Force transmission capacity of the lower limb during walking of amputees with bone-anchored prostheses compared with socket prostheses and persons with hip replacements.

BACKGROUND: Restoring the ability to walk with a prosthesis is considered a fundamental rehabilitation goal after transfemoral amputation. An essential prerequisite for achieving this goal is adequate force transmission between the prosthesis and the body. Does bone anchorage of an artificial limb permit a more normal force transmission? METHODS: Data of 15 healthy subjects, nine amputees fitted with bone-anchored prostheses, nine amputees using socket prostheses, and 18 patients with a total hip replacement were included in this multicenter, observational study. Ground reaction force was measured using Kistler force plates. Kinematics was recorded with 12 Vicon Bonita cameras. Subjects were instructed to walk at three different speeds: first at their self-selected, then at slow, and finally at fast speed. FINDINGS: Self-selected walking speeds of subject groups were significantly different, osseointegrated amputees walked the slowest. The lowest ground reaction force was measured for osseointegrated amputees on the prosthetic side, who also showed the highest force on their contralateral side. Patients with hip replacements showed values similar as healthy subjects. The vertical center of gravity movement was specific for each subject group. INTERPRETATION: The force transmission capacity of the bone-anchored prosthetic leg is limited during walking and is lower than both in socket prostheses users without symptoms and patients with total hip replacement. Therefore, active amputees well fitted with a socket prosthesis who consider a transition to bone-anchorage should be advised that their walking speed may decrease with high probability, and that their self-selected walking speed may even be slower than 3 km/h.

Differences in angular kinematics when using thigh, implant, or medial knee markers in osseointegrated transfemoral prosthetic gait.

BACKGROUND: The Helen Hayes anatomical model is commonly used in clinical gait analysis with standard medial/lateral knee and thigh markers. METHODS: To quantify soft-tissue artifacts associated with the thigh marker following osseointegration surgery, we added an "implant marker" on the implant extending from the femur, with the objective of identifying the differences in the angular kinematics when using the standard versus implant marker. One female adult with an osseointegrated transfemoral prosthesis walked overground for three trials, and common kinematic measures were calculated from motion capture data. FINDINGS: The results indicated that, when using the thigh marker, a peak of knee varus occurred during the swing phase on the prosthetic side, which is unusual during gait and not feasible for hinge joint prostheses. When using the implant marker, knee varus/valgus was closer to normative. Using the thigh marker, the results showed an internal hip rotation at the start of stance and during the mid and terminal swing phases. In contrast, external hip rotation occurred in both stance and swing phases using the implant marker. Moreover, when selecting the medial knee marker instead of the thigh marker, the angular kinematics and range of motion of knee varus/valgus and hip rotation were comparable to those for the implant marker. INTERPRETATION: This finding suggests that when studying osseointegration gait, using an implant marker will result in more accurate femoral and knee joint motion than using the thigh marker. Changing the selection of markers can reduce the errors of knee varus/valgus and hip kinematics in osseointegrated transfemoral prosthetic gait.

Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective.

Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.

Factors leading to falls in transfemoral prosthesis users: a case series of sound-side stumble recovery responses.

BACKGROUND: Transfemoral prosthesis users' high fall rate is related to increased injury risk, medical costs, and fear of falling. Better understanding how stumble conditions (e.g., participant age, prosthesis type, side tripped, and swing phase of perturbation) affect transfemoral prosthesis users could provide insight into response deficiencies and inform fall prevention interventions. METHODS: Six unilateral transfemoral prosthesis users experienced obstacle perturbations to their sound limb in early, mid, and late swing phase. Fall outcome, recovery strategy, and kinematics of each response were recorded to characterize (1) recoveries versus falls for transfemoral prosthesis users and (2) prosthesis user recoveries versus healthy adult recoveries. RESULTS: Out of 26 stumbles, 15 resulted in falls with five of six transfemoral prosthesis users falling at least once. By contrast, in a previously published study of seven healthy adults comprising 214 stumbles using the same experimental apparatus, no participants fell. The two oldest prosthesis users fell after every stumble, stumbles in mid swing resulted in the most falls, and prosthesis type was not related to strategy/fall outcomes. Prosthesis users who recovered used the elevating strategy in early swing, lowering strategy in late swing, and elevating or lowering/delayed lowering with hopping in mid swing, but exhibited increased contralateral (prosthetic-side) thigh abduction and trunk flexion relative to healthy controls. Falls occurred if the tripped (sound) limb did not reach ample thigh/knee flexion to sufficiently clear the obstacle in the elevating step, or if the prosthetic limb did not facilitate a successful step response after the initial sound-side elevating or lowering step. Such responses generally led to smaller step lengths, less anterior foot positioning, and more forward trunk flexion/flexion velocity in the resulting foot-strikes. CONCLUSIONS: Introducing training (e.g., muscle strength or task-specific motor skill) and/or modifying assistive devices (e.g., lower-limb prostheses or exoskeletons) may improve responses for transfemoral prosthesis users. Specifically, training or exoskeleton assistance could help facilitate sufficient thigh/knee flexion for elevating; training or prosthesis assistance could provide support-limb counteracting torques to aid in elevating; and training or prosthesis assistance could help initiate and safely complete prosthetic swing.

A Prospective Assessment of an Adjustable, Immediate Fit, Subischial Transfemoral Prosthesis.

Objective: To assess the feasibility of an adjustable, subischial transfemoral prosthesis by comparing self-reported outcome measures regarding socket comfort, fit and utility relative to a persons' conventionally made socket. Assessing limb compressibility was another aim of this study. Design: A single-group pre-post intervention design. Setting: Physical medicine and rehabilitation biomechanics laboratory. Participants: All 18 enrolled participants (N = 18) completed the feasibility trial. There were 16 men and 2 women with an average age of 59.4 (±7) years. Most of the participants (61.1%) had worn a socket for 1 to 10 years before the trial, 22.2% of the participants had worn one for less than a year, and 16.7% of the participants had worn a prosthesis for more than 10 years. Intervention: Participants were fit with the study prosthesis and used it for a 2-week home trial. Main Outcome Measures: A Prosthetic Comfort and Utility Questionnaire was completed on the participant's conventional prosthetic device and the subischial socket system after the trial. Results: The adjustable subischial prostheses were rated superior overall to the participant's conventional sockets (40.9 ± 7.2 vs 32.8 ± 10.8; P=.004). Six of the 10 parameters measured (adjustability, overall fit, prosthesis weight, sitting comfort, standing comfort, and standing stability) were rated higher for the adjustable prostheses compared to the conventional sockets. Compression of the soft tissues of the thigh ranged from 5.6 ± 4.2 cm at the distal end to 7.3 ± 3.6 cm at the proximal site. There were no falls, skin breakdown, or limb ischemia. At the 2-month telephone follow-up, 61% of subjects had transitioned to using the adjustable subischial socket most of the time. Conclusions: The adjustable, immediate fit, subischial prosthesis provided safe, comfortable, and functional ambulation for persons with transfemoral limb loss in this short-term feasibility study. This study supports the consideration of a new paradigm in transfemoral prosthetics-adjustable subischial sockets. These devices should be tested in a larger multi-center study.

Early evaluation of a powered transfemoral prosthesis with force-modulated impedance control and energy regeneration.

Individuals with an above-knee (AK) amputation typically use passive prostheses, whether reactive (microprocessor) or purely mechanical. Though sufficient for walking, these solutions lack the positive power generation observed in able-bodied individuals. Active (powered) prostheses can provide positive power but suffer complex control and limited energy storage capacities. These shortcomings motivate the development of an active prosthesis implementing a novel impedance controller design with energy regeneration. The controller requires only five tuning parameters that are intuitive to adjust in contrast to the current standard-finite state machine impedance scheduling of up to 45 gains. This simplification is uniquely achieved by modulating knee joint impedance by axial shank force. Furthermore, the proposed control approach introduces analytical guidance for impedance tuning to purposely integrate energy regeneration; specifically, a precise amount of negative damping is injected into the joint. A pilot study conducted with a volunteer with an AK amputation walking at three distinct speeds and at continually self-selected varying speeds demonstrated the adaptability of the controller to changes in speed. Self-powered operation was attained for all trials despite low mechanical component efficiencies. These early results suggest the efficacy of simplifying impedance control tuning and fusing control and energy regeneration in transfemoral prostheses.

Control Framework for Sloped Walking With a Powered Transfemoral Prosthesis.

User customization of a lower-limb powered Prosthesis controller remains a challenge to this date. Controllers adopting impedance control strategies mandate tedious tuning for every joint, terrain condition, and user. Moreover, no relationship is known to exist between the joint control parameters and the slope condition. We present a control framework composed of impedance control and trajectory tracking, with the transitioning between the two strategies facilitated by Bezier curves. The impedance (stiffness and damping) functions vary as polynomials during the stance phase for both the knee and ankle. These functions were derived through least squares optimization with healthy human sloped walking data. The functions derived for each slope condition were simplified using principal component analysis. The weights of the resulting basis functions were found to obey monotonic trends within upslope and downslope walking, proving the existence of a relationship between the joint parameter functions and the slope angle. Using these trends, one can now design a controller for any given slope angle. Amputee and able-bodied walking trials with a powered transfemoral prosthesis revealed the controller to generate a healthy human gait. The observed kinematic and kinetic trends with the slope angle were similar to those found in healthy walking.

Gradient-Based Multi-Objective Feature Selection for Gait Mode Recognition of Transfemoral Amputees.

One control challenge in prosthetic legs is seamless transition from one gait mode to another. User intent recognition (UIR) is a high-level controller that tells a low-level controller to switch to the identified activity mode, depending on the user's intent and environment. We propose a new framework to design an optimal UIR system with simultaneous maximum performance and minimum complexity for gait mode recognition. We use multi-objective optimization (MOO) to find an optimal feature subset that creates a trade-off between these two conflicting objectives. The main contribution of this paper is two-fold: (1) a new gradient-based multi-objective feature selection (GMOFS) method for optimal UIR design; and (2) the application of advanced evolutionary MOO methods for UIR. GMOFS is an embedded method that simultaneously performs feature selection and classification by incorporating an elastic net in multilayer perceptron neural network training. Experimental data are collected from six subjects, including three able-bodied subjects and three transfemoral amputees. We implement GMOFS and four variants of multi-objective biogeography-based optimization (MOBBO) for optimal feature subset selection, and we compare their performances using normalized hypervolume and relative coverage. GMOFS demonstrates competitive performance compared to the four MOBBO methods. We achieve a mean classification accuracy of 97.14 % ± 1.51 % and 98.45 % ± 1.22 % with the optimal selected subset for able-bodied and amputee subjects, respectively, while using only 23% of the available features. Results thus indicate the potential of advanced optimization methods to simultaneously achieve accurate, reliable, and compact UIR for locomotion mode detection of lower-limb amputees with prostheses.

Benchmarking Stability of Bipedal Locomotion Based on Individual Full Body Dynamics and Foot Placement Strategies-Application to Impaired and Unimpaired Walking.

The principles underlying smooth and effortless human walking while maintaining stability as well as the ability to quickly respond to unexpected perturbations result from a plethora of well-balanced parameters, most of them yet to be determined. In this paper, we investigate criteria that may be useful for benchmarking stability properties of human walking. We perform dynamic reconstructions of human walking motions of unimpaired subjects and subjects walking with transfemoral prostheses from motion capture recordings using optimal control. We aim at revealing subject-specific strategies in applying dynamics in order to maintain steady gait considering irregularities such as deviating gait patterns or asymmetric body segment properties. We identify foot placement with respect to the Instantaneous Capture Point as the strategy globally applied by the subjects to obtain steady gait and propose the Residual Orbital Energy as a measure allowing for benchmarking human-like gait toward confident vs. cautious gait.

Virtual prototyping of a semi-active transfemoral prosthetic leg.

This article presents a virtual prototyping study of a semi-active lower limb prosthesis to improve the functionality of an amputee during prosthesis-environment interaction for level ground walking. Articulated ankle-foot prosthesis and a single-axis semi-active prosthetic knee with active and passive operating modes were considered. Data for level ground walking were collected using a photogrammetric method in order to develop a base-line simulation model and with the hip kinematics input to verify the proposed design. The simulated results show that the semi-active lower limb prosthesis is able to move efficiently in passive mode, and the activation time of the knee actuator can be reduced by approximately 50%. Therefore, this semi-active system has the potential to reduce the energy consumption of the actuators required during level ground walking and requires less compensation from the amputee due to lower deviation of the vertical excursion of body centre of mass.

Walking Ability of Amputees with Unilateral Transfemoral Prosthesis / 中国康复理论与实践

Objective To investigate the characteristics of walking ability of the amputees with unilateral transfemoral prosthesis. Meth-ods 16 unilateral transfemoral amputees (patients) and 16 healthy adults (controls) were tested with 6-minute walking test indoor, 1000 m walking outdoor on various terrain, balance test and energy expenditure test. Results The speed, frequency and stride length were significant-ly less in the patients than in the controls (P0.05). There were significant differences in time and energy expenditure of outdoor 1000 m walk test between two groups (P<0.05). There were significant differences in time of outdoor 1000 m walk test and distance of indoor walking test be-tween amputees wearing mechanical four-link prosthetic knee joint and fluid control prosthetic knee joint (P<0.05), but not in energy expen-diture of indoor and outdoor walking test. Conclusion The amputees with unilateral transfemoral prosthesis appear the inefficient in gait, and expend more energy. Their balance remains well. The transfemoral prosthesis the amputees wore may impact their walking ability.

Walking Ability of Amputees with Unilateral Transfemoral Prosthesis / 中国康复理论与实践

@#Objective To investigate the characteristics of walking ability of the amputees with unilateral transfemoral prosthesis. Methods 16 unilateral transfemoral amputees (patients) and 16 healthy adults (controls) were tested with 6-minute walking test indoor, 1000 m walking outdoor on various terrain, balance test and energy expenditure test. Results The speed, frequency and stride length were significantly less in the patients than in the controls (P<0.05) in the indoor 6-minute walking test, and the cycle of gait and energy expenditure were significantly more (P<0.05); single support time, double and single/double support time were different (P<0.05). In balance tests, there was no significant difference in the total track length, confidence ellipse area, maximum horizontal deviation and maximum vertical deviation between the patients and the controls (P>0.05). There were significant differences in time and energy expenditure of outdoor 1000 m walk test between two groups (P<0.05). There were significant differences in time of outdoor 1000 m walk test and distance of indoor walking test between amputees wearing mechanical four-link prosthetic knee joint and fluid control prosthetic knee joint (P<0.05), but not in energy expenditure of indoor and outdoor walking test. Conclusion The amputees with unilateral transfemoral prosthesis appear the inefficient in gait, and expend more energy. Their balance remains well. The transfemoral prosthesis the amputees wore may impact their walking ability.

Computer Aided Design and Manufacture of Transfemoral Prosthesis / 中国康复理论与实践

@#ObjectiveTo study a fast and feasible system in clinical application of computer aided socket design and manufacture. MethodsThe biomechanical index were compared of traditional hand-made prosthetic sockets and of computer aided design and manufacture ones based on 3D scanning and reverse engineering. ResultsThe index from 3 cases wearing the computer aided design and manufacture socket prostheses appeared similar or better in static mechanical parameters, walking kinetic parameters and stump-socket interface pressure than they wearing traditional hand-made ones. ConclusionThis computer aided socket design and manufacture system can meet patients' needs in using their prostheses.

A Study on the Effect of Degree of Freedom of Ankle Motion on Gait of Transfemoral Amputees with SNS Control Prosthesis / 대한정형외과연구학회지

Using three different types of the ankle joint, i.e., the fixed, single-axis, and multi axis type, the gait characteristics of transfemoral amputees were investigated to understand the biomechanics of ankle joint motion during gait of transfemoral amputees with a SNS (swing and stance phase) control prosthesis controlling the flexion-extension of knee in the stance phase unlike conventional swing control prostheses. The socket pressure was measured to explain the resulting gait characteristic of the transfemoral amputees for different ankle joint components. Based on the results from the gait characteristics, socket pressure, knee flexion-extension behavior, and ground reaction vector, the fixed type ankle joint could be considered as the most appropriate ankle joint for the transfemoral amputees using the SNS control prosthesis.

A Study on the Effect of Degree of Freedom of Ankle Motion on Gait of Transfemoral Amputees with SNS Control Prosthesis / 대한정형외과연구학회지

Using three different types of the ankle joint, i.e., the fixed, single-axis, and multi axis type, the gait characteristics of transfemoral amputees were investigated to understand the biomechanics of ankle joint motion during gait of transfemoral amputees with a SNS (swing and stance phase) control prosthesis controlling the flexion-extension of knee in the stance phase unlike conventional swing control prostheses. The socket pressure was measured to explain the resulting gait characteristic of the transfemoral amputees for different ankle joint components. Based on the results from the gait characteristics, socket pressure, knee flexion-extension behavior, and ground reaction vector, the fixed type ankle joint could be considered as the most appropriate ankle joint for the transfemoral amputees using the SNS control prosthesis.