scholarly journals Neuromechanical force-based control of a powered prosthetic foot

2020 ◽  
Vol 1 ◽  
Author(s):  
Amirreza Naseri ◽  
Martin Grimmer ◽  
André Seyfarth ◽  
Maziar Ahmad Sharbafi
Keyword(s):  
Sensory Feedback ◽  
Reaction Force ◽  
Neuromuscular Control ◽  
Target Population ◽  
Vertical Ground Reaction Force ◽  
Control Approach ◽  
Prosthetic Foot ◽  
Ankle Torque ◽  
Study Support ◽  
Walking Speeds

Abstract This article presents a novel neuromechanical force-based control strategy called FMCA (force modulated compliant ankle), to control a powered prosthetic foot. FMCA modulates the torque, based on sensory feedback, similar to neuromuscular control approaches. Instead of using a muscle reflex-based approach, FMCA directly exploits the vertical ground reaction force as sensory feedback to modulate the ankle joint impedance. For evaluation, we first demonstrated how FMCA can predict human-like ankle torque for different walking speeds. Second, we implemented the FMCA in a neuromuscular transtibial amputee walking simulation model to validate if the approach can be used to achieve stable walking and to compare the performance to a neuromuscular reflex-based controller that is already used in a powered ankle. Compared to the neuromuscular model-based approach, the FMCA is a simple solution with a sufficient push-off that can provide stable walking. Third, to assess the ability of the FMCA to generate human-like ankle biomechanics during walking at the preferred speed, we implemented this strategy in a powered prosthetic foot and performed experiments with a non-amputee subject. The results confirm that, for this subject, FMCA can be used to mimic the non-amputee reference ankle torque and the reference ankle angle. The findings of this study support the applicability and advantages of a new bioinspired control approach for assisting amputees. Future experiments should investigate the applicability to other walking speeds and the applicability to the target population.

A Control Strategy for an Active Alignment Transtibial Prosthesis

2015 ◽  
Author(s):  
Andrew LaPrè ◽  
Frank Sup
Keyword(s):  
Gait Cycle ◽  
Mechanical Design ◽  
Adaptive Controller ◽  
Residual Limb ◽  
Control Approach ◽  
Prosthetic Foot ◽  
Transtibial Prosthesis ◽  
Finite State ◽  
New Type ◽  
Walking Speeds

This paper presents a control approach for an experimental transtibial prosthesis that can actively realign the residual limb in relation to prosthetic foot during the stance phase of gait. The realignment objective is to inject positive power into the gait cycle while actively reducing the magnitude of the sagittal moment transferred to the residual limb. The altered gait dynamics of this new type of prosthesis require a control approach that coordinates its function with a user’s gait cycle. This paper overviews the mechanical design of the prosthesis development, the proposed finite-state adaptive controller, and presents experimental results for constant cadence walking and adaptation while changing walking speeds.

scholarly journals Effects of age and walking speeds on vertical ground reaction force in younger and older adults

2016 ◽  
Vol 17 (4) ◽  
pp. 290-299
Author(s):  
Maryam Rastegar ◽  
Seyyed Hosein Hoseini ◽  
Mohamad Hosein Naser Melli ◽  
Morteza Taffah
Keyword(s):  
Older Adults ◽  
Ground Reaction Force ◽  
Reaction Force ◽  
Vertical Ground Reaction Force ◽  
Vertical Ground ◽  
Walking Speeds

scholarly journals Two Different Fatigue Protocols and Lower Extremity Motion Patterns During a Stop-Jump Task

2012 ◽  
Vol 47 (1) ◽  
pp. 32-41 ◽  
Author(s):  
David Quammen ◽  
Nelson Cortes ◽  
Bonnie L. Van Lunen ◽  
Shawn Lucci ◽  
Stacie I. Ringleb ◽  
...  
Keyword(s):  
Ground Reaction Force ◽  
Knee Flexion ◽  
Reaction Force ◽  
Neuromuscular Control ◽  
Initial Contact ◽  
Vertical Ground Reaction Force ◽  
Convenience Sample ◽  
Fatigue Protocol ◽  
Vertical Ground ◽  
Hip Flexion

Context: Altered neuromuscular control strategies during fatigue probably contribute to the increased incidence of non-contact anterior cruciate ligament injuries in female athletes. Objective: To determine biomechanical differences between 2 fatigue protocols (slow linear oxidative fatigue protocol [SLO-FP] and functional agility short-term fatigue protocol [FAST-FP]) when performing a running-stop-jump task. Design: Controlled laboratory study. Setting: Laboratory. Patients or Other Participants: A convenience sample of 15 female soccer players (age = 19.2 ±0.8 years, height = 1.67±0.05m, mass = 61.7 + 8.1 kg) without injury participated. Intervention(s): Five successful trials of a running–stop-jump task were obtained prefatigue and postfatigue during the 2 protocols. For the SLO-FP, a peak oxygen consumption (V˙o2peak) test was conducted before the fatigue protocol. Five minutes after the conclusion of the V˙o2peak test, participants started the fatigue protocol by performing a 30-minute interval run. The FAST-FP consisted of 4 sets of a functional circuit. Repeated 2 (fatigue protocol) × 2 (time) analyses of variance were conducted to assess differences between the 2 protocols and time (prefatigue, postfatigue). Main Outcome Measure(s): Kinematic and kinetic measures of the hip and knee were obtained at different times while participants performed both protocols during prefatigue and postfatigue. Results: Internal adduction moment at initial contact (IC) was greater during FAST-FP (0.064 ±0.09 Nm/kgm) than SLO-FP (0.024±0.06 Nm/kgm) (F1,14 = 5.610, P=.03). At IC, participants had less hip flexion postfatigue (44.7°±8.1°) than prefatigue (50.1°±9.5°) (F1,14 = 16.229, P=.001). At peak vertical ground reaction force, participants had less hip flexion postfatigue (44.7°±8.4°) than prefatigue (50.4°±10.3°) (F1,14 = 17.026, P=.001). At peak vertical ground reaction force, participants had less knee flexion postfatigue (−35.9°±6.5°) than prefatigue (−38.8°±5.03°) (F1,14 = 11.537, P=.001). Conclusions: Our results demonstrated a more erect landing posture due to a decrease in hip and knee flexion angles in the postfatigue condition. The changes were similar between protocols; however, the FAST-FP was a clinically applicable 5-minute protocol, whereas the SLO-FP lasted approximately 45 minutes.

scholarly journals Ankle resistance with a unilateral soft exosuit increases plantarflexor effort during pushoff in unimpaired individuals

2021 ◽  
Vol 18 (1) ◽  
Author(s):  
Krithika Swaminathan ◽  
Sungwoo Park ◽  
Fouzia Raza ◽  
Franchino Porciuncula ◽  
Sangjun Lee ◽  
...  
Keyword(s):  
Muscle Activity ◽  
Reaction Force ◽  
Secondary Analysis ◽  
Initial Study ◽  
Vertical Ground Reaction Force ◽  
Joint Kinetics ◽  
Ankle Torque ◽  
Force Magnitude ◽  
Limb Loading ◽  
Resistance Torque

Abstract Background Ankle-targeting resistance training for improving plantarflexion function during walking increases rehabilitation intensity, an important factor for motor recovery after stroke. However, understanding of the effects of resisting plantarflexion during stance on joint kinetics and muscle activity—key outcomes in evaluating its potential value in rehabilitation—remains limited. This initial study uses a unilateral exosuit that resists plantarflexion during mid-late stance in unimpaired individuals to test the hypotheses that when plantarflexion is resisted, individuals would (1) increase plantarflexor ankle torque and muscle activity locally at the resisted ipsilateral ankle, but (2) at higher forces, exhibit a generalized response that also uses the unresisted joints and limb. Further, we expected (3) short-term retention into gait immediately after removal of resistance. Methods Ten healthy young adults walked at 1.25 m s−1 for four 10-min discrete bouts, each comprising baseline, exposure to active exosuit-applied resistance, and post-active sections. In each bout, a different force magnitude was applied based on individual baseline ankle torques. The peak resistance torque applied by the exosuit was 0.13 ± 0.01, 0.19 ± 0.01, 0.26 ± 0.02, and 0.32 ± 0.02 N m kg−1, in the LOW, MED, HIGH, and MAX bouts, respectively. Results (1) Across all bouts, participants increased peak ipsilateral biological ankle torque by 0.13–0.25 N m kg−1 (p < 0.001) during exosuit-applied resistance compared to corresponding baselines. Additionally, ipsilateral soleus activity during stance increased by 5.4–11.3% (p < 0.05) in all but the LOW bout. (2) In the HIGH and MAX bouts, vertical ground reaction force decreased on the ipsilateral limb while increasing on the contralateral limb (p < 0.01). Secondary analysis found that the force magnitude that maximized increases in biological ankle torque without significant changes in limb loading varied by subject. (3) Finally, peak ipsilateral plantarflexion angle increased significantly during post-exposure in the intermediate HIGH resistance bout (p < 0.05), which corresponded to the greatest average increase in soleus activity (p > 0.10). Conclusions Targeted resistance of ankle plantarflexion during stance by an exosuit consistently increased local ipsilateral plantarflexor effort during active resistance, but force magnitude will be an important parameter to tune for minimizing the involvement of the unresisted joints and limb during training.

scholarly journals Inter-limb weight transfer strategy during walking after unilateral transfemoral amputation

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Ryo Amma ◽  
Genki Hisano ◽  
Hiroto Murata ◽  
Matthew J. Major ◽  
Hiroshi Takemura ◽  
...  
Keyword(s):  
Ground Reaction Force ◽  
Loading Rate ◽  
Regression Line ◽  
Reaction Force ◽  
Transfemoral Amputation ◽  
Vertical Ground Reaction Force ◽  
Unloading Rate ◽  
Vertical Ground ◽  
Walking Speeds ◽  
Weight Transfer

AbstractAlthough weight transfer is an important component of gait rehabilitation, the biomechanical strategy underlying the vertical ground reaction force loading/unloading in individuals with unilateral transfemoral amputation between intact and prosthetic limbs remains unclear. We investigated weight transfer between limbs at different walking speeds in 15 individuals with unilateral transfemoral amputation and 15 individuals without amputation as controls, who walked on an instrumented treadmill. The normalized unloading and loading rates were calculated as the slope of decay and rise phase of the vertical ground reaction force, respectively. We performed linear regression analyses for trailing limb’s unloading rate and leading limb’s loading rate between the prosthetic, intact, and control limbs. While loading rate increased with walking speed in all three limbs, the greatest increase was observed in the intact limb. In contrast to the other limbs, the prosthetic limb unloading rate was relatively insensitive to speed changes. Consequently, the regression line between trailing prosthetic and leading intact limbs deviated from other relationships. These results suggest that weight transfer is varied whether the leading or trailing limb is the prosthetic or intact side, and the loading rate of the leading limb is partially affected by the unloading rate of the contralateral trailing limb.

scholarly journals Running ground reaction forces across footwear conditions are predicted from the motion of two body mass components

2019 ◽  
Vol 126 (5) ◽  
pp. 1315-1325 ◽  
Author(s):  
Andrew B. Udofa ◽  
Kenneth P. Clark ◽  
Laurence J. Ryan ◽  
Peter G. Weyand
Keyword(s):  
Ground Reaction Force ◽  
Lower Limb ◽  
Reaction Force ◽  
Ground Reaction Forces ◽  
Vertical Ground Reaction Force ◽  
Time Patterns ◽  
Foot Strike ◽  
Reaction Forces ◽  
Vertical Ground ◽  
Force Time

Although running shoes alter foot-ground reaction forces, particularly during impact, how they do so is incompletely understood. Here, we hypothesized that footwear effects on running ground reaction force-time patterns can be accurately predicted from the motion of two components of the body’s mass (mb): the contacting lower-limb (m1 = 0.08mb) and the remainder (m2 = 0.92mb). Simultaneous motion and vertical ground reaction force-time data were acquired at 1,000 Hz from eight uninstructed subjects running on a force-instrumented treadmill at 4.0 and 7.0 m/s under four footwear conditions: barefoot, minimal sole, thin sole, and thick sole. Vertical ground reaction force-time patterns were generated from the two-mass model using body mass and footfall-specific measures of contact time, aerial time, and lower-limb impact deceleration. Model force-time patterns generated using the empirical inputs acquired for each footfall matched the measured patterns closely across the four footwear conditions at both protocol speeds ( r2 = 0.96 ± 0.004; root mean squared error  = 0.17 ± 0.01 body-weight units; n = 275 total footfalls). Foot landing angles (θF) were inversely related to footwear thickness; more positive or plantar-flexed landing angles coincided with longer-impact durations and force-time patterns lacking distinct rising-edge force peaks. Our results support three conclusions: 1) running ground reaction force-time patterns across footwear conditions can be accurately predicted using our two-mass, two-impulse model, 2) impact forces, regardless of foot strike mechanics, can be accurately quantified from lower-limb motion and a fixed anatomical mass (0.08mb), and 3) runners maintain similar loading rates (ΔFvertical/Δtime) across footwear conditions by altering foot strike angle to regulate the duration of impact. NEW & NOTEWORTHY Here, we validate a two-mass, two-impulse model of running vertical ground reaction forces across four footwear thickness conditions (barefoot, minimal, thin, thick). Our model allows the impact portion of the impulse to be extracted from measured total ground reaction force-time patterns using motion data from the ankle. The gait adjustments observed across footwear conditions revealed that runners maintained similar loading rates across footwear conditions by altering foot strike angles to regulate the duration of impact.

scholarly journals Acute Effects of Handheld Loading on Standing Broad Jump in Youth Athletes

2021 ◽  
Vol 18 (9) ◽  
pp. 5046
Author(s):  
Wei-Hsun Tai ◽  
Ray-Hsien Tang ◽  
Chen-Fu Huang ◽  
Shin-Liang Lo ◽  
Yu-Chi Sung ◽  
...  
Keyword(s):  
High Speed ◽  
Center Of Mass ◽  
Reaction Force ◽  
Sampling Rate ◽  
Random Order ◽  
Horizontal Distance ◽  
Acute Effects ◽  
Vertical Ground Reaction Force ◽  
Strength And Conditioning ◽  
Peak Knee

The study aimed to investigate the acute effects of handheld loading on standing broad jump (SBJ) performance and biomechanics. Fifteen youth male athletes (mean age: 14.7 ± 0.9 years; body mass: 59.3 ± 8.0 kg; height: 1.73 ± 0.07 m) volunteered to participate in the study. Participants were assigned to perform SBJ with and without 4 kg dumbbells in a random order. Kinematic and kinetic data were collected using 10 infrared high-speed motion-capture cameras at a 250 Hz sampling rate and two force platforms at a 1000 Hz sampling rate. A paired t-test was applied to all variables to determine the significance between loading and unloading SBJs. Horizontal distance (p < 0.001), take-off distance (p = 0.001), landing distance (p < 0.001), horizontal velocity of center of mass (CoM; p < 0.001), push time (p < 0.001), vertical impulse (p = 0.003), and peak horizontal and vertical ground reaction force (GRF; p < 0.001, p = 0.017) were significantly greater in loading SBJ than in unloading SBJ. The take-off vertical velocity of CoM (p = 0.001), take-off angle (p < 0.001), peak knee and hip velocity (p < 0.001, p = 0.007), peak ankle and hip moment (p = 0.006, p = 0.011), and peak hip power (p = 0.014) were significantly greater in unloading SBJ than in loading SBJ. Conclusions: Acute enhancement in SBJ performance was observed with handheld loading. The present findings contribute to the understanding of biomechanical differences in SBJ performance with handheld loading and are highly applicable to strength and conditioning training for athletes.

scholarly journals A Systematic Approach to the Design and Characterization of a Smart Insole for Detecting Vertical Ground Reaction Force (vGRF) in Gait Analysis

Sensors ◽  
2020 ◽  
Vol 20 (4) ◽  
pp. 957 ◽  
Author(s):  
Anas M. Tahir ◽  
Muhammad E. H. Chowdhury ◽  
Amith Khandakar ◽  
Sara Al-Hamouz ◽  
Merna Abdalla ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Reaction Force ◽  
Applied Pressure ◽  
Pressure Sensors ◽  
Clinical Diagnostics ◽  
Piezoelectric Sensors ◽  
Sensor Calibration ◽  
Vertical Ground Reaction Force ◽  
Vertical Ground ◽  
Smart Insole

Gait analysis is a systematic study of human locomotion, which can be utilized in various applications, such as rehabilitation, clinical diagnostics and sports activities. The various limitations such as cost, non-portability, long setup time, post-processing time etc., of the current gait analysis techniques have made them unfeasible for individual use. This led to an increase in research interest in developing smart insoles where wearable sensors can be employed to detect vertical ground reaction forces (vGRF) and other gait variables. Smart insoles are flexible, portable and comfortable for gait analysis, and can monitor plantar pressure frequently through embedded sensors that convert the applied pressure to an electrical signal that can be displayed and analyzed further. Several research teams are still working to improve the insoles’ features such as size, sensitivity of insoles sensors, durability, and the intelligence of insoles to monitor and control subjects’ gait by detecting various complications providing recommendation to enhance walking performance. Even though systematic sensor calibration approaches have been followed by different teams to calibrate insoles’ sensor, expensive calibration devices were used for calibration such as universal testing machines or infrared motion capture cameras equipped in motion analysis labs. This paper provides a systematic design and characterization procedure for three different pressure sensors: force-sensitive resistors (FSRs), ceramic piezoelectric sensors, and flexible piezoelectric sensors that can be used for detecting vGRF using a smart insole. A simple calibration method based on a load cell is presented as an alternative to the expensive calibration techniques. In addition, to evaluate the performance of the different sensors as a component for the smart insole, the acquired vGRF from different insoles were used to compare them. The results showed that the FSR is the most effective sensor among the three sensors for smart insole applications, whereas the piezoelectric sensors can be utilized in detecting the start and end of the gait cycle. This study will be useful for any research group in replicating the design of a customized smart insole for gait analysis.

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