Статті в журналах: "Powered knee prosthese"

1

Shin, Hyunjun, Jinkuk Park, Huitae Lee, Sungyoon Jung, Mankee Jeon, and Sehoon Park. "Selective Passive/Active Switchable Knee Prosthesis Based on Multifunctional Rotary Hydraulic Cylinder for Transfemoral Amputees." Actuators 12, no. 3 (March 9, 2023): 118. http://dx.doi.org/10.3390/act12030118.

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Significant advances have been made in prostheses with the aim of enhancing the quality of life for transfemoral amputees. While commercially available transfemoral prostheses mainly focus on the developing passive prostheses that act only as dampers, academic research is centered round powered prostheses that can provide net-positive knee torque. Although recent active-powered prostheses have made excellent progress in terms of weight and battery life, it remains unclear if these prostheses can be effectively used in everyday life. This study presents a rotary hybrid prosthesis based on the combination of a multifunctional rotary hydraulic cylinder that is designed to operate as a brake, clutch, and damper with a 100 W active motor system. This prosthesis enables long-term level ground walking while supplying active power as needed. The passive and active components of this hybrid prosthesis are designed such that they can be decoupled when operated independently, allowing for quick switching between passive and active modes in 50–100 ms. The study outlines the aims and procedures for the design of rotary hybrid prostheses, as well as the feasibility tests for each module and the amputee’s clinical test on the developed knee prosthesis.

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Bhakta, Krishan, Jonathan Camargo, Pratik Kunapuli, Lee Childers, and Aaron Young. "Impedance Control Strategies for Enhancing Sloped and Level Walking Capabilities for Individuals with Transfemoral Amputation Using a Powered Multi-Joint Prosthesis." Military Medicine 185, Supplement_1 (December 9, 2019): 490–99. http://dx.doi.org/10.1093/milmed/usz229.

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ABSTRACT Introduction Powered prostheses are a promising new technology that may help people with lower-limb loss improve their ability to perform locomotion tasks. Developing active prostheses requires robust design methodologies and intelligent controllers to appropriately provide assistance to the user for varied tasks in different environments. The purpose of this study was to validate an impedance control strategy for a powered knee and ankle prosthesis using an embedded sensor suite of encoders and a six-axis load cell that would aid an individual in performing common locomotion tasks, such as level walking and ascending/descending slopes. Materials and Methods Three amputees walked on a treadmill and four amputees walked on a ramp circuit to test whether a dual powered knee and ankle prosthesis could generate appropriate device joint kinematics across users. Results Investigators found that tuning 2–3 subject-specific parameters per ambulation mode was necessary to render individualized assistance. Furthermore, the kinematic profiles demonstrate invariance to walking speeds ranging from 0.63 to 1.07 m/s and incline/decline angles ranging from 7.8° to 14°. Conclusion This work presents a strategy that requires minimal tuning for a powered knee & ankle prosthesis that scales across a nominal range of both walking speeds and ramp slopes.

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Eilenberg, Michael F., Jiun-Yih Kuan, and Hugh Herr. "Development and Evaluation of a Powered Artificial Gastrocnemius for Transtibial Amputee Gait." Journal of Robotics 2018 (2018): 1–15. http://dx.doi.org/10.1155/2018/5951965.

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Existing robotic transtibial prostheses provide only ankle joint actuation and do not restore biarticular function of the gastrocnemius muscle. This paper presents the first powered biarticular transtibial prosthesis, which is a combination of a commercial powered ankle-foot prosthesis and a motorized robotic knee orthosis. The orthosis is controlled to emulate the human gastrocnemius based on neuromuscular models of matched nonamputees. Together with the ankle-foot prosthesis, the devices provide biarticular actuation. We evaluate differences between this biarticular condition and a monoarticular condition with the orthosis behaving as a free-joint. Six participants with transtibial amputation walk with the prosthesis on a treadmill while motion, force, and metabolic data are collected and analyzed for differences between conditions. The biarticular prosthesis reduces affected-side biological knee flexion moment impulse and hip positive work during late-stance knee flexion, compared to the monoarticular condition. The data do not support our hypothesis that metabolism decreases for all participants, but some participants demonstrate large metabolic reductions with the biarticular condition. These preliminary results suggest that a powered artificial gastrocnemius may be capable of providing large metabolic reductions compared to a monoarticular prosthesis, but further study is warranted to determine an appropriate controller for achieving more consistent metabolic benefits.

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Eilenberg, Michael F., Ken Endo, and Hugh Herr. "Biomechanic and Energetic Effects of a Quasi-Passive Artificial Gastrocnemius on Transtibial Amputee Gait." Journal of Robotics 2018 (2018): 1–12. http://dx.doi.org/10.1155/2018/6756027.

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State-of-the-art transtibial prostheses provide only ankle joint actuation and thus do not provide the biarticular function of the amputated gastrocnemius muscle. We develop a prosthesis that actuates both knee and ankle joints and then evaluate the incremental effects of this prosthesis as compared to ankle actuation alone. The prosthesis employs a quasi-passive clutched-spring knee orthosis, approximating the largely isometric behavior of the biological gastrocnemius, and utilizes a commercial powered ankle-foot prosthesis for ankle joint functionality. Two participants with unilateral transtibial amputation walk with this prosthesis on an instrumented treadmill, while motion, force, and metabolic data are collected. Data are analyzed to determine differences between the biarticular condition with the activation of the knee orthosis and the monoarticular condition with the orthosis behaving as a free-joint. As hypothesized, the biarticular system is shown to reduce both affected-side knee and hip moment impulse and positive mechanical work in both participants during the late stance knee flexion phase of walking, compared to the monoarticular condition. The metabolic cost of walking is also reduced for both participants. These very preliminary results suggest that biarticular functionality may provide benefits beyond even those of the most advanced monoarticular prostheses.

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Lenzi, Tommaso, Marco Cempini, Levi Hargrove, and Todd Kuiken. "Design, development, and testing of a lightweight hybrid robotic knee prosthesis." International Journal of Robotics Research 37, no. 8 (July 2018): 953–76. http://dx.doi.org/10.1177/0278364918785993.

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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.

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Mendez, Joel, Sarah Hood, Andy Gunnel, and Tommaso Lenzi. "Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles." Science Robotics 5, no. 44 (July 22, 2020): eaba6635. http://dx.doi.org/10.1126/scirobotics.aba6635.

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Powered prostheses aim to mimic the missing biological limb with controllers that are finely tuned to replicate the nominal gait pattern of non-amputee individuals. Unfortunately, this control approach poses a problem with real-world ambulation, which includes tasks such as crossing over obstacles, where the prosthesis trajectory must be modified to provide adequate foot clearance and ensure timely foot placement. Here, we show an indirect volitional control approach that enables prosthesis users to walk at different speeds while smoothly and continuously crossing over obstacles of different sizes without explicit classification of the environment. At the high level, the proposed controller relies on a heuristic algorithm to continuously change the maximum knee flexion angle and the swing duration in harmony with the user’s residual limb. At the low level, minimum-jerk planning is used to continuously adapt the swing trajectory while maximizing smoothness. Experiments with three individuals with above-knee amputation show that the proposed control approach allows for volitional control of foot clearance, which is necessary to negotiate environmental barriers. Our study suggests that a powered prosthesis controller with intrinsic, volitional adaptability may provide prosthesis users with functionality that is not currently available, facilitating real-world ambulation.

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7

Shen, Kaixin, Qing Wei, Yongshang Huang, and Hongxu Ma. "Continuous instinct control for powered knee-ankle prostheses." MATEC Web of Conferences 309 (2020): 04011. http://dx.doi.org/10.1051/matecconf/202030904011.

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In order to improve the life quality of lower extremity amputees, many researchers have studied the powered knee-ankle prosthesis. Various parameters must necessarily be adjusted for the finite state machine impedance model method. Hybrid zero-dynamic (HZD) assumptions are ideal, and with this method measurement information of existing sensors can be limited. The virtual constraint method offers better comprehensive performance at present and can realize the continuous control for the whole gait cycle. The problem with virtual constraint is mainly the selection of phase variables. The joint trajectory of the virtual constraint is derived from a healthy individual, but the joint trajectory of the amputee’s normal walking is difficult to obtain. In response to the above problems, this paper proposes an instinctive human joint trajectory, selecting the phase variable associated with the hip joint angle and angular velocity. The Fourier transform solves the expression of the joint trajectory, and the virtual constraint unifies the control method of the entire gait cycle. The simulation results prove the feasibility of the scheme.

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8

Liu, Ming, Philip Datseris, and He Helen Huang. "A Prototype for Smart Prosthetic Legs-Analysis and Mechanical Design." Advanced Materials Research 403-408 (November 2011): 1999–2006. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.1999.

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In this paper, we designed a prototype of powered above-knee prosthesis. Compared with other prototypes available in the literature, our designed prosthetic leg employs a redundant actuator concept to overcome the challenge faced by the single-motor transmission systems. The redundant actuator also enables the prosthesis to be partially functional when the prosthesis loses power. Finally, in order to provide optimal control parameters for designed above-knee prosthesis to perform a smooth level-ground walking task, an inverse dynamic model based on Kane’s method is constructed.

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Wu, Molei, Md Rejwanul Haque, and Xiangrong Shen. "Obtaining Natural Sit-to-Stand Motion with a Biomimetic Controller for Powered Knee Prostheses." Journal of Healthcare Engineering 2017 (2017): 1–6. http://dx.doi.org/10.1155/2017/3850351.

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Standing up from a seated position is a common activity in people’s daily life. However, for transfemoral (i.e., above-knee) amputees fitted with traditional passive prostheses, the sit-to-stand (STS) transition is highly challenging, due to the inability of the prosthetic joints in generating torque and power output. In this paper, the authors present a new STS control approach for powered lower limb prostheses, which is able to regulate the power delivery of the prosthetic knee joint to obtain natural STS motion similar to that displayed by healthy subjects. Mimicking the dynamic behavior of the knee in the STS, a unified control structure provides the desired control actions by combining an impedance function with a time-based ramp-up function. The former provides the gradual energy release behavior desired in the rising phase, while the latter provides the gradual energy injection behavior desired in the loading phase. This simple and intuitive control structure automates the transition between the two phases, eliminating the need for explicit phase transition and facilitating the implementation in powered prostheses. Human testing results demonstrated that this new control approach is able to generate a natural standing-up motion, which is well coordinated with the user’s healthy-side motion in the STS process.

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10

Lawson, Brian E., and Michael Goldfarb. "Impedance & Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses." Mechanical Engineering 136, no. 09 (September 1, 2014): S12—S17. http://dx.doi.org/10.1115/9.2014-sep-6.

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This article presents and compares two different control systems for a powered knee and ankle prosthesis for transfemoral amputees, which were constructed to provide the user a safe, intuitive, and well-coordinated interaction with the prosthesis. The piecewise-passive impedance (PPI) controller utilizes only impedance-like behaviors, while the second – a hybrid impedance-admittance (HIA) controller – utilizes both impedance-like and admittance-like behaviors in a hybrid approach. The HIA approach maintains many of the desirable characteristics of the PPI controller while also reducing the number of selectable control parameters. The HIA approach essentially incorporates the PPI control structure during the early and middle stance phases of gait, and a trajectory tracking control approach in terminal stance and swing. These controllers were implemented on a powered knee and ankle prosthesis and tested in walking trials by a transfemoral amputee. Data from these trials indicate that both controllers achieve comparable performance with respect to healthy subject data, despite some substantial structural differences between the two.

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11

Kim, Won-Sik, Seuk-Yun Kim, and Young-Sam Lee. "Development of a Powered Knee Prosthesis using a DC Motor." Journal of Institute of Control, Robotics and Systems 20, no. 2 (February 1, 2014): 193–99. http://dx.doi.org/10.5302/j.icros.2014.13.1977.

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Tran, Minh, Lukas Gabert, Marco Cempini, and Tommaso Lenzi. "A Lightweight, Efficient Fully Powered Knee Prosthesis With Actively Variable Transmission." IEEE Robotics and Automation Letters 4, no. 2 (April 2019): 1186–93. http://dx.doi.org/10.1109/lra.2019.2892204.

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13

Al Kouzbary, Mouaz, Hamza Al Kouzbary, Jingjing Liu, Taha Khamis, Zaina Al-Hashimi, Hanie Nadia Shasmin, Nooranida Arifin, and Noor Azuan Abu Osman. "Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm." Actuators 11, no. 9 (September 1, 2022): 253. http://dx.doi.org/10.3390/act11090253.

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A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of high reduction ratio and efficiency, the harmonic drive cannot be back-driven. Therefore, the harmonic drive is not an optimal solution for prosthetic systems with direct and indirect contact with the environment. In this paper, we outline an initial design of robotic knee prosthesis. The proposed robotic knee prosthesis consists of BLDC motor, cycloidal gear with reduction ratio 13:1, four-bar mechanism, and timing belt transmission with 4:1 reduction ratio. To optimize the torque transmission and range of motion (RoM), a multiobjective optimization problem must be undertaken. The end-effector motion depends on each bar length in the four-bar mechanism. The four-bar mechanism was optimized using particle swarm optimization (PSO). To complete the optimization, a set of 50 steps was collected using wearable sensors. Then, the data of sagittal plan were processed to identify the target profile for PSO. The prototype’s computer-aided manufacturing (CAM) was completed using a MarkTwo 3D printer with carbon fiber composite. The overall design can achieve a maximum torque of 84 N.m. However, the current design lacks the elastic component (no spring is added on the actuator output), which is necessary for a functional prosthesis; this limitation will be addressed in future study.

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Yuan, Kebin, Jinying Zhu, Qining Wang, and Long Wang. "Finite-State Control of Powered Below-Knee Prosthesis with Ankle and Toe." IFAC Proceedings Volumes 44, no. 1 (January 2011): 2865–70. http://dx.doi.org/10.3182/20110828-6-it-1002.03064.

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Liu, Xingyu, Qing Wei, Hongxu Ma, Honglei An, and Yi Liu. "Muscle Selection Using ICA Clustering and Phase Variable Method for Transfemoral Amputees Estimation of Lower Limb Joint Angles." Machines 10, no. 10 (October 17, 2022): 944. http://dx.doi.org/10.3390/machines10100944.

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Surface electromyography(sEMG) signals are used extensively in the study of lower limb locomotion, capturing and extracting information from various lower limb muscles as input for powered prostheses. Many transfemoral amputees have their lower limbs completely removed below the knee due to disease, accident or trauma. The patients only have the muscles of the thigh and cannot use the muscles of the lower leg as a signal source for sEMG. In addition, wearing sEMG sensors can cause discomfort to the wearer. Therefore, the number of sensors needs to be minimized while ensuring recognition accuracy. In this paper, we propose a novel framework to select the position of sensors and predict joint angles according to the sEMG signals from thigh muscles. Specifically, a method using ICA clustering is proposed to statistically analyze the similarity between muscles. Additionally, a mapping relationship between sEMG and lower limb joint angles is established by combining the BP network and phase variable method, compared with the mapping using only neural networks. The results show that the proposed method has higher estimation accuracy in most of the combinations. The best muscle combination is vastus lateralis (VL) + biceps femoris (BF) + gracilis (GC) ( = 0.989, = 0.985). The proposed method will be applied to lower limb-powered prostheses for continuous bioelectric control.

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Zhang, Fan, Ming Liu, and He Huang. "Effects of Locomotion Mode Recognition Errors on Volitional Control of Powered Above-Knee Prostheses." IEEE Transactions on Neural Systems and Rehabilitation Engineering 23, no. 1 (January 2015): 64–72. http://dx.doi.org/10.1109/tnsre.2014.2327230.

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Zhang, Fan, Ming Liu, and He Huang. "Investigation of Timing to Switch Control Mode in Powered Knee Prostheses during Task Transitions." PLOS ONE 10, no. 7 (July 21, 2015): e0133965. http://dx.doi.org/10.1371/journal.pone.0133965.

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Russell Esposito, Elizabeth, and Jason M. Wilken. "Biomechanical risk factors for knee osteoarthritis when using passive and powered ankle–foot prostheses." Clinical Biomechanics 29, no. 10 (December 2014): 1186–92. http://dx.doi.org/10.1016/j.clinbiomech.2014.09.005.

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Quintero, David, Emma Reznick, Daniel J. Lambert, Siavash Rezazadeh, Leslie Gray, and Robert D. Gregg. "Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study." IEEE Journal of Translational Engineering in Health and Medicine 6 (2018): 1–9. http://dx.doi.org/10.1109/jtehm.2018.2880199.

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Hameed, Mohammed Ismael, Ahmed Abdul Hussein Ali, and Mohammed S. Saleh. "Design and kinematic investigation of an actuated prosthetic ankle during walking." Eastern-European Journal of Enterprise Technologies 5, no. 7 (119) (October 31, 2022): 68–75. http://dx.doi.org/10.15587/1729-4061.2022.265736.

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Due to the varied needs of persons who have lost a lower limb in their everyday lives, ankle-foot prosthetic technology is continually evolving. Numerous prosthetic ankles have been created in recent years to restore the ankle function of lower limb amputees. Most ankle foot prostheses, on the other hand, are passive, such as the solid ankle cushion heel and the energy storage and release foot (ESAR). The solid ankle foot can only provide steady vertical support during ambulation; however, the ESAR foot can store energy and gradually release it throughout human walking periods, hence increasing the walking pace of amputees. The aim of this work is to describe the design and manufacture of an actuated ankle-foot prosthesis. The main benefit of powered ankles is that they are capable of mimicking natural stride, particularly in steep or uneven terrain conditions. The primary objective is to establish two degrees of freedom of ankle rotation in two planes, plantar flexion and dorsiflexion in the sagittal plane, besides inversion and eversion in the frontal plane. As software can improve the gait stability, an automatic modifiable transmission arrangement was prepared for delivering the current design motions in the sagittal plane based on empirical collected biomechanical data related to passive prosthetic normal gait circumstances. However, the ankle rolling in the frontal plane was guided mechanically by means of mono leaf spring. The majority of the ankle mechanical components are made of 7075-T6 aluminum alloy and are integrated onto ESAR carbon fiber laminated foot. For a unilateral above-knee amputee, the ankle function at self-selected walking was assessed, achieving maximum results of 10° inversion, 10° eversion, 12° plantar flexion and 18° dorsiflexion ankle angles. Also, the patient gait experiment in a normal cadence showed an improvement in plantar flexion behavior for the powered ankle in contrast with the passive ankle

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21

Wang, Shutang, Minghui He, Bingjuan Weng, Lihui Gan, Yingru Zhao, Ning Li, and Yannan Xie. "Stretchable and Wearable Triboelectric Nanogenerator Based on Kinesio Tape for Self-Powered Human Motion Sensing." Nanomaterials 8, no. 9 (August 24, 2018): 657. http://dx.doi.org/10.3390/nano8090657.

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Recently, wearable, self-powered, active human motion sensors have attracted a great deal of attention for biomechanics, physiology, kinesiology, and entertainment. Although some progress has been achieved, new types of stretchable and wearable devices are urgently required to promote the practical application. In this article, targeted at self-powered active human motion sensing, a stretchable, flexible, and wearable triboelectric nanogenerator based on kinesio tapes (KT-TENG) haven been designed and investigated systematically. The device can effectively work during stretching or bending. Both the short-circuit transferred charge and open-circuit voltage exhibit an excellent linear relationship with the stretched displacements and bending angles, enabling its application as a wearable self-powered sensor for real-time human motion monitoring, like knee joint bending and human gestures. Moreover, the KT-TENG shows good stability and durability for long-term operation. Compared with the previous works, the KT-TENG without a macro-scale air gap inside, or stretchable triboelectric layers, possesses various advantages, such as simple fabrication, compact structure, superior flexibility and stability, excellent conformable contact with skin, and wide-range selection of triboelectric materials. This work provides a new prospect for a wearable, self-powered, active human motion sensor and has numerous potential applications in the fields of healthcare monitoring, human-machine interfacing, and prosthesis developing.

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Sup, Frank, Huseyin Atakan Varol, and Michael Goldfarb. "Upslope Walking With a Powered Knee and Ankle Prosthesis: Initial Results With an Amputee Subject." IEEE Transactions on Neural Systems and Rehabilitation Engineering 19, no. 1 (February 2011): 71–78. http://dx.doi.org/10.1109/tnsre.2010.2087360.

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Quintero, David, Dario J. Villarreal, Daniel J. Lambert, Susan Kapp, and Robert D. Gregg. "Continuous-Phase Control of a Powered Knee–Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines." IEEE Transactions on Robotics 34, no. 3 (June 2018): 686–701. http://dx.doi.org/10.1109/tro.2018.2794536.

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Elery, Toby, Siavash Rezazadeh, Christopher Nesler, and Robert D. Gregg. "Design and Validation of a Powered Knee–Ankle Prosthesis With High-Torque, Low-Impedance Actuators." IEEE Transactions on Robotics 36, no. 6 (December 2020): 1649–68. http://dx.doi.org/10.1109/tro.2020.3005533.

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Simon, Ann M., Kimberly A. Ingraham, Nicholas P. Fey, Suzanne B. Finucane, Robert D. Lipschutz, Aaron J. Young, and Levi J. Hargrove. "Configuring a Powered Knee and Ankle Prosthesis for Transfemoral Amputees within Five Specific Ambulation Modes." PLoS ONE 9, no. 6 (June 10, 2014): e99387. http://dx.doi.org/10.1371/journal.pone.0099387.

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Li, Zebin, Lifu Gao, Wei Lu, Daqing Wang, Huibin Cao, and Gang Zhang. "Estimation of Knee Extension Force Using Mechanomyography Signals Based on GRA and ICS-SVR." Sensors 22, no. 12 (June 20, 2022): 4651. http://dx.doi.org/10.3390/s22124651.

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During lower-extremity rehabilitation training, muscle activity status needs to be monitored in real time to adjust the assisted force appropriately, but it is a challenging task to obtain muscle force noninvasively. Mechanomyography (MMG) signals offer unparalleled advantages over sEMG, reflecting the intention of human movement while being noninvasive. Therefore, in this paper, based on MMG, a combined scheme of gray relational analysis (GRA) and support vector regression optimized by an improved cuckoo search algorithm (ICS-SVR) is proposed to estimate the knee joint extension force. Firstly, the features reflecting muscle activity comprehensively, such as time-domain features, frequency-domain features, time–frequency-domain features, and nonlinear dynamics features, were extracted from MMG signals, and the relational degree was calculated using the GRA method to obtain the correlation features with high relatedness to the knee joint extension force sequence. Then, a combination of correlated features with high relational degree was input into the designed ICS-SVR model for muscle force estimation. The experimental results show that the evaluation indices of the knee joint extension force estimation obtained by the combined scheme of GRA and ICS-SVR were superior to other regression models and could estimate the muscle force with higher estimation accuracy. It is further demonstrated that the proposed scheme can meet the need of muscle force estimation required for rehabilitation devices, powered prostheses, etc.

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Ma, Teng, Yuxuan Wang, Xinxing Chen, Chuheng Chen, Zhimin Hou, Haoyong Yu, and Chenglong Fu. "Corrections to “A Piecewise Monotonic Smooth Phase Variable for Speed-Adaption Control of Powered Knee-Ankle Prostheses”." IEEE Robotics and Automation Letters 7, no. 4 (October 2022): 11475. http://dx.doi.org/10.1109/lra.2022.3201957.

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Park, Kiwon, Hyoung-Jong Ahn, Kwang-Hee Lee, and Chul-Hee Lee. "Development and Performance Verification of a Motorized Prosthetic Leg for Stair Walking." Applied Bionics and Biomechanics 2020 (October 27, 2020): 1–14. http://dx.doi.org/10.1155/2020/8872362.

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The present study emphasized on the optimal design of a motorized prosthetic leg and evaluation of its performance for stair walking. Developed prosthetic leg includes two degrees of freedom on the knee and ankle joint designed using a virtual product development process for better stair walking. The DC motor system was introduced to imitate gait motion in the knee joint, and a spring system was applied at the ankle joint to create torque and flexion angle. To design better motorized prosthetic leg, unnecessary mass was eliminated via a topology optimization process under a complex walking condition in a boundary considered condition and aluminum alloy for lower limb and plastic nylon through 3D printing foot which were used. The structural safety of a developed prosthetic leg was validated via finite element analysis under a variety of walking conditions. In conclusion, the motorized prosthetic leg was optimally designed while maintaining structural safety under boundary conditions based on the human walking data, and its knee motions were synchronized with normal human gait via a PD controller. The results from this study about powered transfemoral prosthesis might help amputees in their rehabilitation process. Furthermore, this research can be applied to the area of biped robots that try to mimic human motion.

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Bhakta, Krishan, Jonathan Camargo, William Compton, Kinsey Herrin, and Aaron Young. "Evaluation of Continuous Walking Speed Determination Algorithms and Embedded Sensors for a Powered Knee & Ankle Prosthesis." IEEE Robotics and Automation Letters 6, no. 3 (July 2021): 4820–26. http://dx.doi.org/10.1109/lra.2021.3068711.

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Simon, Ann M., Kimberly A. Ingraham, John A. Spanias, Aaron J. Young, Suzanne B. Finucane, Elizabeth G. Halsne, and Levi J. Hargrove. "Delaying Ambulation Mode Transition Decisions Improves Accuracy of a Flexible Control System for Powered Knee-Ankle Prosthesis." IEEE Transactions on Neural Systems and Rehabilitation Engineering 25, no. 8 (August 2017): 1164–71. http://dx.doi.org/10.1109/tnsre.2016.2613020.

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Rezazadeh, Siavash, David Quintero, Nikhil Divekar, Emma Reznick, Leslie Gray, and Robert D. Gregg. "A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis." IEEE Access 7 (2019): 109840–55. http://dx.doi.org/10.1109/access.2019.2933614.

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Tran, Minh, Lukas Gabert, and Tommaso Lenzi. "Analysis and Validation of Sensitivity in Torque-Sensitive Actuators." Actuators 12, no. 2 (February 14, 2023): 80. http://dx.doi.org/10.3390/act12020080.

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Анотація:

Across different fields within robotics, there is a great need for lightweight, efficient actuators with human-like performance. Linkage-based passive variable transmissions and torque-sensitive transmissions have emerged as promising solutions to meet this need by significantly increasing actuator efficiency and power density, but their modeling and analysis remain an open research topic. In this paper, we introduce the sensitivity between input displacement and output torque as a key metric to analyze the performance of these complex mechanisms in dynamic tasks. We present the analytical model of sensitivity in the context of two different torque-sensitive transmission designs, and used this sensitivity metric to analyze the differences in their performance. Experiments with these designs implemented within a powered knee prosthesis were conducted, and results validated the sensitivity model as well as its role in predicting actuators’ dynamic performance. Together with other design methods, sensitivity analysis is a valuable tool for designers to systematically analyze and create transmission systems capable of human-like physical behavior.

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Nepomuceno, Fábio Gondim, Geceane Dias, Pascally Maria Aparecida Guerra de Araujo, Líbia de Souza Conrado Oliveira, Marcus Vinícius Lia Fook, and Ana Cristina Figueiredo de Melo Costa. "Chitosan/vancomycin antibacterial hydrogel for application in knee prostheses." Research, Society and Development 11, no. 3 (March 7, 2022): e25911326646. http://dx.doi.org/10.33448/rsd-v11i3.26646.

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Chitosan hydrogels stand out for being an adhesive matrix, which presents biocompatibility, antibacterial and osteogenic properties, biodegradability, non-toxicity, capable of retaining, releasing, and distributing therapeutic agents (drugs) at the application site. Therefore, new strategies in the field of orthopedics have focused, above all, on limiting the initial preoperative and postoperative microbial adhesion to implant surfaces, modifying these surfaces, protecting them from eventual adhesions or releasing the antimicrobial agent. The production of chitosan-based hydrogels has been achieved through physical and chemical cross-linking routes. In this context, this research aimed to develop an antibacterial hydrogel based on chitosan and vancomycin for application in total knee arthroplasty and to prevent bacterial infections. For that, three crosslinking procedures of chitosan with genipin were investigated to obtain the hydrogels and drug delivery. For this purpose, initially, the raw materials chitosan, genipin and vancomycin were characterized by infrared spectroscopy (FTIR), scanning electron microscopy (SEM), X-ray diffraction (XRD), pHmetry (pH) and microbiological tests. From the chemical crosslinking procedures evaluated, the drug release was investigated, and the hydrogels were characterized by FTIR, pH, viscosity, microbiology, and cytotoxicity. A new H5Q1GV hydrogel was obtained with good antibacterial activity, potentiated by the acidity of its pH 5.7, which showed good drug release in the first 4 hours after implantation, homogeneous, with ideal viscosity and adhesion for application through syringes in prosthesis surgery. knee and with excellent biocompatibility.

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Simon, Ann M., Nicholas P. Fey, Kimberly A. Ingraham, Suzanne B. Finucane, Elizabeth G. Halsne, and Levi J. Hargrove. "Improved Weight-Bearing Symmetry for Transfemoral Amputees During Standing Up and Sitting Down With a Powered Knee-Ankle Prosthesis." Archives of Physical Medicine and Rehabilitation 97, no. 7 (July 2016): 1100–1106. http://dx.doi.org/10.1016/j.apmr.2015.11.006.

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Sobh, Khaled Nedal Mahmoud, Nasrul Anuar Abd Razak, and Noor Azuan Abu Osman. "Investigation of EMG parameter for transtibial prosthetic user with flexion and extension of the knee and normal walking gait: A preliminary study." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 235, no. 4 (January 30, 2021): 419–27. http://dx.doi.org/10.1177/0954411920985753.

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Electromyography signal has been used widely as input for prosthetic’s leg movements. C-Leg, for example, is among the prosthetics devices that use electromyography as the main input. The main challenge facing the industrial party is the position of the electromyography sensor as it is fixed inside the socket. The study aims to investigate the best positional parameter of electromyography for transtibial prosthetic users for the device to be effective in multiple movement activities and compare with normal human muscle’s activities. DELSYS Trigno wireless electromyography instrument was used in this study to achieve this aim. Ten non-amputee subjects and two transtibial amputees were involved in this study. The surface electromyography signals were recorded from two anterior and posterior below the knee muscles and above the knee muscles, respectively: tibial anterior and gastrocnemius lateral head as well as rectus femoris and biceps femoris during two activities (flexion and extension of knee joint and gait cycle for normal walking). The result during flexion and extension activities for gastrocnemius lateral head and biceps femoris muscles was found to be more useful for the control subjects, while the tibial anterior and also gastrocnemius lateral head are more active for amputee subjects. Also, during normal walking activity for biceps femoris and gastrocnemius lateral head, it was more useful for the control subjects, while for transtibial amputee subject-1, the rectus femoris was the highest signal of the average normal walking activity (0.0001 V) compared to biceps femoris (0.00007 V), as for transtibial amputee subject-2, the biceps femoris was the highest signals of the average normal walking activity (0.0001 V) compared to rectus femoris (0.00004 V). So, it is difficult to rely entirely on the static positioning of the electromyography sensor within the socket as there is a possibility of the sensor to contact with inactive muscle, which will be a gap in the control, leading to a decrease in the functional efficiency of the powered prostheses.

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Lee, Huitae, Hyunseok Cho, jongkwon Kim, Jinkuk Park, Yoonhee Chang, Jungsun Kang, Jongmoon Choi, and Sehoon Park. "Development of a Hybrid-powered Knee and Ankle Prosthesis for Lower Limb Amputees Based on Brushless DC motors and Hydraulic Brakers." Journal of Institute of Control, Robotics and Systems 27, no. 10 (October 31, 2021): 769–75. http://dx.doi.org/10.5302/j.icros.2021.21.0081.

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Gyeong, Gi-Yeong, Jin-Geol Kim, and Young-Sam Lee. "The Structure of a Powered Knee Prosthesis based on a BLDC Motor and Impedance Control using Torque Estimation on Free Swing." Journal of Institute of Control, Robotics and Systems 21, no. 5 (May 1, 2015): 407–12. http://dx.doi.org/10.5302/j.icros.2015.15.9018.

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Ingraham, Kimberly A., Nicholas P. Fey, Ann M. Simon, and Levi J. Hargrove. "Assessing the Relative Contributions of Active Ankle and Knee Assistance to the Walking Mechanics of Transfemoral Amputees Using a Powered Prosthesis." PLOS ONE 11, no. 1 (January 25, 2016): e0147661. http://dx.doi.org/10.1371/journal.pone.0147661.

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Alves, Rafael Rosano Gotti, José Martins Juliano Eustáquio, Sandro Marcílio Pereira Gomes, Maria Laura Oliveira Morais, João Cesar Oliveira Morais, Amanda Vieira Sacardo, and Eduardo Rodrigues Parreira. "Thromboembolic event index after total knee arthroplasty with the use of tranexamic acid: an integrative review." Research, Society and Development 11, no. 15 (November 13, 2022): e160111537094. http://dx.doi.org/10.33448/rsd-v11i15.37094.

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Total knee arthroplasty (TKA) is a surgical procedure that consists of replacing the weight-bearing surfaces of the affected joint with a prosthesis, aiming at relieving pain and correcting deformities. Due to the inherent risk of venous thromboembolism, drugs are used for its prophylaxis. This integrative literature review aimed to analyze the complications involved in the use of tranexamic acid in patients undergoing total knee arthroplasty (TKA), specifically the thromboembolic events that occurred. Studies were selected from PubMed, SciELO, Medline and Thieme electronic databases. Eleven randomized clinical trials were included. The total number of patients included in the studies was 1.299 who underwent TKA. In total, seven thromboembolic events were recorded, thus occurring in 0.5% of the cases analyzed. Thus, the safety of the use of tranexamic acid is proven, so that 99.5% of the patients did not present thromboembolic events, with the index relative to positive cases being practically irrelevant. Thus, the concluion is that the drug is safe and effective to be used in this surgical procedure, in order to minimize bleeding, rarely resulting in thromboembolic events.

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Pransky, Joanne. "The Pransky interview: Dr. Hugh Herr – Professor, MIT Media Lab; Director, Biomechatronics Group and Co-director, MIT Center for Extreme Bionics; Founder, BionX Medical Technologies Inc." Industrial Robot: the international journal of robotics research and application 47, no. 6 (July 17, 2020): 795–99. http://dx.doi.org/10.1108/ir-06-2020-0115.

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Purpose The following paper is a “Q&A interview” conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry PhD-turned successful innovator and entrepreneur regarding the commercialization and challenges of bringing his technological inventions to market. This paper aims to discuss these issues. Design/methodology/approach Considered one of the top biomechatronics researchers in the world, Dr Hugh Herr heads the MIT Biomechatronics Research Group and Center for Extreme Bionics. His research programs seek to advance technologies that promise to accelerate the merging of body and machine, including device architectures that resemble the body’s musculoskeletal design, actuator technologies that behave like muscle and control methodologies that exploit principles of biological movement. Herr’s methods encompass a diverse set of scientific and technological disciplines that are advancing an emerging field of engineering science that applies principles of biomechanics and neural control to guide the designs of human rehabilitation and augmentative devices. Findings As a teenager, Herr was a highly competitive mountain climber until he had to have both legs amputated below the knees after suffering severe frostbite during a 1982 mountain expedition at the age of 17. As a result of this experience, he directed his efforts and talent to try to improve the mobility of people with disabilities. He graduated in physics in 1990 from the Millersville University (Pennsylvania). He subsequently earned a Master’s degree in Mechanical Engineering at the Massachusetts Institute of Technology (MIT) in 1993 and a PhD in Biophysics at Harvard University in 1998. He then was a postdoctoral fellow in medical devices at MIT. He was Assistant Professor at the Harvard-MIT Division of Health Sciences and Technology, Harvard Medical School. Since 2000, he has been heading the MIT Biomechatronics Group within the Media Lab and has been Co-directing the Lab’s Center for Extreme Bionics since 2014. To bring his inventions to market, Herr founded a spin-off company out of MIT under the name iWalk in 2007, which was relaunched as BionX Medical Technologies Inc. in 2015, and acquired by Ottobock in 2017. Originality/value Herr is a world leader and inventor in the field of bionics and biomechanics whose research accomplishments have already made a significant impact on physically challenged people. Herr has produced several groundbreaking products, starting with a computer-controlled artificial knee in 2003, called the Rheo Knee™ System and commercialized by Össur Inc. He also designed his own bionic lower legs, the world’s first powered ankle-foot prosthesis to emulate the action of a biological leg and, for the first time, provides amputees with a natural gait. The Empower ankle system is now marketed by Ottobock. He is presently working on NeuroEmbodied Design methodology to restore proprioception to amputees. Herr has received major accolades including the Popular Mechanics Breakthrough Leadership Award (2005), the Heinz Award for Technology, the Economy and Employment (2007) and R&D Magazine’s 14th Innovator of the Year Award (2014) and a No Barriers Lifetime Achievement Award at the 2013 No Barriers Summit. His innovations were listed twice among TIME magazine’s Top Ten Inventions (2004; 2007) and which called him “Leader of the Bionic Age” in 2011. His life story has been told in the book Second Ascent: The Story of Hugh Herr (1991) and in the film Ascent: The Story of Hugh Herr, made in 2002 by National Geographic. He is the author and co-author of more than 150 peer-reviewed papers and patents.

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Gagné, Oliver, Jaeyoung Kim, Kristin C. Caolo, Scott J. Ellis, Constantine A. Demetracopoulos, and Jonathan T. Deland. "Minimum 5-Year Outcomes of the Lateral Trabecular Metal Ankle Arthroplasty." Foot & Ankle Orthopaedics 7, no. 1 (January 2022): 2473011421S0002. http://dx.doi.org/10.1177/2473011421s00026.

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Category: Ankle; Ankle Arthritis Introduction/Purpose: The treatment of ankle arthritis has changed significantly with the recent advances in total ankle arthroplasty (TAR). Many different designs of TAR have been used around the world as the biomechanical technology advances and our understanding increases. Most implant system are anterior-based and have a flat cut on the tibial prosthesis. Only one implant, the Trabecular Metal (Zimmer-Biomet, Warsaw, IN), utilizes a lateral approach with a fibular osteotomy to gain access to the tibiotalar joint and a sagittally curved tibial component. Recent publications have described a higher reoperation rate with this implant system. This study aimed to report the 5-year clinical and radiographic outcome as well as the survivorship of the implant. Methods: Over a three-year period, two fellowship-trained foot and ankle surgeons used this implant system for patients indicated for TAR. A total of 38 patients were reviewed with an average age of 63.4+-8.6 years-old, BMI of 28.9+-4.6 and the majority (78%) had post-traumatic arthritis. Reoperations and revisions were collected prospectively as part of the local database. Patients participated in surveys preoperatively and at every annual follow-up which included the Foot and Ankle Outcome Score (FAOS). Patients were also evaluated with weightbearing radiographs preoperatively, at the 3 months postoperative and at the 5 year-mark. Those were analyzed by looking at the implant position with validated angles and comparing those over time. Further statistical analysis used paired t-test and Mann-Whitney U test. Results: The survivorship for our cohort was 92% at the 5-year mark. Three patients had the implant extracted at 12 and 15 months postoperative. Two of those patients had revisions to stemmed TARs and one had a below-knee amputation. Reoperations otherwise included 4 fibular hardware removal and 5 medial gutter debridement. As seen in Table 1, the FAOS improved significantly for all domains at 5-year compared to preoperative status. The Pain and Symptoms domains improved above than the MCID. The implant positioning both tibial coronal and sagittal as well as talar sagittal did not significantly change between 3 months and 5 years postoperative. Conclusion: This study describes the use of a laterally based Trabecular Metal TAR with great survivorship (92%) and clinically significant improvement in patient-reported outcomes. The rate of reoperation is higher due to prominent lateral hardware or poorly visualized medial gutters and revisions had to be performed through an anterior approach. Few other studies report 5-year outcomes from this prosthesis. There is a growing need to present more data from different centers to guide its ongoing clinical use.

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Lindsey, Benjamin B., Benjamin B. Lindsey, Shumaila Sarfani, and Clayton C. Bettin. "A Systematic Review of Third-Generation Total Talus Replacements." Foot & Ankle Orthopaedics 7, no. 1 (January 2022): 2473011421S0032. http://dx.doi.org/10.1177/2473011421s00321.

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Category: Hindfoot; Ankle Introduction/Purpose: Total talus replacement (TTR) has emerged as a novel treatment for talar avascular necrosis and severe trauma to the talus. Despite TTR first being described over 35 years ago, many questions still remain regarding the procedure. The objective of this study was to summarize the evidence on third-generation TTR's, focusing on surgical indications, surgical technique, prosthesis design, clinical outcomes, and postoperative complications. Methods: MEDLINE and EMBASE were queried and data abstraction was performed by 2 independent reviewers. Inclusion criteria for the articles were (1) peer-reviewed clinical studies with levels of evidence from I to IV, (2) with at least 5 patients, (3) reporting clinical outcomes of third-generation TTR's that were not done in conjunction with a total ankle arthroplasty, and (4) with a minimum clinical follow-up of at least 6 months. Results: Five studies met inclusion criteria for analysis including 101 ankles in 97 patients. The mean reported patient age was 52.8 years. The most common indication for TTR was avascular necrosis (86%), followed by trauma (10%), and tumor (4%). The mean follow up was 40 months. 98% of TTR's were performed through an anterior approach. There was significant variation in implant material, with 60% alumina ceramic, 27% cobalt chromium, 9% titanium, and 4% stainless steel. Only 3 studies obtained preoperative outcome measures, but these all demonstrated improvement at final follow up. Average dorsiflexion after TTR was 6.1 degrees and average plantarflexion was 35.1. Only 5% of ankles had complications requiring return to the operating room and only 2% of the total taluses were revised. Conclusion: While evidence is limited, short-term and mid-term results are promising for TTR as it demonstrates improvement in ankle function and has a low rate of revision. As the consequences of failure of a TTR are significant, including pantalar fusion or below knee amputation, higher quality studies and long-term results are needed to further evaluate this procedure.

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Brandt, Andrea, William Riddick, Jonathan Stallrich, Michael Lewek, and He Helen Huang. "Effects of extended powered knee prosthesis stance time via visual feedback on gait symmetry of individuals with unilateral amputation: a preliminary study." Journal of NeuroEngineering and Rehabilitation 16, no. 1 (September 11, 2019). http://dx.doi.org/10.1186/s12984-019-0583-z.

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Abstract Background Establishing gait symmetry is a major aim of amputee rehabilitation and may be more attainable with powered prostheses. Though, based on previous work, we postulate that users transfer a previously-learned motor pattern across devices, limiting the functionality of more advanced prostheses. The objective of this study was to preliminarily investigate the effect of increased stance time via visual feedback on amputees’ gait symmetry using powered and passive knee prostheses. Methods Five individuals with transfemoral amputation or knee disarticulation walked at their self-selected speed on a treadmill. Visual feedback was used to promote an increase in the amputated-limb stance time. Individuals were fit with a commercially-available powered prosthesis by a certified prosthetist and practiced walking during a prior visit. The same protocol was completed with a passive knee and powered knee prosthesis on separate days. We used repeated-measures, two-way ANOVA (alpha = 0.05) to test for significant effects of the feedback and device factors. Our main outcome measures were stance time asymmetry, peak anterior-posterior ground reaction forces, and peak anterior propulsion asymmetry. Results Increasing the amputated-limb stance time via visual feedback significantly improved the stance time symmetry (p = 0.012) and peak propulsion symmetry (p = 0.036) of individuals walking with both prostheses. With the powered knee prosthesis, the highest feedback target elicited 36% improvement in stance time symmetry, 22% increase in prosthesis-side peak propulsion, and 47% improvement in peak propulsion symmetry compared to a no feedback condition. The changes with feedback were not different with the passive prosthesis, and the main effects of device/ prosthesis type were not statistically different. However, subject by device interactions were significant, indicating individuals did not respond consistently with each device (e.g. prosthesis-side propulsion remained comparable to or was greater with the powered versus passive prosthesis for different subjects). Overall, prosthesis-side peak propulsion averaged across conditions was 31% greater with the powered prosthesis and peak propulsion asymmetry improved by 48% with the powered prosthesis. Conclusions Increasing prosthesis-side stance time via visual feedback favorably improved individuals’ temporal and propulsive symmetry. The powered prosthesis commonly enabled greater propulsion, but individuals adapted to each device with varying behavior, requiring further investigation.

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Tran, Minh, Lukas Gabert, Sarah Hood, and Tommaso Lenzi. "A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint." Science Robotics 7, no. 72 (November 23, 2022). http://dx.doi.org/10.1126/scirobotics.abo3996.

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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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Patrick, Shawanee', Namita Anil Kumar, Woolim Hong, and Pilwon Hur. "Biomechanical Impacts of Toe Joint With Transfemoral Amputee Using a Powered Knee-Ankle Prosthesis." Frontiers in Neurorobotics 16 (March 16, 2022). http://dx.doi.org/10.3389/fnbot.2022.809380.

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Transfemoral amputees are currently forced to utilize energetically passive prostheses that provide little to no propulsive work. Among the several joints and muscles required for healthy walking, the ones most vital for push-off assistance include the knee, ankle, and metatarsophalangeal (MTP) joints. There are only a handful of powered knee-ankle prostheses (also called powered transfemoral prostheses) in literature and few of them comprise a toe-joint. However, no one has researched the impact of toe-joint stiffness on walking with a power transfemoral prosthesis. This study is aimed at filling this gap in knowledge. We conducted a study with an amputee and a powered transfemoral prosthesis consisting of a spring loaded toe-joint. The prosthesis's toe-joint stiffness was varied between three values: 0.83 Nm/deg, 1.25 Nm/deg, and infinite (rigid). This study found that 0.83 Nm/deg stiffness reduced push-off assistance and resulted in compensatory movements that could lead to issues over time. While the joint angles and moments did not considerably vary across 1.25 Nm/deg and rigid stiffness, the latter led to greater power generation on the prosthesis side. However, the 1.25 Nm/deg joint stiffness resulted in the least power production from the intact side. We, thus, concluded that the use of a stiff toe-joint with a powered transfemoral prosthesis can reduce the cost of transport of the intact limb.

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Wu, Molei, Tad Driver, Sai-Kit Wu, and Xiangrong Shen. "Design and Preliminary Testing of a Pneumatic Muscle-Actuated Transfemoral Prosthesis." Journal of Medical Devices 8, no. 4 (August 19, 2014). http://dx.doi.org/10.1115/1.4026830.

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Providing powered joint actuation is a major focus of research in the lower-limb prosthesis area. The capability of actively powering the joints enables the prosthesis to meet the energetic requirements of locomotion, and thus provide higher performance in restoring the lost lower-limb functions in comparison with traditional passive prostheses. In this paper, a powered transfemoral (above-knee) prosthesis is presented, in which the knee and ankle are powered with pneumatic muscle actuators. A new variable-radius pulley-based mechanism is utilized, which enables the free adjustment of actuation torque curve to better match the desired torque curve as dictated by the locomotive requirements. Additionally, a spring-return mechanism is also incorporated, which replaces the muscle actuator in the “weak” (less torque-demanding) direction with a set of mechanical springs. With this mechanism, both knee and ankle joints can be powered while maintaining a compact profile of the prosthesis. The design details are presented, and the prosthesis is able to provide sufficient torque for an 85 kg user in various locomotion modes. A prototype of the prosthesis has been fabricated and tested, with the preliminary results indicating that this prosthesis is able to provide a walking gait similar to that of a healthy person.

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Ziemnicki, David M., Kirsty A. McDonald, Derek N. Wolf, Stephanie L. Molitor, Jeremiah B. Egolf, Mohh Gupta, and Karl E. Zelik. "Combining an Artificial Gastrocnemius and Powered Ankle Prosthesis: Effects On Transtibial Prosthesis User Gait." Journal of Biomechanical Engineering, January 20, 2023, 1–48. http://dx.doi.org/10.1115/1.4056706.

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Abstract Walking is more difficult for transtibial prosthesis users, partly due to a lack of calf muscle function. Powered ankle prostheses can partially restore calf muscle function, specifically push-off power from the soleus. But one limitation of a powered ankle is that emulating the soleus does not restore the multi-articular function of the gastrocnemius. This missing function may explain elevated hip and knee muscle demands observed in individuals walking on powered ankles. These elevated demands can make walking more fatiguing and impact mobility. Adding an Artificial Gastrocnemius to a powered ankle might improve gait for prosthesis users by reducing the prosthesis-side hip and knee demands. This work investigates if an Artificial Gastrocnemius reduced prosthesis-side hip or knee demands for individuals walking with a powered ankle providing high levels of push-off. We performed two case series studies that examined the effects that a passive elastic Artificial Gastrocnemius has on joint moment-impulses when prosthesis users walked with a powered ankle. We found that hip moment-impulse was reduced during stance when walking with an Artificial Gastrocnemius for six of seven participants. The Artificial Gastrocnemius effects on knee kinetics were variable and subject-specific, but in general, it did not reduce the knee flexor or extensor demands. The Artificial Gastrocnemius should be further explored to determine if reduced hip demands improve mobility or the user's quality of life by increasing the distance they can walk, increasing walking economy, or leading to increased physical activity or community engagement.

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Hood, Sarah, Suzi Creveling, Lukas Gabert, Minh Tran, and Tommaso Lenzi. "Powered knee and ankle prostheses enable natural ambulation on level ground and stairs for individuals with bilateral above-knee amputation: a case study." Scientific Reports 12, no. 1 (September 14, 2022). http://dx.doi.org/10.1038/s41598-022-19701-8.

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AbstractAmbulation with existing prostheses is extremely difficult for individuals with bilateral above-knee amputations. Commonly prescribed prostheses are passive devices that cannot replace the biomechanical functions of the missing biological legs. As a result, most individuals with bilateral above-knee amputations can only walk for short distances, have a high risk of falling, and are unable to ascend stairs with a natural gait pattern. Powered prostheses have the potential to address this issue by replicating the movements of the biological leg. Previous studies with individuals with bilateral above-knee amputations have shown that walking with powered prostheses is possible. However, stair ambulation requires different kinematics, kinetics, and power than walking. Therefore, it is not known whether powered prostheses can restore natural ambulation on stairs for bilateral above knee individuals. Here we show a case study with an individual with bilateral above-knee amputations using a pair of lightweight powered knee and ankle prostheses for walking and stair ambulation. The kinematic analysis shows that powered prostheses can restore natural leg movements, enabling the individual to walk and climb stairs using different gait patterns, such as step-over-step or step-by-step, one step or two steps at a time. The kinetic analysis shows that the powered prostheses can restore natural ankle push-off in walking and positive knee power generation in stair ascent, which are fundamental biomechanical functions of the missing biological legs. This case study is a first step towards enhancing functional mobility and quality of life for individuals with bilateral above-knee amputations through powered knee and ankle prostheses.

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Mohammadi, Alireza, and Robert D. Gregg. "Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves." Journal of Computational and Nonlinear Dynamics 14, no. 10 (September 9, 2019). http://dx.doi.org/10.1115/1.4043002.

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Abstract Achieving coordinated motion between transfemoral amputee patients and powered prosthetic joints is of paramount importance for powered prostheses control. In this article, we propose employing an algebraic curve representation of nominal human walking data for a powered knee prosthesis controller design. The proposed algebraic curve representation encodes the desired holonomic relationship between the human and the powered prosthetic joints with no dependence on joint velocities. For an impedance model of the knee joint motion driven by the hip angle signal, we create a continuum of equilibria along the gait cycle using a variable impedance scheme. Our variable impedance-based control law, which is designed using the parameter-dependent Lyapunov function framework, realizes the coordinated hip-knee motion with a family of spring and damper behaviors that continuously change along the human-inspired algebraic curve. In order to accommodate variability in the user's hip motion, we propose a computationally efficient radial projection-based algorithm onto the human-inspired algebraic curve in the hip-knee plane.

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Pickle, Nathaniel T., Alena M. Grabowski, Jana R. Jeffers, and Anne K. Silverman. "The Functional Roles of Muscles, Passive Prostheses, and Powered Prostheses During Sloped Walking in People With a Transtibial Amputation." Journal of Biomechanical Engineering 139, no. 11 (October 10, 2017). http://dx.doi.org/10.1115/1.4037938.

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Sloped walking is challenging for individuals with transtibial amputation (TTA) due to the functional loss of the ankle plantarflexors. Prostheses that actively generate ankle power may help to restore this lost function. The purpose of this study was to use musculoskeletal modeling and simulation to quantify the mechanical power delivered to body segments by passive and powered prostheses and the remaining muscles in the amputated and intact legs during sloped walking. We generated walking simulations from experimental kinematic and kinetic data on slopes of 0, ±3 deg and ±6 deg in eight people with a TTA using powered and passive prostheses and eight nonamputees. Consistent with our hypothesis, the amputated leg hamstrings generated more power to both legs on uphill slopes in comparison with nonamputees, which may have implications for fatigue or overuse injuries. The amputated leg knee extensors delivered less power to the trunk on downhill slopes (effect size (ES) ≥ 1.35, p ≤ 0.02), which may be due to muscle weakness or socket instability. The power delivered to the trunk from the powered and passive prostheses was not significantly different (p > 0.05), However, using the powered prosthesis on uphill slopes reduced the contributions from the amputated leg hamstrings in all segments (ES ≥ 0.46, p ≤ 0.003), suggesting that added ankle power reduces the need for the hamstrings to compensate for lost ankle muscle function. Neither prosthesis replaced gastrocnemius function to absorb power from the trunk and deliver it to the leg on all slopes.

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