torque-angle mechanics. The cams automatically interchange at key points in the gait cycle via a custom magnetic switching system. Benchtop characterization demonstrated the successful decoupling of energy storage and return. The DESR mechanism was able to capture energy at heel-strike and loading response, and return it later in the gait cycle, but this recycling was not sufficient to overcome mechanical losses. In addition to its potential for recycling energy, the DESR mechanism also enables unique mechanical customizability, such as dorsiflexion during swing phase for toe clearance, or increasing the rate of energy release at push-off.
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Affiliation(s)
- Hashim A. Quraishi
- BioMechanical Engineering Department, Delft University of Technology, Delft, The Netherlands
- Department of Mechanical Engineering and Robotics Institute, University of Michigan, Michigan, USA
- Neurobionics Lab, University of Michigan, Michigan, USA
| | - Max K. Shepherd
- Neurobionics Lab, University of Michigan, Michigan, USA
- Department of Biomedical Engineering, Northwestern University, Illinois, USA
| | - Leo McManus
- Department of Mechanical Engineering and Robotics Institute, University of Michigan, Michigan, USA
- Neurobionics Lab, University of Michigan, Michigan, USA
| | - Jaap Harlaar
- BioMechanical Engineering Department, Delft University of Technology, Delft, The Netherlands
| | - Dick H. Plettenburg
- BioMechanical Engineering Department, Delft University of Technology, Delft, The Netherlands
| | - Elliott J. Rouse
- Department of Mechanical Engineering and Robotics Institute, University of Michigan, Michigan, USA
- Neurobionics Lab, University of Michigan, Michigan, USA
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23
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McGeehan MA, Adamczyk PG, Nichols KM, Hahn ME. A Reduced-Order Computational Model of a Semi-Active Variable-Stiffness Foot Prosthesis. J Biomech Eng 2021; 143:074503. [PMID: 33704375 PMCID: PMC8086177 DOI: 10.1115/1.4050456] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/22/2020] [Revised: 02/22/2021] [Indexed: 11/08/2022]
Abstract
Passive energy storage and return (ESR) feet are current performance standard in lower limb prostheses. A recently developed semi-active variable-stiffness foot (VSF) prosthesis balances the simplicity of a passive ESR device with the adaptability of a powered design. The purpose of this study was to model and simulate the ESR properties of the VSF prosthesis. The ESR properties of the VSF were modeled as a lumped parameter overhung beam. The overhung length is variable, allowing the model to exhibit variable ESR stiffness. Foot-ground contact was modeled using sphere-to-plane contact models. Contact parameters were optimized to represent the geometry and dynamics of the VSF and its foam base. Static compression tests and gait were simulated. Simulation outcomes were compared to corresponding experimental data. Stiffness of the model matched that of the physical VSF (R2: 0.98, root-mean-squared error (RMSE): 1.37 N/mm). Model-predicted resultant ground reaction force (GRFR) matched well under optimized parameter conditions (R2: 0.98, RMSE: 5.3% body weight,) and unoptimized parameter conditions (R2: 0.90, mean RMSE: 13% body weight). Anterior-posterior center of pressure matched well with R2 > 0.94 and RMSE < 9.5% foot length in all conditions. The ESR properties of the VSF were accurately simulated under benchtop testing and dynamic gait conditions. These methods may be useful for predicting GRFR arising from gait with novel prostheses. Such data are useful to optimize prosthesis design parameters on a user-specific basis.
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Affiliation(s)
- Michael A. McGeehan
- Department of Human Physiology, University of Oregon, 181 Esslinger Hall, 1525 University Street, Eugene, OR 97403
| | - Peter G. Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, Room 3039, Mechanical Engineering Building, 1513 University Avenue, Madison, WI 53706-1539
| | - Kieran M. Nichols
- Department of Mechanical Engineering, University of Wisconsin-Madison, Room 3039, Mechanical Engineering Building, 1513 University Avenue, Madison, WI 53706-1539
| | - Michael E. Hahn
- Department of Human Physiology, University of Oregon, 181 Esslinger Hall, 1525 University Street, Eugene, OR 97403
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24
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Olesnavage KM, Prost V, Johnson WB, Major MJ, Winter AG. Experimental Demonstration of the Lower Leg Trajectory Error Framework Using Physiological Data as Inputs. J Biomech Eng 2021; 143:031003. [PMID: 33006368 DOI: 10.1115/1.4048643] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/29/2019] [Indexed: 11/08/2022]
Abstract
While many studies have attempted to characterize the mechanical behavior of passive prosthetic feet to understand their influence on amputee gait, the relationship between mechanical design and biomechanical performance has not yet been fully articulated from a fundamental physics perspective. A novel framework, called lower leg trajectory error (LLTE) framework, presents a means of quantitatively optimizing the constitutive model of prosthetic feet to match a reference kinematic and kinetic dataset. This framework can be used to predict the required stiffness and geometry of a prosthesis to yield a desired biomechanical response. A passive prototype foot with adjustable ankle stiffness was tested by a unilateral transtibial amputee to evaluate this framework. The foot condition with LLTE-optimal ankle stiffness enabled the user to replicate the physiological target dataset within 16% root-mean-square (RMS) error. Specifically, the measured kinematic variables matched the target kinematics within 4% RMS error. Testing a range of ankle stiffness conditions from 1.5 to 24.4 N·m/deg with the same user indicated that conditions with lower LLTE values deviated the least from the target kinematic data. Across all conditions, the framework predicted the horizontal/vertical position, and angular orientation of the lower leg during midstance within 1.0 cm, 0.3 cm, and 1.5 deg, respectively. This initial testing suggests that prosthetic feet designed with low LLTE values could offer benefits to users. The LLTE framework is agnostic to specific foot designs and kinematic/kinetic user targets, and could be used to design and customize prosthetic feet.
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Affiliation(s)
- Kathryn M Olesnavage
- GEAR Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
| | - Victor Prost
- GEAR Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
| | - William Brett Johnson
- GEAR Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
| | - Matthew J Major
- Jesse Brown VA Medical Center, Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60208
| | - Amos G Winter
- GEAR Laboratory, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139
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25
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Bartlett HL, King ST, Goldfarb M, Lawson BE. A Semi-Powered Ankle Prosthesis and Unified Controller for Level and Sloped Walking. IEEE Trans Neural Syst Rehabil Eng 2021; 29:320-329. [PMID: 33400653 DOI: 10.1109/tnsre.2021.3049194] [Citation(s) in RCA: 13] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
This paper describes a semi-powered ankle prosthesis and corresponding unified controller that provides biomimetic behavior for level and sloped walking without requiring identification of ground slope or modulation of control parameters. The controller is based on the observation that healthy individuals maintain an invariant external quasi-stiffness (spring like behavior between the shank and ground) when walking on level and sloped terrain. Emulating an invariant external quasi-stiffness requires an ankle that can vary the set-point (i.e., equilibrium angle) of the ankle stiffness. A semi-powered ankle prosthesis that incorporates a novel constant-volume power-asymmetric actuator was developed to provide this behavior, and the unified controller was implemented on it. The device and unified controller were assessed on three subjects with transtibial amputations while walking on inclines, level ground, and declines. Experimental results suggest that the prosthesis and accompanying controller can provide a consistent external quasi-stiffness similar to healthy subjects across all tested ground slopes.
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26
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Tryggvason H, Starker F, Armannsdottir AL, Lecomte C, Jonsdottir F. Speed Adaptable Prosthetic Foot: Concept Description, Prototyping and Initial User Testing. IEEE Trans Neural Syst Rehabil Eng 2020; 28:2978-2986. [PMID: 33151884 DOI: 10.1109/tnsre.2020.3036329] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
This article presents a novel design of a prosthetic foot that features adaptable stiffness that changes according to the speed of ankle motion. The motivation is the natural graduation in stiffness of a biological ankle over a range of ambulation tasks. The device stiffness depends on rate of movement, ranging from a dissipating support at very slow walking speed, to efficient energy storage and return at normal walking speed. The objective here is to design a prosthetic foot that provides a compliant support for slow ambulation, without sacrificing the spring-like energy return beneficial in normal walking. The design is a modification of a commercially available foot and employs material properties to provide a change in stiffness. The velocity dependent properties of a non-Newtonian working fluid provide the rate adaptability. Material properties of components allow for a geometry shift that results in a coupling action, affecting the stiffness of the overall system. The function of an adaptive coupling was tested in linear motion. A prototype prosthetic foot was built, and the speed dependent stiffness measured mechanically. Furthermore, the prototype was tested by a user and body kinematics measured in gait analysis for varying walking speed, comparing the prototype to the original foot model (non-modified). Mechanical evaluation of stiffness shows increase in stiffness of about 60% over the test range and 10% increase between slow and normal walking speed in user testing.
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27
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Adamczyk PG. Ankle Control in Walking and Running: Speed- and Gait-Related Changes in Dynamic Mean Ankle Moment Arm. J Biomech Eng 2020; 142:071007. [PMID: 31891376 DOI: 10.1115/1.4045817] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/30/2019] [Indexed: 11/08/2022]
Abstract
The human foot-ankle complex uses heel-to-toe ground contact progression in walking, but primarily forefoot contact in high-speed running. This qualitative change in ankle control is clear to the runner, but current measures of ankle behavior cannot isolate the effect, and it is unknown how it changes across moderate speeds. We investigated this dynamic ankle control across a range of walking and running speeds using a new measure, the dynamic mean ankle moment arm (DMAMA): the ratio of sagittal ankle moment impulse to ground reaction force impulse on a single limb. We hypothesized that DMAMA would increase with speed in both walking and running, indicating more forefoot-dominated gait with ground reaction forces more anterior to the ankle. Human subjects walked (1.0-2.0 m/s) and ran (2.25-5.25 m/s) on an instrumented treadmill with motion capture and pressure insoles to estimate DMAMA. DMAMA decreased with increasing walking speed, then increased upon the transition to running, and increased further with increasing running speed. These results provide quantitative evidence that walking becomes more hindfoot-dominated as speed increases-similar to behavior during acceleration-and that running is more forefoot-dominated than walking. The instantaneous center of pressure (COP) at initial ground contact did not follow the same trends. The discrepancy highlights the value of DMAMA in summarizing ankle control across the whole stance phase. DMAMA may provide a useful outcome metric for evaluating biomimetic prostheses and for quantifying foot contact styles in running.
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Affiliation(s)
- Peter Gabriel Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706
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Mrazsko HX, Dekarske JT, Adamczyk PG. Design of a Variable Stiffness Pneumatic Ankle Prosthesis With Self-Recharging for Weightlifting Exercise. J Med Device 2020. [DOI: 10.1115/1.4047493] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
Abstract
With advances in prosthetic technology, functional intent has extended past basic support toward providing increased dynamic ability for daily and athletic use. Addressing a disparity between universality and complexity in sport-grade and energy-storage-and-return (ESR) prostheses, this paper presents a pneumatic transtibial ankle prosthesis concept with semi-active control of ankle stiffness to adjust the prosthesis' properties for a wider range of gym exercises. Functional validation of the device falls under specific scenarios including the parallel back squat weightlifting exercise. The prosthesis features 30 deg sagittal ankle range of motion and provides wireless adjustment of static air pressure via a smartphone app to transition between the force and stiffness demands of walking and weightlifting. This pneumatic system includes a self-replenishing feature, providing a practical solution for the variable air pressure demands of athletics and everyday use. The mechanical, pneumatic, and control systems of the prosthesis are therefore described. Biomechanical tests including the back squat were conducted with one transtibial amputee subject. The resultant kinematic analysis validated the functional goals of the device, including an increased range of ankle rotation and variable stiffness across three different cylinder pressure settings. The kinetic profiles of the amputated leg and the natural leg also reveal an improvement in bilateral symmetry compared to a standard ESR prosthesis. This prosthesis concept has the potential to help persons with amputation participate in a wider range of activities, by improving the versatility of current ESR and sport prostheses.
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Affiliation(s)
- Hannah X. Mrazsko
- Department of Biomedical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706
| | - Jason T. Dekarske
- Department of Biomedical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706
| | - Peter G. Adamczyk
- Department of Mechanical Engineering, University of Wisconsin-Madison, 1513 University Avenue, Madison, WI 53706
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Gao F, Liu G, Liang F, Liao WH. IMU-Based Locomotion Mode Identification for Transtibial Prostheses, Orthoses, and Exoskeletons. IEEE Trans Neural Syst Rehabil Eng 2020; 28:1334-1343. [PMID: 32286999 DOI: 10.1109/tnsre.2020.2987155] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/05/2022]
Abstract
Active transtibial prostheses, orthoses, and exoskeletons hold the promise of improving the mobility of lower-limb impaired or amputated individuals. Locomotion mode identification (LMI) is essential for these devices precisely reproducing the required function in different terrains. In this study, a terrain geometry-based LMI algorithm is proposed. The environment should be built according to the inclination grade of the ground. For example, when the inclination angle is between 7 degrees and 15 degrees, the environment should be a ramp. If the inclination angle is around 30 degrees, the environment is preferred to be equipped with stairs. Given that, the locomotion mode/terrain can be classified by the inclination grade. Besides, human feet always move along the surface of terrain to minimize the energy expenditure for transporting lower limbs and get the required foot clearance. Hence, the foot trajectory estimated by an IMU was used to derive the inclination grade of the terrain that we traverse to identify the locomotion mode. In addition, a novel trigger condition (an elliptical boundary) is proposed to activate the decision-making of the LMI algorithm before the next foot strike thus leaving enough time for performing preparatory work in the swing phase. When the estimated foot trajectory goes across the elliptical boundary, the decision-making will be executed. Experimental results show that the average accuracy for three healthy subjects and three below-knee amputees is 98.5% in five locomotion modes: level-ground walking, up slope, down slope, stair descent, and stair ascent. Besides, all the locomotion modes can be identified before the next foot strike.
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Sutrisno A, Braun DJ. How to run 50% faster without external energy. SCIENCE ADVANCES 2020; 6:eaay1950. [PMID: 32232147 PMCID: PMC7096173 DOI: 10.1126/sciadv.aay1950] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/28/2019] [Accepted: 01/03/2020] [Indexed: 06/10/2023]
Abstract
Technological innovations may enable next-generation running shoes to provide unprecedented mobility. But how could a running shoe increase the speed of motion without providing external energy? We found that the top speed of running may be increased more than 50% using a catapult-like exoskeleton device, which does not provide external energy. Our finding uncovers the hidden potential of human performance augmentation via unpowered robotic exoskeletons. Our result may lead to a new-generation of augmentation devices developed for sports, rescue operations, and law enforcement, where humans could benefit from increased speed of motion.
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Affiliation(s)
- Amanda Sutrisno
- Center for Rehabilitation Engineering and Assistive Technology, Advanced Robotics and Control Laboratory, Vanderbilt University, 2301 Vanderbilt Place, Nashville, TN 37235, USA
| | - David J. Braun
- Center for Rehabilitation Engineering and Assistive Technology, Advanced Robotics and Control Laboratory, Vanderbilt University, 2301 Vanderbilt Place, Nashville, TN 37235, USA
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31
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Use of Dynamic FEA for Design Modification and Energy Analysis of a Variable Stiffness Prosthetic Foot. APPLIED SCIENCES-BASEL 2020. [DOI: 10.3390/app10020650] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Different tasks and conditions in gait call for different stiffness of prosthetic foot devices. The following work presents a case study on design modifications of a prosthetic foot, aimed at variable stiffness of the device. The objective is a proof-of-concept, achieved by simulating the modifications using finite element modeling. Design changes include the addition of a controlled damping element, connected both in parallel and series to a system of springs. The aim is to change the stiffness of the device under dynamic loading, by applying a high damping constant, approaching force coupling for the given boundary conditions. The dynamic modelling simulates mechanical test methods used to measure load response in full roll-over of prosthetic feet. Activation of the element during loading of the foot justifies the damped effect. As damping is in contrast to the main design objectives of energy return in prosthetic feet, it is considered important to quantify the dissipated energy in such an element. Our design case shows that the introduction of a damping element, with a high damping constant, can increase the overall rotational stiffness of the device by 50%. Given a large enough damping coefficient, the energy dissipation in the active element is about 20% of maximum strain energy.
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Braun DJ, Chalvet V, Chong TH, Apte SS, Hogan N. Variable Stiffness Spring Actuators for Low-Energy-Cost Human Augmentation. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2929686] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Hedrick EA, Malcolm P, Wilken JM, Takahashi KZ. The effects of ankle stiffness on mechanics and energetics of walking with added loads: a prosthetic emulator study. J Neuroeng Rehabil 2019; 16:148. [PMID: 31752942 PMCID: PMC6873504 DOI: 10.1186/s12984-019-0621-x] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/28/2019] [Accepted: 11/07/2019] [Indexed: 02/08/2023] Open
Abstract
BACKGROUND The human ankle joint has an influential role in the regulation of the mechanics and energetics of gait. The human ankle can modulate its joint 'quasi-stiffness' (ratio of plantarflexion moment to dorsiflexion displacement) in response to various locomotor tasks (e.g., load carriage). However, the direct effect of ankle stiffness on metabolic energy cost during various tasks is not fully understood. The purpose of this study was to determine how net metabolic energy cost was affected by ankle stiffness while walking under different force demands (i.e., with and without additional load). METHODS Individuals simulated an amputation by using an immobilizer boot with a robotic ankle-foot prosthesis emulator. The prosthetic emulator was controlled to follow five ankle stiffness conditions, based on literature values of human ankle quasi-stiffness. Individuals walked with these five ankle stiffness settings, with and without carrying additional load of approximately 30% of body mass (i.e., ten total trials). RESULTS Within the range of stiffness we tested, the highest stiffness minimized metabolic cost for both load conditions, including a ~ 3% decrease in metabolic cost for an increase in stiffness of about 0.0480 Nm/deg/kg during normal (no load) walking. Furthermore, the highest stiffness produced the least amount of prosthetic ankle-foot positive work, with a difference of ~ 0.04 J/kg from the highest to lowest stiffness condition. Ipsilateral hip positive work did not significantly change across the no load condition but was minimized at the highest stiffness for the additional load conditions. For the additional load conditions, the hip work followed a similar trend as the metabolic cost, suggesting that reducing positive hip work can lower metabolic cost. CONCLUSION While ankle stiffness affected the metabolic cost for both load conditions, we found no significant interaction effect between stiffness and load. This may suggest that the importance of the human ankle's ability to change stiffness during different load carrying tasks may not be driven to minimize metabolic cost. A prosthetic design that can modulate ankle stiffness when transitioning from one locomotor task to another could be valuable, but its importance likely involves factors beyond optimizing metabolic cost.
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Affiliation(s)
- Erica A Hedrick
- Department of Biomechanics, University of Nebraska at Omaha, Omaha, NE, USA
| | - Philippe Malcolm
- Department of Biomechanics, University of Nebraska at Omaha, Omaha, NE, USA
| | - Jason M Wilken
- Department of Physical Therapy & Rehabilitation Science, University of Iowa, Iowa City, Iowa, USA
| | - Kota Z Takahashi
- Department of Biomechanics, University of Nebraska at Omaha, Omaha, NE, USA.
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Hedrick EA, Stanhope SJ, Takahashi KZ. The foot and ankle structures reveal emergent properties analogous to passive springs during human walking. PLoS One 2019; 14:e0218047. [PMID: 31173623 PMCID: PMC6555524 DOI: 10.1371/journal.pone.0218047] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/07/2019] [Accepted: 05/24/2019] [Indexed: 01/19/2023] Open
Abstract
An objective understanding of human foot and ankle function can drive innovations of bio-inspired wearable devices. Specifically, knowledge regarding how mechanical force and work are produced within the human foot-ankle structures can help determine what type of materials or components are required to engineer devices. In this study, we characterized the combined functions of the foot and ankle structures during walking by synthesizing the total force, displacement, and work profiles from structures distal to the shank. Eleven healthy adults walked at four scaled speeds. We quantified the ground reaction force and center-of-pressure displacement in the shank’s coordinate system during stance phase and the total mechanical work done by these structures. This comprehensive analysis revealed emergent properties of foot-ankle structures that are analogous to passive springs: these structures compressed and recoiled along the longitudinal axis of the shank, and performed near zero or negative net mechanical work across a range of walking speeds. Moreover, the subject-to-subject variability in peak force, total displacement, and work were well explained by three simple factors: body height, mass, and walking speed. We created a regression-based model of stance phase mechanics that can inform the design and customization of wearable devices that may have biomimetic or non-biomimetic structures.
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Affiliation(s)
- Erica A. Hedrick
- Department of Biomechanics, University of Nebraska at Omaha, Omaha, NE, United States of America
- * E-mail:
| | - Steven J. Stanhope
- Department of Kinesiology & Applied Physiology, University of Delaware, Newark, DE, United States of America
| | - Kota Z. Takahashi
- Department of Biomechanics, University of Nebraska at Omaha, Omaha, NE, United States of America
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