The aim of the present study was to identify the phases of gait and the joints where the "ground reaction vector technique" (GRVT) can represent an acceptable alternative to the use of inverse dynamics (ID), when considering subjects with a lower-limb amputation. First, an analytical investigation of the ID of the three joints of the lower limb is given, distinguishing the gravitational, the inertial and the ground reaction contributions. The first two contributions require inertial parameters estimation; for this purpose, literature anthropometric data are typically used, both for the unimpaired and prosthetic limb, as accurate specific inertial parameters for the prosthetic limb are difficult to obtain from companies or require time consuming estimation. This assumption potentially leads to errors in the three-dimensional (3D) joint moment estimation. Second, the results of two case studies, a trans-femoral amputee with two different prostheses and a trans-tibial amputee, showed that the GRVT can explain the most part of the net joint moment for the ankle and the knee in the whole stance phase, and for the hip in the first part of the stance, leading to a similar clinical evaluation without any assumptions on inertial parameters.
Adaptive pose and inertial parameters estimation of free-floating tumbling space objects using dual vector quaternions
