scholarly journals Bionic ankle–foot prosthesis normalizes walking gait for persons with leg amputation

2011 ◽  
Vol 279 (1728) ◽  
pp. 457-464 ◽  
Author(s):  
Hugh M. Herr ◽  
Alena M. Grabowski
Keyword(s):  
Metabolic Cost ◽  
Mechanical Work ◽  
Metabolic Energy ◽  
Energy Costs ◽  
Transtibial Amputation ◽  
Walking Gait ◽  
Walking Velocity ◽  
Leg Amputation ◽  
Positive Work ◽  
Over Time

Over time, leg prostheses have improved in design, but have been incapable of actively adapting to different walking velocities in a manner comparable to a biological limb. People with a leg amputation using such commercially available passive-elastic prostheses require significantly more metabolic energy to walk at the same velocities, prefer to walk slower and have abnormal biomechanics compared with non-amputees. A bionic prosthesis has been developed that emulates the function of a biological ankle during level-ground walking, specifically providing the net positive work required for a range of walking velocities. We compared metabolic energy costs, preferred velocities and biomechanical patterns of seven people with a unilateral transtibial amputation using the bionic prosthesis and using their own passive-elastic prosthesis to those of seven non-amputees during level-ground walking. Compared with using a passive-elastic prosthesis, using the bionic prosthesis decreased metabolic cost by 8 per cent, increased trailing prosthetic leg mechanical work by 57 per cent and decreased the leading biological leg mechanical work by 10 per cent, on average, across walking velocities of 0.75–1.75 m s −1 and increased preferred walking velocity by 23 per cent. Using the bionic prosthesis resulted in metabolic energy costs, preferred walking velocities and biomechanical patterns that were not significantly different from people without an amputation.

scholarly journals Muscle Metabolic Energy Costs While Modifying Propulsive Force Generation During Walking

2020 ◽  
Author(s):  
Richard E. Pimentel ◽  
Noah L. Pieper ◽  
William H. Clark ◽  
Jason R. Franz
Keyword(s):  
Young Adults ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Energy Costs ◽  
Joint Power ◽  
Lower Limb Muscles ◽  
Age Related ◽  
Musculoskeletal Models ◽  
Metabolic Costs ◽  
Related Increase

AbstractWe pose that an age-related increase in the metabolic cost of walking arises in part from a redistribution of joint power where muscles spanning the hip compensate for insufficient ankle push-off and smaller peak propulsive forces (FP). Young adults elicit a similar redistribution when walking with smaller FP via biofeedback. We used targeted FP biofeedback and musculoskeletal models to estimate the metabolic costs of operating lower limb muscles in young adults walking across a range of FP. Our simulations support the theory of distal-to-proximal redistribution of joint power as a determinant of increased metabolic cost in older adults during walking.

Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking

2002 ◽  
Vol 205 (23) ◽  
pp. 3717-3727 ◽  
Author(s):  
J. Maxwell Donelan ◽  
Rodger Kram ◽  
Arthur D. Kuo
Keyword(s):  
Metabolic Rate ◽  
Center Of Mass ◽  
Metabolic Cost ◽  
Step Length ◽  
Mechanical Work ◽  
Major Determinant ◽  
Fourth Power ◽  
Mass Motion ◽  
Step Frequency ◽  
Positive Work

SUMMARY In the single stance phase of walking, center of mass motion resembles that of an inverted pendulum. Theoretically, mechanical work is not necessary for producing the pendular motion, but work is needed to redirect the center of mass velocity from one pendular arc to the next during the transition between steps. A collision model predicts a rate of negative work proportional to the fourth power of step length. Positive work is required to restore the energy lost, potentially exacting a proportional metabolic cost. We tested these predictions with humans (N=9) walking over a range of step lengths(0.4-1.1 m) while keeping step frequency fixed at 1.8 Hz. We measured individual limb external mechanical work using force plates, and metabolic rate using indirect calorimetry. As predicted, average negative and positive external mechanical work rates increased with the fourth power of step length(from 1 W to 38 W; r2=0.96). Metabolic rate also increased with the fourth power of step length (from 7 W to 379 W; r2=0.95), and linearly with mechanical work rate. Mechanical work for step-to-step transitions, rather than pendular motion itself, appears to be a major determinant of the metabolic cost of walking.

Metabolic Cost of Stair Climbing

1986 ◽  
Vol 30 (10) ◽  
pp. 985-988 ◽  
Author(s):  
T. L. Doolittle
Keyword(s):  
Vertical Velocity ◽  
Protective Clothing ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Stair Climbing ◽  
Energy Costs ◽  
The Cost

Metabolic energy costs were determined on sixteen male firefighters ascending a stairmill in an unladen and a laden condition at a vertical velocity of 12.2 m/min. In the unladen condition they wore shorts and tennis shoes, while lagen they wore full protective clothing, including a SCBA, and carried a hose pack. Mean mass of the load was 39.2 kg. Caloric costs were compared with selected equations from the literature. All of the equations overpredicted for the unladen condition. One continued to overpredict, one underestimated, and a third was very close for the cost for the laden condition. An equation derived from data for eight of the subjects, yielded better predictions for the remaining eight, under both conditions, than any of the equations from the literature. Limitations and the need for further research are discussed.

scholarly journals The effects of ankle stiffness on mechanics and energetics of walking with added loads: a prosthetic emulator study

2019 ◽  
Vol 16 (1) ◽  
Author(s):  
Erica A. Hedrick ◽  
Philippe Malcolm ◽  
Jason M. Wilken ◽  
Kota Z. Takahashi
Keyword(s):  
Energy Cost ◽  
Load Condition ◽  
Metabolic Cost ◽  
Load Carriage ◽  
Metabolic Energy ◽  
Additional Load ◽  
Ankle Stiffness ◽  
Human Ankle ◽  
Positive Work ◽  
Load Conditions

Abstract Background The human ankle joint has an influential role in the regulation of the mechanics and energetics of gait. The human ankle can modulate its joint ‘quasi-stiffness’ (ratio of plantarflexion moment to dorsiflexion displacement) in response to various locomotor tasks (e.g., load carriage). However, the direct effect of ankle stiffness on metabolic energy cost during various tasks is not fully understood. The purpose of this study was to determine how net metabolic energy cost was affected by ankle stiffness while walking under different force demands (i.e., with and without additional load). Methods Individuals simulated an amputation by using an immobilizer boot with a robotic ankle-foot prosthesis emulator. The prosthetic emulator was controlled to follow five ankle stiffness conditions, based on literature values of human ankle quasi-stiffness. Individuals walked with these five ankle stiffness settings, with and without carrying additional load of approximately 30% of body mass (i.e., ten total trials). Results Within the range of stiffness we tested, the highest stiffness minimized metabolic cost for both load conditions, including a ~ 3% decrease in metabolic cost for an increase in stiffness of about 0.0480 Nm/deg/kg during normal (no load) walking. Furthermore, the highest stiffness produced the least amount of prosthetic ankle-foot positive work, with a difference of ~ 0.04 J/kg from the highest to lowest stiffness condition. Ipsilateral hip positive work did not significantly change across the no load condition but was minimized at the highest stiffness for the additional load conditions. For the additional load conditions, the hip work followed a similar trend as the metabolic cost, suggesting that reducing positive hip work can lower metabolic cost. Conclusion While ankle stiffness affected the metabolic cost for both load conditions, we found no significant interaction effect between stiffness and load. This may suggest that the importance of the human ankle’s ability to change stiffness during different load carrying tasks may not be driven to minimize metabolic cost. A prosthetic design that can modulate ankle stiffness when transitioning from one locomotor task to another could be valuable, but its importance likely involves factors beyond optimizing metabolic cost.

THE EFFECTS OF INCREASING INSOLE STIFFNESS ON FOOT AND ANKLE MECHANICS IN WALKING GAIT

2021 ◽  
pp. 2150023
Author(s):  
Li Jin
Keyword(s):  
Ankle Joint ◽  
Stance Phase ◽  
Mechanical Energy ◽  
Energy Generation ◽  
Bending Stiffness ◽  
Mechanical Work ◽  
Compensatory Mechanism ◽  
Walking Gait ◽  
Normal Speed ◽  
Positive Work

The energetic pattern of the foot–ankle system is critical in human walking gait. While some of the mechanical energy was dissipated due to foot segment deformation in walking stance phase. Increasing footwear insole bending stiffness was reported to restrict foot segment bending behavior and this was reported to reduce foot segment energy dissipation. While little is known whether increasing footwear insole bending stiffness would alter foot–ankle system mechanical work generation and absorption patterns. Two healthy subjects (one female, one male; age [Formula: see text] years, height [Formula: see text][Formula: see text]cm, weight [Formula: see text][Formula: see text]kg) participated in this study and they were asked to walk at self-selected normal speed with the same footwear (Nike Free RN Flyknit, 2017) in two different insole stiffness conditions: (i) normal shoe insole (NSI); (ii) carbon fiber insole (CFI). Paired sample [Formula: see text]-test was conducted between NSI and CFI for all outcome measures. No statistically significant differences in the outcome variables were found between the two insole conditions. While foot segment positive work and mechanical work ratio were 45.54% and 68.43% higher in CFI than in NSI condition, respectively; foot negative work was 25.02% lower in CFI than in NSI condition. However, ankle joint positive work and work ratio were around more than 10% higher in NSI than in CFI condition, and ankle peak positive power in NSI was 23.93% higher than in CFI condition. Additionally, foot–ankle system overall positive work and mechanical work ratio were both similar between NSI and CFI conditions. The findings indicate increasing footwear insole bending stiffness may influence foot segment and ankle joint energetic patterns in walking stance phase. And the mechanical energy generation compensatory mechanism may exist between foot segment and ankle joint. Specifically, a decreased foot segment energy generation tended to result in a higher amount of ankle joint positive work and peak power generation. This will be beneficial for maintaining a relatively consistent foot–ankle system overall energy generation and work ratio in response to altered insole stiffness and foot segment work during gait.

Stabilization and Energy Optimization of a Dynamic Walking Gait Simulation

2005 ◽  
Author(s):  
Michael Peasgood ◽  
John McPhee ◽  
Eric Kubica
Keyword(s):  
Energy Cost ◽  
Metabolic Cost ◽  
Metabolic Energy ◽  
Additional Energy ◽  
Walking Gait ◽  
Physiological Cost ◽  
Human Tendency ◽  
Efficient Gait ◽  
The Stability ◽  
Multi Body

The physiological energy requirements of prosthetic gait in above-knee amputees have been observed to be significantly greater than that for normal healthy gait. Existing models of energy flow during walking, however, have not been very successful in explaining the reasons for this additional energy cost. In this paper, a new method is developed that estimates the physiological cost of walking using a multi-body dynamic model and a muscle stress based estimate of metabolic energy cost. A distinctive feature of the method is a balance controller component that dynamically maintains the stability of the model during the walking simulation. This allows for a forward dynamic analysis of many consecutive steps, and includes the metabolic cost of maintaining balance in the model. An optimization algorithm is then applied to the joint kinematic patterns to find the optimal walking motion for the model. This approach allows the simulation to find the most energy efficient gait for the model, mimicking the natural human tendency to walk with the most efficient stride length and speed. When applied to simulations of both able-bodied and amputee models, the results indicate a higher physiological cost for the amputee model, suggesting that this method more accurately represents the relative metabolic costs of able-bodied and amputee walking gait.

scholarly journals Using asymmetry to your advantage: learning to acquire and accept external assistance during prolonged split-belt walking

2020 ◽  
Author(s):  
Natalia Sanchez ◽  
Surabhi N Simha ◽  
J. Maxwell Donelan ◽  
James M Finley
Keyword(s):  
Energy Cost ◽  
Metabolic Cost ◽  
Mechanical Work ◽  
Energetic Cost ◽  
Sufficient Time ◽  
Adaptation Studies ◽  
Spatiotemporal Changes ◽  
External Assistance ◽  
The Difference ◽  
Positive Work

People can learn to exploit external assistance during walking to reduce energy cost. For example, walking on a split-belt treadmill affords the opportunity for people to redistribute the mechanical work performed by the legs to gain assistance from the difference in belts' speed and reduce energetic cost. Though we know what people should do to acquire this assistance, this strategy is not observed during typical adaptation studies. We hypothesized that extending the time allotted for adaptation would result in participants adopting asymmetric step lengths to increase the assistance they can acquire from the treadmill. Here, participants walked on a split-belt treadmill for 45 minutes while we measured spatiotemporal gait variables, metabolic cost, and mechanical work. We show that when people are given sufficient time to adapt, they naturally learn to step further forward on the fast belt, acquire positive mechanical work from the treadmill, and reduce the positive work performed by the legs. We also show that spatiotemporal adaptation and energy optimization operate over different timescales: people continue to reduce energy cost even after spatiotemporal changes have plateaued. Our findings support the idea that walking with symmetric step lengths, which is traditionally thought of as the endpoint of adaptation, is only a point in the process by which people learn to take advantage of the assistance provided by the treadmill. These results provide further evidence that reducing energetic cost is central in shaping adaptive locomotion, but this process occurs over more extended timescales than those used in typical studies.

scholarly journals Soft tissue deformations explain most of the mechanical work variations of human walking

2021 ◽  
Author(s):  
Tim J. van der Zee ◽  
Arthur D. Kuo
Keyword(s):  
Soft Tissue ◽  
Soft Tissues ◽  
Metabolic Cost ◽  
Step Length ◽  
Mechanical Work ◽  
Metabolic Energy ◽  
Whole Body ◽  
Human Walking ◽  
Negative Work ◽  
Tissue Deformations

AbstractHumans perform mechanical work during walking, some by leg joints actuated by muscles, and some by passive, dissipative soft tissues. Dissipative losses must be restored by active muscle work, potentially in amounts sufficient to cost substantial metabolic energy. The most dissipative, and therefore costly, walking conditions might be predictable from the pendulum-like dynamics of the legs. If pendulum behavior is systematic, it may also predict the work distribution between active joints and passive soft tissues. We therefore tested whether the overall negative work of walking, and the fraction due to soft tissue dissipation, are both predictable by a pendulum model across a wide range of conditions. The model predicts whole-body negative work from the leading leg’s impact with ground (termed the Collision), to increase with the squared product of walking speed and step length. We experimentally tested this in humans (N = 9) walking in 26 different combinations of speed (0.7 – 2.0 m·s-1) and step length (0.5 – 1.1 m), with recorded motions and ground reaction forces. Whole-body negative Collision work increased as predicted (R2= 0.73), with a consistent fraction of about 63% (R2= 0.88) due to soft tissues. Soft tissue dissipation consistently accounted for about 56% of the variation in total whole-body negative work. During typical walking, active work to restore dissipative losses could account for 31% of the net metabolic cost. Soft tissue dissipation, not included in most biomechanical studies, explains most of the variation in negative work of walking, and could account for a substantial fraction of the metabolic cost.Summary statementSoft tissue deformations dissipate substantial energy during human walking, as predicted by a simple walking model.

scholarly journals Soft tissue deformations explain most of the mechanical work variations of human walking

2021 ◽  
Author(s):  
Tim J. van der Zee ◽  
Arthur D. Kuo
Keyword(s):  
Soft Tissue ◽  
Soft Tissues ◽  
Metabolic Cost ◽  
Step Length ◽  
Mechanical Work ◽  
Metabolic Energy ◽  
Whole Body ◽  
Negative Work ◽  
Work Distribution ◽  
Wide Range

Humans perform mechanical work during walking, some by leg joints actuated by muscles, and some by passive, dissipative soft tissues. Dissipative losses must be restored by active muscle work, potentially in amounts sufficient to cost substantial metabolic energy. The most dissipative, and therefore costly, walking conditions might be predictable from the pendulum-like dynamics of the legs. If this behavior is systematic, it may also predict the work distribution between active joints and passive soft tissues. We therefore tested whether the overall negative work of walking, and the fraction due to soft tissue dissipation, are both predictable by a simple dynamic walking model across a wide range of conditions. The model predicts whole-body negative work from the leading leg's impact with ground (termed the Collision), to increase with the squared product of walking speed and step length. We experimentally tested this in humans (N=9) walking in 26 different combinations of speed (0.7 – 2.0 m·s−1) and step length (0.5 – 1.1 m), with recorded motions and ground reaction forces. Whole-body negative Collision work increased as predicted (R2=0.73), with a consistent fraction of about 63% (R2=0.88) due to soft tissues. Soft tissue dissipation consistently accounted for about 56% of the variation in total whole-body negative work, across a wide range of speed and step length combinations. During typical walking, active work to restore dissipative losses could account for 31% of the net metabolic cost. Soft tissue dissipation, not included in most biomechanical studies, explains most of the variation in negative work of walking, and could account for a substantial fraction of the metabolic cost.

scholarly journals Muscle mechanics and energy expenditure of the triceps surae during rearfoot and forefoot running

2018 ◽  
Author(s):  
Allison H. Gruber ◽  
Brian R. Umberger ◽  
Ross H. Miller ◽  
Joseph Hamill
Keyword(s):  
Energy Expenditure ◽  
Elastic Energy ◽  
Reaction Force ◽  
Metabolic Cost ◽  
Running Economy ◽  
Mechanical Work ◽  
Triceps Surae ◽  
Metabolic Energy ◽  
Forefoot Running ◽  
Metabolic Energy Expenditure

ABSTRACTForefoot running is advocated to improve running economy because of increased elastic energy storage than rearfoot running. This claim has not been assessed with methods that predict the elastic energy contribution to positive work or estimate muscle metabolic cost. The purpose of this study was to compare the mechanical work and metabolic cost of the gastrocnemius and soleus between rearfoot and forefoot running. Seventeen rearfoot and seventeen forefoot runners ran over-ground with their habitual footfall pattern (3.33-3.68m•s−1) while collecting motion capture and ground reaction force data. Ankle and knee joint angles and ankle joint moments served as inputs into a musculoskeletal model that calculated the mechanical work and metabolic energy expenditure of each muscle using Hill-based muscle models with contractile (CE) and series elastic (SEE) elements. A mixed-factor ANOVA assessed the difference between footfall patterns and groups (α=0.05). Forefoot running resulted in greater SEE mechanical work in the gastrocnemius than rearfoot running but no differences were found in CE mechanical work or CE metabolic energy expenditure. Forefoot running resulted in greater soleus SEE and CE mechanical work and CE metabolic energy expenditure than rearfoot running. The metabolic cost associated with greater CE velocity, force production, and activation during forefoot running may outweigh any metabolic energy savings associated with greater SEE mechanical work. Therefore, there was no energetic benefit at the triceps surae for one footfall pattern or the other. The complex CE-SEE interactions must be considered when assessing muscle metabolic cost, not just the amount of SEE strain energy.

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