Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed position trajectory. These control approaches have proved successful in the laboratory. However, they are not robust to changes in stair height or cadence, which is essential for real-world ambulation. Here we present an adaptive stair ascent controller that enables individuals with above-knee amputations to climb stairs of varying stair heights at their preferred cadence and with their preferred gait pattern. We found that modulating the prosthesis knee and ankle position as a function of the user’s thigh in swing provides toe clearance for varying stair heights. In stance, modulating the torque-angle relationship as a function of the prosthesis knee position at foot contact provides sufficient torque assistance for climbing stairs of different heights. Furthermore, the proposed controller enables individuals to climb stairs at their preferred cadence and gait pattern, such as step-by-step, step-over-step, and two-steps. The proposed adaptive stair controller may improve the robustness of powered prostheses to environmental and human variance, enabling powered prostheses to more easily move from the lab to the real-world.

Effects of Intermittent and Continuous Static Stretching on Range of Motion and Musculotendinous Viscoelastic Properties Based on a Duration-Matched Protocol

The different effects of intermittent and continuous stretching on the mechanical properties of the musculotendinous complex have been unclear. This study aimed to compare the effects of intermittent and continuous stretching for the same duration on the range of motion (ROM), passive resistive torque (PRT), and musculotendinous stiffness (MTS) of ankle plantar flexors. Eighteen healthy young men participated in the study. Intermittent (four sets × 30 s) and continuous stretching (one set × 120 s) were performed in random orders on two separate days. Both stretching protocols were conducted using a dynamometer with a constant torque applied. ROM and PRT were determined using a dynamometer, and MTS was calculated using the torque–angle relationship measured before and after stretching. Two-way repeated measures analysis of variance was performed for all parameters. Both intermittent and continuous stretching significantly increased ROM and decreased PRT and MTS (p < 0.05). Intermittent stretching led to greater changes in ROM and PRT than continuous stretching. However, the reduction in MTS did not differ between the two conditions. These results suggest that intermittent stretching is more effective in increasing ROM and changing the mechanical properties of the musculotendinous complex.

Powered Knee and Ankle Prosthesis with Adaptive Control Enables Climbing Stairs with Different Stair Heights, Cadences, and Gait Patterns

Powered prostheses can enable individuals with above-knee amputations to ascend stairs step-over-step. To accomplish this task, available stair ascent controllers impose a pre-defined joint impedance behavior or follow a pre-programmed position trajectory. These control approaches have proved successful in the laboratory. However, they are not robust to changes in stair height or cadence, which is essential for real-world ambulation. Here we present an adaptive stair ascent controller that enables individuals with above-knee amputations to climb stairs of varying stair heights at their preferred cadence and with their preferred gait pattern. We found that modulating the prosthesis knee and ankle position as a function of the user’s thigh in swing provides toe clearance for varying stair heights. In stance, modulating the torque-angle relationship as a function of the prosthesis knee position at foot contact provides sufficient torque assistance for climbing stairs of different heights. Furthermore, the proposed controller enables individuals to climb stairs at their preferred cadence and gait pattern, such as step-by-step, step-over-step, and two-steps. The proposed adaptive stair controller may improve the robustness of powered prostheses to environmental and human variance, enabling powered prostheses to more easily move from the lab to the real-world.

Investigation of Characteristics of a Novel Torque Motor Based on an Annulus Air Gap

Although a two-dimensional (2D) valve has excellent performance, the processing of its spiral groove has a high cost and is time-consuming. This paper proposes a novel torque motor based on an annulus air gap (TMAAG) to replace the negative feedback function of the spiral groove to reduce the machining difficulty. In order to study the torque change law of the TMAAG, the air gap permeance was analyzed, and then a qualitative analytical model was established. Orthogonal tests were carried out to initially select the crucial parameters, which were further optimized through a back propagation (BP) neural network and genetic algorithm. The prototype of TMAAG was machined, and a special experimental platform was built, and experiment results are similar to the simulation values, which verifies the accuracy of the air gap analysis and qualitative model. For torque-angle characteristics, the output torque increases with both current and rotation angle and reaches about 0.754 N·m with 2 A and 1.5°. While for torque-displacement characteristics, due to the negative feedback mechanism, the output torque decreases with increasing armature displacement, which is about 0.084 N·m with 2 A and 1 mm. The research validates the unique negative feedback mechanism of the TMAAG and indicates that it can be potentially used as an electro-mechanical converter of a 2D valve.

What Radiologist Should Know about MRI Translational Forces and Hazard: An Ex-Vivo Simulation of Retained Metallic Shrapnel

Background. In a country immersed in endless rounds of wars, retained metallic foreign bodies remain a significant dilemma in the daily practice of every Lebanese radiologist. When a shrapnel’s hazard is of concern, the decision between performing or refusing a justified MRI exam is not always straightforward. In this small trial, we aimed to better understand the shrapnel’s MRI safety by mimicking our daily practice. Methods. Five shrapnel with an incremental increase in their long axis were put in an animal flesh and then introduced into a 3 T magnetic field. The behavior of each shrapnel was concretely assessed by performing before and after magnetic field exposure CT acquisitions. Results. Translation along the z-axis ranged from 0.9 mm to 2.8 mm. Torque angle ranged between 2.8 and 54 degrees with an average of 15.62 degrees. Conclusions. Shrapnel’s movements in the magnetic field are not negligible during the acute phase of injury where there is no reinforcing fibroblastic reaction and invite us to reconsider the MRI safety of these metallic foreign bodies. Standard radiographs may be sufficient, but a targeted CT scan may be of better value for a confident decision for assessment of shrapnel position near viscera and major vessels.

Development of a Novel Nordic Hamstring Exercise Device to Measure and Modify the Knee Flexors' Torque-Length Relationship

The Nordic hamstring exercise (NHE) has been shown to reduce hamstring injury risk when employed in training programs. This study investigates a novel device to modify the NHE torque-length relationship of the knee flexors, as targeting the hamstrings at a more extended length may have benefits for hamstring strain injury prevention and rehabilitation. Eighteen recreational male participants completed three bilateral NHE repetitions at a conventional 0° flat position, a 10° incline, and a 10° decline slope on a novel device (HALHAM°). Measures of peak torque and break-torque angle explored the effect of inclination on the knee flexors' length-tension relationship. Relative thigh-to-trunk angle and angular velocity of the knee joint were used to assess influence of inclination on technique and exercise quality. Break-torque angle increased when performed at an incline (134.1 ± 8.6°) compared to both the decline (112.1 ± 8.3°, p &lt;0.0001, g = 2.599) and standard flat NHE positions (126.0 ± 9.8°, p = 0.0002, g = 0.885). Despite this, altering inclination did not affect eccentric knee flexor peak torque (decline = 132.0 ± 63.1 Nm, flat = 149.7 ± 70.1 Nm, incline = 148.9 ± 64.9 Nm, F = 0.952, p = 0.389), angular velocity of the knee joint at break-torque angle (decline = 23.8 ± 14.4°, flat = 29.2 ± 22.6°, incline = 24.5 ± 22.6°, F = 0.880, p = 0.418) or relative thigh-to-trunk angle at break-torque angle (decline = 20.4 ± 10.4°, flat = 16.7 ± 10.8°, incline = 20.2 ± 11.2°, F = 1.597, p = 0.207). The report recommends the use of arbitrary metrics such as break-torque angle that can be replicated practically in the field by practitioners to assess proxy muscle length changes i.e., the angular range over which the torque can be produced. Inclination of the Nordic hamstring exercise leads to hamstring muscle failure at longer muscle lengths without reductions in the maximal force exuded by the muscle. Therefore, the NHE performed on an incline may be a more effective training intervention, specific to the proposed mechanism of hamstring strain injury during sprinting that occurs whilst the muscle is rapidly lengthening. Using a graded training intervention through the inclinations could aid gradual return-to-play rehabilitation.

Design of magnetoelectric machines with annular armature winding

Design strategy of synchronous machines with annular armature winding and rotor placed PMs is discussing, which can provide advantages instead of general ones with drum armature winding in two-pole machine magnetic systems with developed outer diameter. Tie derivations between of stator bore volume, torque and electromagnetic loads via Magnetic constant (Arnold’s), equations for linear load, for PMs magnetic conductivity in dependence from rated parameters of magnetically hard material, for phase’s EMF. Slots filling by areas of rectangular wires and of coil and major insulation are taking into consideration. Numerical testing, executed via torque-angle (static) curves calculation by means of finite-element method, shows that the motors, that designed with appropriated torque multiplicity are satisfying to initial technical requirements, that is confirms methodic validity. During numerical testing tooth harmonics, provided by stator tooth structure, influence was evaluating and was given recommendations for reduction this influence. The results of power and torque characteristics comparison with traditional machine supplied by drum winding represented, which confirms capability of declared advantages receipt.