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1
Au, Samuel Kwok-Wai. "Powered ankle-foot prosthesis for the improvement of amputee walking economy." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40949.
Full textAbstract:
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (p. 103-108).
The human ankle provides a significant amount of net positive work during the stance period of walking, especially at moderate to fast walking speeds. On the contrary, conventional ankle-foot prostheses are completely passive during stance, and consequently, cannot provide net positive work. Clinical studies indicate that transtibial amputees using conventional prostheses exhibit higher gait metabolic rates as compared to intact individuals. Researchers believe the main cause for the observed increase in metabolism is due to the inability of conventional prostheses to provide net positive work at terminal stance in walking. This objective of this thesis is to evaluate the hypothesis that a powered ankle-foot prosthesis, capable of providing active mechanical power at terminal stance, can improve amputee metabolic walking economy compared to a conventional passive-elastic prosthesis. To test the hypothesis, a powered prosthesis is designed and built that comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to mimic human ankle walking behavior, in particular, the power generation characteristics observed in normal human walking. The rate of oxygen consumption is measured as a determinant of metabolic rate on three unilateral transtibial amputees walking at self-selected speeds. The initial clinical evaluation shows that the powered prosthesis improves amputee metabolic economy from 7% to 20% compared to the conventional passive-elastic prostheses (Flex-Foot Ceterus and Freedom Innovations Sierra), even though the powered system is twofold heavier than the conventional devices. These results support the proposed hypothesis and also suggest a promising direction for further advancement of ankle-foot prosthesis.
by Samuel Kwok-Wai Au.
Ph.D.
2
Rogers, Emily S. M. Massachusetts Institute of Technology. "Neurally-controlled ankle-foot prosthesis with non-backdrivable transmission for rock climbing augmentation." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/121861.
Full textAbstract:
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-88).
This thesis presents the design and evaluation of a neurally-controlled ankle-foot prosthesis optimized to enhance rock climbing ability in persons with transtibial amputation. The bionic rock climbing prosthesis restores biologic performance of the ankle-foot complex. The user volitionally controls the positions of both the prosthetic ankle and subtalar joints via input from electromyography surface electrodes worn on the residual limb. We hypothesize that a climbing specific robotic ankle-foot prosthesis will result in more biological emulation than a passive prosthesis. Specifically, we hypothesize that joint angles of the hip, knee, ankle, and subtalar of a person with transtibial amputation while rock climbing are are more similar to the joint angles of a height-, weight-, and ability-matched control subject with intact limbs, compared to climbing with a passive prosthesis. To test the hypothesis, a powered, 2-degree-of-freedom, neurally controlled prosthesis is built that comprises a pair of non-backdrivable linear actuators providing 16 degrees of dorsiflexion, 18 degrees of plantar flexion, and 20 degrees each of inversion and eversion. The prosthesis operates at a bandwidth and range of motion matching biological free-space motion of the ankle and subtalar joint. Climbing performance is evaluated by measuring joint angles and muscle activity during rock climbing with the robotic prosthesis and a traditional passive prosthesis, and comparing the kinematic data to that of a subject with intact biological limbs. We find that the bionic prosthesis brings the ankle and subtalar joint angles of the subject to more similar angles than the control subjects with intact biological limbs, compared to a standard passive prosthesis. These results indicate that a lightweight, actuated, 2-degree-of-freedom neurally-controlled robotic ankle-foot prosthesis restores biological function to the user during an extremely technical sport.
by Emily Rogers.
S.M.
S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering
3
Martinez, Villalpando Ernesto Carlos. "Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/37271.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2006.Includes bibliographical references (leaves 89-97).
Commercially available ankle-foot prostheses are passive when in contact with the ground surface, and thus, their mechanical properties remain fixed across different terrains and walking speeds. The passive nature of these prostheses causes many problems for lower extremity amputees, such as a lack of adequate balance control during standing and walking. The ground reaction force (GRF) and the zero moment point (ZMP) are known to be basic parameters in bipedal balance control. This thesis focuses on the estimation of these parameters using two prostheses, a powered ankle-foot prototype and an instrumented, mechanically-passive prosthesis worn by a transtibial amputee. The main goal of this research is to determine the feasibility of estimating the GRF and ZMP primarily using sensory information from a force/torque transducer positioned proximal to the ankle joint. The location of this sensor is ideal because it allows the use of a compliant artificial foot to be in contact with the ground, in contrast to rigid foot structures employed by walking robots. Both, the active and passive, instrumented prostheses were monitored with a wearable computing system designed to serve as a portable control unit for the active prototype and as an ambulatory gait analysis tool.
(cont.) A set of experiments were conducted at MIT's gait laboratory whereby a below-knee amputee subject, using the prosthetic devices, was asked to perform single-leg standing tests and slow-walking trials. For each experiment, the GRF and ZMP were computed by combining the kinetic and kinematic information recorded from a force platform and a 3D motion capture system. These values were statistically compared to the GRF and ZMP estimated from the data collected by the embedded prosthetic sensory system and portable computing unit. The average RMS error and correlation factor were calculated for all experimental sessions. Using a static analysis procedure, the estimation of the vertical component of GRF had an averaged correlation coefficient higher than 0.96. The estimated ZMP location had a distance error of less than 1 cm, equal to 4% of the anterior-posterior foot length or 12% of the mediolateral foot width. These results suggest that it is possible to estimate the GRF between the ground and a compliant artificial prosthesis with a sensor positioned between the knee and the ankle joint.
(cont.) Moreover, this sensory information is sufficient to closely estimate the ZMP location during the single support phase of slow walking and while standing on one leg. This research contributes to the development of fully integrated artificial extremities that mimic the behavior of the human ankle-foot complex, especially to help improve the postural stability of lower extremity amputees.
by Ernesto Carlos Martinez Villalpando.
S.M.
4
Schlafly, Millicent. "Design and Testing of a Passive Prosthetic Ankle Foot Optimized to Mimic an Able-Bodied Gait." Scholar Commons, 2018. https://scholarcommons.usf.edu/etd/7710.
Full textAbstract:
Currently there are nearly 2 million people living with limb loss in the United States [1]. Many of these individuals are either transtibial (below knee) or transfemoral (above knee) amputees and require an ankle-foot prosthesis for basic mobility. While there are an abundance of options available for individuals who require an ankle-foot prosthesis, these options fail to mimic an intact ankle when it comes to key evaluation criteria such as range of motion, push-off force, and roll over shape. The roll over shape is created by plotting the center of pressure during a step in a shank-based coordinate system. To address the need for a prosthesis that effectively replaces the ankle's contribution to an able-bodied gait, a biomimetic approach is taken in the design the Compliant & Articulating Prosthetic Ankle (CAPA) foot. The passive CAPA foot consists of four components connected by torsion springs representing the Phalanges, Metatarsal bones, Talus, and Calcaneus. Biomimetic functionality is exhibited by CAPA foot with regards to the roll over shape and a linear relationship between moment exerted and ankle angle, distinguishing the CAPA foot from other ankle-foot prostheses. A mathematical model of the CAPA foot is created to determine the roll over shape a specific CAPA foot geometry would produce and support eventual customization of the 3D printed components.
The mathematical model is used to optimize the design to two distinctly different roll over shapes, one with a rocker radius closer to that of the Talus bone and the other closer to the energetically advantageous value of 0.3 times leg length [2, 3]. Compliant and stiff versions of the two CAPA feet were compared to a conventional Solid Articulating Cushioned Heel (SACH) foot and a passive dynamic response foot (Renegade® AT produced by Freedom Innovations). Ten able bodied subjects walked on the Computer Assisted Rehabilitation Environment normally, and then with a transfemoral prosthetic simulator. The study was separated into two experiments. For the second experiment (subjects 6-10), the versions of the CAPA foot had pretension in the dorsiflexion springs.
Overall the ankle angles and sagittal plane ground reaction forces of the CAPA foot better mimicked an intact ankle-foot than the existing passive ankle-foot prostheses. Added pretension increased the sagittal plane ground reaction forces and roll over shape radius of curvature and arc length. Nine out of ten participants preferred the CAPA foot and there was a statistical significant difference (F=14.2, p<0.01) between the difficulty level rating given for trials with the CAPA foot versus the existing ankle-foot prostheses. The mathematical model is found to be capable of accurately predicting experimental roll over shape trends and the concept of roll over shape based design is demonstrated. Successful aspects of the CAPA foot can be applied to other ankle-foot prosthesis. The CAPA foot could provide a passive, cheap, and personalizable ankle-foot prosthesis that improves mobility the quality of life for individual’s lacking an intact ankle.
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Hafner, Brian J. "Transtibial amputee gait adaptation : correlating residual limb compliance to energy storing and return prosthetic foot compliance in bouncing gait /." Thesis, Connect to this title online; UW restricted, 2003. http://hdl.handle.net/1773/8038.
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Struckovs, Vasilijs. "Biomechanical adaptations involved in ramp descent: Impact of microprocessor-controlled ankle-foot prothesis. Kinetic and kinematic responses to using microprocessor-controlled ankle-foot prosthesis in unilateral trans-tibial amputees during ramp descent." Thesis, University of Bradford, 2017. http://hdl.handle.net/10454/17214.
Full textAbstract:
Ramp descent is a demanding task for trans-tibial amputees, due to the difficulty in controlling body weight progression over the prosthetic foot. A deeper understanding of the impact of foot function on ramp descent biomechanics is required to make recommendations for rehabilitation programs and prosthetic developments for lower-limb amputees. The thesis aim was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees (TT) using a microprocessor-controlled ankle-foot prosthesis in active (MC-AF) compared to non-active mode (nonMC-AF) or elastically articulated ankle-foot device. A secondary aim was to determine the biomechanical adaptation made by able-bodied individuals when ankle motion was restricted using a custom made ankle-foot-orthosis and provide further insight into the importance of ankle dynamics when walking on ramps. Kinetic and kinematic data were recorded from nine TT’s and twenty able-bodied individuals. Able-bodied participants, ankle restriction, led to an increase in involved limb loading response knee flexion that is accompanied by the increased knee power generation during the single-limb-support phase that correlates to TTs results. TT’s use of an MC-AF reduced the ‘plantar-flexion’ resistance following foot contact allowing foot-flat to be attained more quickly. Followed by the increased ‘dorsi-flexion’ resistance which reduced the shank/pylon rotation velocity over the support foot, leading to an increase in negative work done by the prosthesis. These findings highlight the importance of having controlled ankle motion in ramp descent. Use of an MC-AF can provide TTs controlled motion for descending ramps and hence provide biomechanical benefits over using more conventional types of ankle-foot devices.Engineering and Physical Science Research Council (EPSRC) via Doctoral Training Account (DTA) (EP/P504821/1) Chas. A. Blatchford and Sons Ltd., Basingstoke, UK provided the prosthetic hardware, prosthetist support, and facilitated the attendance of the TT participants for this study
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De, Asha Alan R. "Biomechanical adaptations of lower-limb amputee-gait: Effects of the echelon hydraulically damped foot. Segmental kinetic and kinematic responses to hydraulically damped prosthetic ankle-foot components in unilateral, trans-tibial amputees." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/7271.
Full textAbstract:
The aim of this thesis was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees when they used a prosthesis incorporating a hydraulically-damped, articulating ankle-foot device compared to non-hydraulically attached devices. Kinematic and kinetic data were recorded while participants ambulated over a flat and level surface at their customary walking speeds and at speeds they perceived to be faster and slower using the hydraulic device and their habitual foot.
Use of the hydraulic device resulted in increases in self-selected walking speeds with a simultaneous reduction in intact-limb work per meter travelled. Use of the device also attenuated inappropriate fluctuations in the centre-of-pressure trajectory beneath the prosthetic foot and facilitated increased residual-knee loading-response flexion and prosthetic-limb load bearing during stance. These changes occurred despite the hydraulic device absorbing more, and returning less, energy than the participants’ habitual ankle-foot devices. The changes were present across all walking speeds but were greatest at customary walking speeds.
The findings suggest that a hydraulic ankle-foot device has mechanical benefits, during overground gait, for active unilateral trans-tibial amputees compared to other attachment methods. The findings also highlight that prosthetic ankle-foot device ‘performance’ can be evaluated using surrogate measures and without modelling an ‘ankle joint’ on the prosthetic limb.
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De, Asha Alan Richard. "Biomechanical adaptations of lower-limb amputee-gait : effects of the echelon hydraulically damped foot : segmental kinetic and kinematic responses to hydraulically damped prosthetic ankle-foot components in unilateral, trans-tibial amputees." Thesis, University of Bradford, 2013. http://hdl.handle.net/10454/7271.
Full textAbstract:
The aim of this thesis was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees when they used a prosthesis incorporating a hydraulically-damped, articulating ankle-foot device compared to non-hydraulically attached devices. Kinematic and kinetic data were recorded while participants ambulated over a flat and level surface at their customary walking speeds and at speeds they perceived to be faster and slower using the hydraulic device and their habitual foot. Use of the hydraulic device resulted in increases in self-selected walking speeds with a simultaneous reduction in intact-limb work per meter travelled. Use of the device also attenuated inappropriate fluctuations in the centre-of-pressure trajectory beneath the prosthetic foot and facilitated increased residual-knee loading-response flexion and prosthetic-limb load bearing during stance. These changes occurred despite the hydraulic device absorbing more, and returning less, energy than the participants’ habitual ankle-foot devices. The changes were present across all walking speeds but were greatest at customary walking speeds. The findings suggest that a hydraulic ankle-foot device has mechanical benefits, during overground gait, for active unilateral trans-tibial amputees compared to other attachment methods. The findings also highlight that prosthetic ankle-foot device ‘performance’ can be evaluated using surrogate measures and without modelling an ‘ankle joint’ on the prosthetic limb.
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Lasota, Marek. "Návrh protetického chodidla s využitím aditivních výrobních technologií." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382165.
Full textAbstract:
Subject of this diploma thesis is a design of a prosthetic foot for an additive manufacturing. It is a dynamic foot made of plastic, designed for an 80 kg patient with a second level of a movement aktivity. From a few concepts is chosen one, which is then optimalized and printed with a MJF method. Functional sample is then undergoing static and cyclic tests according to ISO 10328.
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Eslamy, Mahdy Verfasser], Andre [Akademischer Betreuer] Seyfarth, and Stephan [Akademischer Betreuer] [Rinderknecht. "Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis: Actuation Concepts, Control and Experiments / Mahdy Eslamy. Betreuer: Andre Seyfarth ; Stephan Rinderknecht." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2014. http://d-nb.info/1110903294/34.
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Eslamy, Mahdy [Verfasser], Andre Akademischer Betreuer] Seyfarth, and Stephan [Akademischer Betreuer] [Rinderknecht. "Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis: Actuation Concepts, Control and Experiments / Mahdy Eslamy. Betreuer: Andre Seyfarth ; Stephan Rinderknecht." Darmstadt : Universitäts- und Landesbibliothek Darmstadt, 2014. http://nbn-resolving.de/urn:nbn:de:tuda-tuprints-42021.
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Kopecký, Martin. "Konstrukce transtibiální protézy s využitím aditivní technologie výroby." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230992.
Full textAbstract:
The thesis deals with the design of a transtibial prosthesis by additive manufacturing technology. Based on walking biomechanics and the current situation of knowledge a prosthetic foot has been designed for a patient with low level of physical activity. Furthermore, the thesis describes the design of an individual socket for the patient. The socket has been designed by reverse engineer procedure based on the three-dimensional geometry of patient´s stump obtained by 3D scanning. Testing samples of the foot and the socket have been made for the check of functionality of both the devices and then subjected to mechanical tests in accordance to the methodology regulation ISO 10328. Finally, the thesis depicts the FDM technology used for the production of functional samples of the designed devices; assembly of modular transtibial prosthesis and its testing by the patient.
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Taufer, Tomáš. "Konstrukce stendu pro dynamické testování protéz dolních končetin." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231767.
Full textAbstract:
This work describes design and realization of testing device for dynamic tests of foot prosthesis, made by methods of Rapid prototyping. Primary objective of design is to imitate the load on prosthesis during human gait. This task is accomplished by swing motion of prosthesis inside the frame of device during the loading of heel and tiptoe. Loading components can be removed and changed so the device can be used for different measurement like walking on an inclined plane. The result of this work is fully functional device including control program with many options to control the test. The result of test is to decide whether the foot prosthesis withstands the set of cyclic loads. The area of development of prosthesis by additive methods is young for the time being. It stands out especially with different materials, design, structure of prosthesis and fast process of production. Therefore this device can be used for testing of fatigue life of prosthesis made by additive methods.
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Omasta, Milan. "Pevnostní analýza protézy dolní končetiny." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228770.
Full textAbstract:
This masters´s thesis deals with computational modeling of transtibial lower-limb prosthesis. For assesment of loading character and geometrical configuration, the gait analysis of an amputee, including ground reaction force measurement, strain gauge analysis and motion analysis, was accomplished. Information on geometry was obtained using 3D optical scanning procedure. Material model was gathered using non-destructive mechanical testing and mimicked in a FEA software. For loading conditions the static structure analysys using FEM was accomplished. The critical poins in construction was found. Recognition of agreement about experimental and computational model was accomplished.
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Liang, ZhiYi S. B. Massachusetts Institute of Technology. "Mechatronic design of an ISO 22675 prosthetic foot tester." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123211.
Full textAbstract:
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 85-86).
Researchers in the Global Engineering and Research Lab (GEAR Lab) at MIT have been actively working on an improved design of the most widely distributed prosthetic foot in India, known as the Jaipur Foot. By developing an ISO 22675 prosthetic foot life cycle tester, researchers in GEAR Lab can test the durability of the prosthetic designs and fulfill the life cycle requirements. This thesis explores the mechatronic design of an ISO 22675 prosthetic foot life cycle tester and its contribution towards establishing fatigue testing infrastructure for prosthetics in GEAR Lab. It is broken down into three sub-systems: mechanical design, electrical design, and control architecture. It also serves as a documentation file detailing the engineering design decisions that were made during the development of the project. By building upon a mechanical framework that was established by past researchers, mechanical redesigns were conducted on the force loading assembly and the pivoting loading platform. The redesigned mechanical assembly were tested to be able to sustain maximum test force level with a safety factor of at least 1.5. The redesigned structure also provides adjustability to four crucial geometric parameters specified by the ISO 22675 standard and enables testing of prosthetic foot ranging from 23 cm to 31 cm in length. In addition, a system control PCB was designed and developed to serve as an electrical communication hub for reliable communication between the host controller LabVIEW myRIO-1900, various sensors, and the two actuators responsible for applying the test force and rotating the loading platform. A control architecture was developed and implemented through a LabVIEW parallel timed loop control structure to execute the control loop at a rate of 1kHz to reliably control both the stepper motor and the servo in parallel, read sensor states and display system current real time state through a graphical user interface.
by ZhiYi Liang.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Eilenberg, Michael Frederick. "A neuromuscular-model based control strategy for powered ankle-foot prostheses." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/58192.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 89-90).
In the development of a powered ankle-foot prosthesis, it is desirable to provide the prosthesis with the ability to exhibit human-like dynamics. A simple method for achieving this goal involves trajectory tracking, where a specific target torque trajectory is known, and the controller issues commands to follow the trajectory as closely as possible. However, without a methodology to update the desired trajectory in real time, this type of control scheme is limited in that it cannot adapt to externally-applied disturbances. Adaptation is critical in the field of prosthetics. A prosthesis must be able to adjust to variable terrain and respond to changes in behavior of the wearer. In this thesis, we hypothesize that a powered ankle-foot prosthesis that is controlled using a positive-force- feedback reflex of a Hill-type posterior leg muscle will exhibit biologically-consistent adaptive changes in stance phase behavior across terrain. To evaluate this hypothesis, a controller for a powered ankle-foot prosthesis is advanced that comprises a neuromuscular model consisting of a single, effective plantar flexor muscle with positive force feedback and an effective dorsiflexor consisting of a proportional-derivative impedance controller. Selected parameters of this hybrid controller were optimized to best match the torque-angle relationship of an intact, biological ankle from a weight and height-matched individual with intact limbs. The torque-tracking capabilities of the electromechanical system were evaluated, and a control system was developed to enable the prosthesis to produce human-like ankle mechanics. Clinical trials were performed on a healthy, bilateral amputee study participant at two separate level-ground walking speeds, as well as for ramp ascent and descent walking at self-selected speeds. The neuromuscular reflex model, when used as the basis of the prosthetic controller during these trials, produced ankle torques in qualitative agreement with values from the weight and height-matched individual with intact limbs. This agreement included an impedance modulation in the initial stance period, as well as a biologically consistent trend of increasing prosthesis net work for correspondingly increasing floor inclinations.
by Michael Frederick Eilenberg.
S.M.
17
Palmer, Jasmin Elena. "Design and development of mechanical metatarsophalangeal joint for powered ankle-foot prostheses." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123272.
Full textAbstract:
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019Cataloged from PDF version of thesis.
Includes bibliographical references (page 46).
This thesis seeks to explore passive designs for a mechanical alternative to the metatarsophalangeal (MTP) joint, a critical anatomical component in human feet which allows for various types of anatomical motion. Our goal is to design a system that will act as a platform to test a proof of concept for a passive ankle-foot prosthesis with an MTP joint, but can also be adapted to use an actuated joint in the future. To increase the user's range of motion, our aim was for the mechanical MTP joint to achieve a maximum 600 dorsiflexion angle. We developed 2 MTP joint designs (Rubber Hinge and Fabric Hinge) with 2 body geometries varying at the heel for each (Traditional Heel and Inverted Heel) for a total of 4 models. We performed a static load Finite Element Analysis (FEA) using the Solidworks FEA Simulation Tool. The FEA was performed under the worst-case static load scenarios for the toe and body components of the prosthesis, standing on tiptoe with a dorsiflexion angle of 60' for the toe components and standing with all weight on the heel for the body components. The simulation yielded that not only did no components experience any irreversible deformation, but that the Rubber Hinge design had a minimum safety factor of 5.7, 10, and 4.5 for the Toe, Inverted Heel Body, and Traditional Heel Body respectively and the Fabric Hinge Design had a minimum safety factor 1.4, 9.9 and 4.5 for the Toe, Inverted Heel Body, and Traditional Heel Body respectively. This informed us that though both designs did not undergo failure under the prescribed loads, material utilization was in excess and could be further optimized to decrease the weight. Future designers should focus on implementing this platform into high fidelity physical models to be tested under various static and dynamic loading conditions as well as further optimizing the dimensions of the prosthesis.
by Jasmin Elena Palmer.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Connolly, Philip Andrew. "The design of a prosthetic foot unit for use in developing countries." Thesis, University of Strathclyde, 2018. http://digitool.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=29519.
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The majority of prosthetic feet used in low-income countries suffer from a limited lifespan and limited durability. The aim of this project is to design a prosthetic foot suited to use in low-income countries that incorporates both durability and a high level of function. A review of the literature was carried out which included examining the form and function of the anatomical human foot and the existing prosthetic systems used in low-income countries as well as their limitations and successes. Also reviewed were methods of assessment of a prosthetic foot. A Product Design Specification (PDS) was created to outline the requirements of a prosthetic foot for use in a low-income country based on the information detailed in the literature review. An existing design of Strathclyde foot was tested statically according to the ISO 10328 standard. The design was modified to improve performance in identified areas followed by an evaluation of layered manufacturing processes. Having identified a potential manufacturing method for prototypes testing of materials was carried out to determine the suitability of these materials for testing. Samples of the new design were tested statically according to ISO 10328. The foot design was then further modified based on the test results, confirmed by the use of FEA at which point new prototypes were made and static testing was again carried out. A comparison of the Strathclyde foot to other feet used in low-income countries took place. The second redesign of the Strathclyde foot was assessed via force plate trials by a non-amputee subject wearing prosthetic stilts. Finally, conclusions were drawn with respect to achieving the PDS and further work was recommended to improve upon the existing design and reach the requirements of the PDS. Appendix A gives details of the roll-over shape testing carried out on a range of prosthetic feet while Appendix B details the FEA work carried out to support design modification.
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Potter, Derek W. "Gait analysis of a new low-cost foot prosthetic for use in developing countries." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/MQ54478.pdf.
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Olesnavage, Kathryn M. "Design and evaluation of a cantilever beam-type prosthetic foot for Indian persons with amputations." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/92132.
Full textAbstract:
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.Cataloged from PDF version of thesis.
Includes bibliographical references.
The goal of this work is to design a low cost, high performance prosthetic foot in collaboration with Bhagwan Mahaveer Viklang Sahayata Samiti (BMVSS), in Jaipur, India. In order to be adopted, the foot must cost less than $10 USD, be mass-manufacturable, and meet or exceed the performance of the Jaipur Foot, BMVSS' current prosthetic foot. This thesis investigates different metrics that are used to design and evaluate prosthetic feet and presents an analysis and evaluation of a solid ankle, cantilever beam - type prosthetic foot. Methods of comparing prosthetic feet in industry and in academia are discussed using a review of literature. These comparisons can be categorized into mechanical, metabolic, subjective, and gait analysis comparisons. The mechanical parameters are the most useful for designing a new prosthetic foot, as they are readily translated into engineering design requirements; however, these are the furthest removed from the performance of the foot. On the other end of the spectrum are metabolic and subjective parameters, which are useful in evaluating prosthetic feet because the objectives of minimizing energy expenditure and earning user approval are clear. Somewhere between these is gait analysis. The literature review reveals that not enough information is available to bridge these categories, that is, there is no consensus on how any particular mechanical parameter affects the subjective ranking of a prosthetic foot. Two mechanical parameters emerge as necessary, but not sufficient: the rollover shape and the energy storage and return capacity of a prosthetic foot. A simple model of a solid ankle, cantilever beam - type prosthetic foot is analyzed in the context of these two parameters. By applying beam bending theory and published gait analysis data, it is found that an unconstrained cantilever beam maximizes energy storage and return, but does not replicate a physiological roll-over shape well regardless of bending stiffness. Finite element analysis is used to find the roll-over shape and energy storage capacity from the same model when a mechanical constraint is added to prevent over deflection. The results show that for very compliant beams, the roll-over shape is nearly identical to the physiological rollover shape, but the energy storage capacity is low. For stiff beams, the opposite is true. Thus there is a trade-off between roll-over shape and energy storage capacity for cantilever beam type feet that fit this model. Further information is required to determine the relative importance of each of these parameters before an optimal bending stiffness can be found. A proof-of-concept prototype was built according to this model and tested in India at BMVSS. It was found that another parameter - perception of stability, which is perhaps dependent on the rate of forward progression of the center of pressure is equally important as, if not more than, the other parameters investigated here. Perception of stability increased with bending stiffness. The prototype foot received mixed feedback and has potential to be further refined. However, the solid ankle model is inappropriate for persons living in India, as it does not allow enough true dorsiflexion to permit squatting, an important activity that is done many times a day in the target demographic. Future work will use a similar method to design and optimize a prosthetic foot with a rotational ankle joint to allow this motion.
by Kathryn M. Olesnavage.
S.M.
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Kim, Myunghee. "Ankle Controller Design For Robotic Ankle-Foot Prostheses to Reduce Balance-Related Effort During Walking Using a Dynamic Walking Approach." Research Showcase @ CMU, 2015. http://repository.cmu.edu/dissertations/667.
Full textAbstract:
The goal of my research is to develop ankle-foot prosthesis controllers that reduce balance-related effort during walking. Although great progress has been made in ankle foot prostheses, individuals with below knee amputation still report difficulty with balance.
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Mushantat, Ammar. ""Are food choices and dietary quality affected by different types of dental prostheses worn by edentate elders?"." Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=123252.
Full textAbstract:
Mandibular implant-retained overdentures have been reported to improve chewing ability, as well as increase satisfaction and Oral Health Quality of Life for edentate individuals. However, there is still no enough evidence that this type of treatment improves the overall food choices and dietary quality. Moreover, there is no clear classification of the kinds of food that are considered challenging for edentate denture-wearing people to eat. Therefore, the aim of this randomised clinical study was to determine whether treatment with mandibular implant-retained overdentures is different than with conventional dentures regarding food choices. Selected foods were categorized into three groups, according to the reason why each is challenging. A total of 255 edentate individuals ≥ 65 yrs of both genders were randomly divided into two groups and assigned to receive a maxillary CD and either a mandibular IOD or a CD. One year following prosthesis delivery, 217 participants (CD =114, IOD = 103) reported the food and quantities they consumed to a registered dietician through a standard 24-hour dietary recall method. The mean and median values of total selected foods and each food category individually consumed by both groups were calculated and compared statistically. No significant between-group differences were found (p >0.05). Despite the many advantages of IODs, this randomised study detected no evidence of dietary advantages for edentate elders wearing two-implant mandibular overdentures over those wearing conventional complete dentures in relation to their dietary intake at one year following prosthesis delivery.RésuméLes prothèses mandibulaires à rétention implantaire sont reconnues pour améliorer la mastication, et augmenter la satisfaction et la qualité de vie relative à la santé bucco-dentaire des personnes édentées. Cependant, Il existe peu de littérature scientifique sur les effets globaux de ce type de traitement sur la qualité et le choix alimentaire. De plus, une classification rigoureuse du type d'aliments que les porteurs de prothèse ont de la difficulté à consommer n'est pas disponible présentement. Par conséquent, l'objectif de cette étude clinique randomisée était de déterminer si la prothèse mandibulaire à rétention implantaire (PMRI) procurerait un avantage quant à la qualité et au choix alimentaire comparée à la prothèse conventionnelle (PC). Deux cent cinquante-cinq hommes et femmes édentées, âgées de 65 ans ou plus, ont été répartis aléatoirement en deux groupes devant recevoir soit une PC maxillaire et une PMRI mandibulaire, soit une PC maxillaire et une PC mandibulaire. Un an après la réhabilitation prothétique, 217 participants (PC = 114, PMRI = 103) ont fournis des renseignements sur le type et la quantité d'aliments consommés à une diététicienne grâce à la standard méthode de rappel alimentaire de 24 heures. Nous avons classés les aliments en trois groupes selon la difficulté éprouvait par les porteurs de prothèse à les consommer. Les valeurs moyennes et médianes de quantité d'aliments consommés pour chacun des 3 groupes ainsi que celles de quantité totale d'aliments consommés ont été comparées entre les participants ayant reçu le PC et ceux ayant reçu la PMRI. Nous résultats n'ont montré aucune différence significative entre les 2 types de prothèse (p> 0,05). Malgré les nombreux avantages de la PMRI, un an après la réhabilitation prothétique, notre étude randomisée n'a révélé aucune évidence suggérant que les aînés portant une prothèse maxillaire conventionnelle et une mandibulaire retenue par deux implants auraient des avantages alimentaires comparés à ceux portant des prothèses maxillaire et mandibulaire conventionnelles.
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Kubisch, Jörg. "Developing of a device for measuring the areal distribution of the forces in the contact zone of foot and underground for the use in leg prostheses." Master's thesis, Pontificia Universidad Católica del Perú, 2020. http://hdl.handle.net/20.500.12404/17068.
Full textAbstract:
The presented work demonstrates the process of designing a cheap, low cost three axis
force sensor. Further it describes its integration in an array of multiple sensors to measure
the distribution of forces acting on the sole of a prosthetic foot. The focus will be on
easy manufacturing and common materials since the sensor will be integrated in a low
cost prosthesis for lower limp amputees. Using the knowledge from bio mechanics and
some basic assumptions for the later use, requirements for the project are derived. After
a presentation of some state of the art sensor principles, suitable concepts are collected.
Than, the concepts are compared using a comparison table to find the one the fits the requirements
the best. A very compelling concept using barometers casted in silicone rubber
is tested using a simple prototype to try out whether it is a good candidate or not. The
tests show that the concept is capable of measuring forces but due to its disadvantageous
susceptibility for temperature changes it is rejected for the further development process.
The concepts are reevaluated and a new concept is chosen. Afterwards the design process
is described. Beginning with the mechanical design explaining the working principle. The
calculation of the dimensions is presented. After that a circuit to work with a capacitive
measurement as well as a version for resitive measurement is developed and a layout for
a prototype board using capacitive measurement is proposed. To prove the functionality,
the capacitive system is built up as a prototype. To try the measurement behavior and
to measure its repeatability a test stand is designed. It uses commercial available load
cells to conduct a reference measurement. The output of the sensor is compared to the
reference measurement. With various different test procedures the curves mapping the
measured values to the force for normal and shear force measurement are determined.
During the tests, different aspects of performance like creep behavior or hysteresis are investigated.
Also the repeatability is measured various times under different loads to make
reliable estimations of the precision of the measurement. Further on, a resistive force
sensor which could be used instead of the capacitive sensing elements is tested regarding
its curve and performance to have a comparison of the advantages and disadvantages of
either designing the future sensor with resistive or capacitive sensing elements. With both
concepts a repeatability of a few percent uncertainty can be achieved. Further on ways to
improve future versions of the sensor are described based on the experiences made during
the work with the prototype. Finally a possible way to integrate multiple sensors into a
sensing array is proposed. The design as well as possible electrics to acquire the data are
discussed. This way a solid basis for further developments of a sensing array measuring
the force distribution is given.Die vorgestellte Arbeit zeigt den Prozess der Konstruktion eines preiswerten, kostengünstigen Dreiachs-Kraftsensors. Weiterhin wird eine Integration der Sensoren in ein Array, zur Messung der Verteilung von Kräften auf der Fußsohle besprochen. Der Schwerpunkt soll dabei auf einer einfachen und günstigen Herstellung, sowie der Verwendung handelsüblicher Materialien liegen, da der Sensor in ein kostengünstiges Prothesenkonzept integriert werden soll. Ausgehend von den Erkenntnissen der Biomechanik und einigen grundlegenden Annahmen für die Nutzung des Sensors, werden verschiedene Anforderungen abgeleitet. Im Folgenden wird der Stand der Technik anhand einiger aktueller Forschungsarbeiten und Sensorprinzipien vorgestellt. Daraufhin werden geeignete Konzepte gesammelt, die zur Entwicklung des Sensors eingesetzt werden können. Anschließend werden die Konzepte anhand einer Vergleichstabelle verglichen, um das bestgeeignetste Konzept zu finden. Eine sehr überzeugende Variante, bei der Barometerchips in Silikon eingegossen werden, wird mit einem einfachen Prototyp getestet, um herauszufinden, ob es sich um einen guten Kandidaten für die weitere Entwicklung handelt, oder nicht. Die Versuche zeigen, dass der Prototyp in der Lage ist, Kräfte zu messen, jedoch zeigt sich eine große Anfälligkeit für Temperaturschwankungen. Das Konzept wird deshalb nicht weiter verfolgt. Die Konzepte werden neu bewertet und anschließend ein Neues ausgewählt. Daraufhin wird der Entwurfsprozess beschrieben. Das Funktionsprinzip und die Auslegung der Abmessungen werden erläutert. Anschließend wird eine Schaltung zum Arbeiten mit einer kapazitiven Messung, sowie eine Schaltung für eine resitive Messung entwickelt und ein Layout für eine Platine zur kapazitiven Kraftmessung vorgeschlagen. Zum Nachweis der Funktionalität wird das kapazitive System als Prototyp aufgebaut. Um das Messverhalten zu testen und seine Wiederholbarkeit nachzuweisen, wird ein Prüfstand entworfen. Zur Durchführung einer Referenzmessung werden handelsübliche Wägezellen verwendet. Der Ausgang des Sensors wird mit der Referenzmessung verglichen. Mit verschiedenen Prüfverfahren werden die Kurven bestimmt, die die Messwerte der Normalund Querkraft zuordnen. Während des Tests werden verschiedene Leistungsaspekte wie Kriechverhalten oder Hysterese untersucht. Auch die Wiederholbarkeit wird mehrmals unter verschiedenen Belastungen gemessen, um zuverlässige Schätzungen der Genauigkeit der Messung vorzunehmen. Weiterhin wird ein resistiver Kraftsensor, der anstelle der kapazitiven Sensorelemente verwendet werden könnte, hinsichtlich seiner Kurve und Leistung getestet, um einen Vergleich der Vor- und Nachteile der Konstruktion des zukünftigen Sensors mit resistiven oder kapazitiven Sensorelementen zu erhalten. Mit beiden Konzepten kann eine gute Wiederholgenauigkeit mit nur wenigen Prozent Unsicherheit erreicht werden. Weiterhin werden Möglichkeiten zur Verbesserung der zukünftigen Version des Sensors auf Grundlage der gesammelten Erfahrungen beschrieben. Schließlich wird ein möglicher Weg zur Integration mehrerer Sensoren in eine Sensoranordnung vorgeschlagen. Das Design, sowie die mögliche Elektrik zur Erfassung der Daten werden diskutiert. Damit wird eine solide Grundlage für die Weiterentwicklung einer Sensoranordnung zur Messung der Kraftverteilung geschaffen.
Tesis
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Huawei, Wang. "IDENTIFICATION OF MOTION CONTROLLERS IN HUMAN STANDING AND WALKING." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1588964890459579.
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Grøtner, Katrine, and Huy Hoang Pham. "Kinetik ved løb med dagligdagsprotese og løbespecifikprotese hos transtibial amputerede: Et cross-sectional studie." Thesis, Hälsohögskolan, Jönköping University, HHJ, Avd. för rehabilitering, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-49495.
Full textAbstract:
Formål: Formålet med studiet er at undersøge hvordan løb med en dagligdagsprotese og en løbespecifikprotese påvirker kinetik i nedre ekstremiteter hos mennesker med en transtibial-amputation. Metode: Kinetisk data blev indsamlet ved løbetests, med begge proteser, med et motion capture system og kraftplader i et klinisk ganganalyse lab i Göteborg, Sverige. Deltagere(n=2) udførte løbetests i selvvalgt hastighed, iført refleksive markører. Vertikal GRF, fod progressions vinkel, adducerende/abducerende hofte- og knæmoment udvalgt til videre databehandling. Resultat: Forskelle i hofte- og knæ adduktions moment og fod progressions vinkel blev observeret mellem de to protesetyper. Momenterne var mindre, når deltagerne løb med den løbespecifikke protese. Forskelle på den amputerede side og den kontralaterale side noteredes ved alle parametre uanset protesetype. Den kontralaterale side havde forøgede værdier sammenlignet med den amputerede side. Konklusion: Grundet forsøgets størrelse kan vi ikke konkludere, at individer med unilateral amputation i nedre ekstremitet absorberer belastning bedre, når de løber med en løbespecifikprotese fremfor en dagligdagsprotese.Aim: The aim of this study was to investigate how running with a daily-use prosthesis and a running specific prosthesis affects kinetics in the lower extremities when it comes to people with a transtibial amputation. Method: Kinetic data was collected through running tests, using both type of prosthesis, with a motion capture system and force plates in a clinical gait lab in Gothenburg, Sweden. Participants (n=2) executed the running tests in a self-selected speed, while wearing reflective markers. Vertical ground reaction force, foot progression angle, hip- and knee moment were selected for data processing. Results: Differences in hip- and knee adduction moment and foot progression angle were observed between the two types of prostheses. Moments were smaller when participants ran with running-specific prosthesis. Dissimilarity for the amputated side and the contralateral side were noted for all parameters regardless of type of prosthesis. The contralateral side had increased values compared to the amputated side. Conclusion: Because of the sample size we cannot conclude that individuals with a unilateral lower body amputation absorb load more efficiently when running with a running-specific prosthesis rather than a daily-use prosthesis.
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Wu, Yu-Chin, and 吳昱沁. "Biomechanical studies of the newly designed foot prosthesis for patients with partial foot amputation." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/92263787814647190936.
Full textAbstract:
碩士中原大學
醫學工程研究所
89
Foot structure changes following partial foot amputation surgery can result in abnormal biomechanical changes during gait. This may induce functional compensation, and subsequent re-amputation. Currently, there is no commonly accepted standardized partial foot prosthesis used in clinics. The aim of this research is to explore the biomechanics of partial amputation feet and to develop appropriate prostheses for such patients using CAD (Computer Aided Design) and CAE (Computer Aided Engineering) programs. In this study, we investigated the two largest groups of foot amputation - hallux and transmetatarsal amputation (TMA) seen in clinics. Total contact prostheses for those two types of amputation were designed using CAD software and finite element models of the amputation feet and prostheses were generated. The stress distributions before and following the interventions of foot prostheses were quantified using finite element analyses. The effects of prosthesis on the plantar pressure and skeletal stress were investigated. Results concluded that total contact prostheses could contribute 50% of the plantar pressure reduction. Peak plantar pressure was found to be higher in amputation feet than normal ones. Excluding M5 (plantar calcaneus) area, total contact prosthesis can reduce the peak pressure value to under 100kPa. This proves the valuable effect of plantar pressure reduction by the special geometry and material selection of the total contact prostheses. Finite element analysis has the advantage of quantifying the skeletal stress distributions that cannot be measured from experiments. This study can be a reference on the plantar pressure and skeletal stress distributions in foot amputation and prosthesis design.
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Yen, Cai Yao, and 顏才堯. "Development and Verification of Foot Pressure and Joint Angle Feedback Bionic Ankle Prosthesis." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/30782067980672813921.
Full textAbstract:
碩士長庚大學
機械工程學系
100
Below knee amputation patients lost their leg dorsiflexion and plantar flexion functions because of their major muscles (e.g. the tibialis anterior muscle, gastrocnemius muscle, soleus muscle, etc.) and lower leg bones (tibia and fibula) had been amputated. These patients can’t have dorsiflexion, plantar flexion and driving force actions automatically while wearing traditional prostheses and walking. Hence, patients with below knee amputation need more energy consumption for walking because they have to swin their remaining limb instead of push off motion. Below knee amputees pace is unstable because prostheses can’t connect with socket. Because of the unconnection, patients joint attriting excessively. For some patients, they might need second surgery to replace their joint. More often, below knee amputees forfeit sense receptor after the surgery of part amputating physiological structure, they can’t feel to feedback while foot touching the ground with the traditional prostheses. In this condition, they can’t count the distance of the pace. If they use vision to replace the sense of walking feedback, they might easily get another injury from falling down. Thus, this study is focusing on developing a system of verification of foot pressure and joint angle feedback bionic ankle prosthesis for below knee amputation patients who wear traditional below knee prosthetic and the patients who have problems of disarraying walk, consuming energy and losing sense receptor. The study is including three parts. The first part is framing the process of bionic ankle prosthesis. The second part is design cooperative control system for hardware and software. The third part is testing the feedback control system of reliability and validity with functional reification. However, the third part of research setuped bionic ankle prosthesis on testing shelf, to adjust angular displacement of dorsiflexion and plantar flexion posture by using digital electric ankle gradient. The experimental results showed that the reliability and validity were 1.0 and 0.994 respectively. By the way, the ankle coordinated control experiment recruited a normal male subject wearing developed joint ankle measure device on left ankle and pressure sensor device on the sole of both feet, walking on the treadmill. In the experimental process, recording the ankle of the left ankle joint and the sole of foot pressure to determine gait cycle. Moreover, using main control unit to control bionic ankle prosthesis that setup on testing shelf. The goal of experimental data was tried to compare normal left ankle joint and bionic ankle prosthesis which dorsiflexion and plantar flexion and ankle corresponding to time domain in stand phase. The experimental results showed that the average delay time for both ankle joint activities angle of 0.081±0.001 seconds and the average error of 0.025±0.002° (the percentage error of 2.619%). Finally, this study also use MTS tensile testing machine and toes off the ground during propulsion test. The experimental results show that the work done by the spring to store energy for 0.83Nm. This study has been completed bionic ankle mechanism feedback control systems, cooperative control law to achieve the dual ankle joint angles collaborative control and imitate human walking, the ankle joint effect of the propulsion, the future can be applied to improve patient when below-knee amputee gait abnormal gait, energy consumption and the lack of proprioception.
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De, Asha Alan R., Louise Johnson, R. Munjal, J. Kulkarni, and John G. Buckley. "Attenuation of centre-of-pressure trajectory fluctuations under the prosthetic foot when using an articulating hydraulic ankle attachment compared to fixed attachment." 2012. http://hdl.handle.net/10454/7488.
Full textAbstract:
yesBackground Disruptions to the progress of the centre-of-pressure trajectory beneath prosthetic feet have been reported previously. These disruptions reflect how body weight is transferred over the prosthetic limb and are governed by the compliance of the prosthetic foot device and its ability to simulate ankle function. This study investigated whether using an articulating hydraulic ankle attachment attenuates centre-of-pressure trajectory fluctuations under the prosthetic foot compared to a fixed attachment. Methods Twenty active unilateral trans-tibial amputees completed walking trials at their freely-selected, comfortable walking speed using both their habitual foot with either a rigid or elastic articulating attachment and a foot with a hydraulic ankle attachment. Centre-of-pressure displacement and velocity fluctuations beneath the prosthetic foot, prosthetic shank angular velocity during stance, and walking speed were compared between foot conditions. Findings Use of the hydraulic device eliminated or reduced the magnitude of posteriorly directed centre-of-pressure displacements, reduced centre-of-pressure velocity variability across single-support, increased mean forward angular velocity of the shank during early stance, and increased freely chosen comfortable walking speed (P ≤ 0.002). Interpretation The attenuation of centre-of-pressure trajectory fluctuations when using the hydraulic device indicated bodyweight was transferred onto the prosthetic limb in a smoother, less faltering manner which allowed the centre of mass to translate more quickly over the foot.
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Struchkov, Vasily, and John G. Buckley. "Biomechanics of ramp descent in unilateral trans-tibial amputees: Comparison of a microprocessor controlled foot with conventional ankle–foot mechanisms." 2015. http://hdl.handle.net/10454/8228.
Full textAbstract:
yesBackground Walking down slopes and/or over uneven terrain is problematic for unilateral trans-tibial amputees. Accordingly, ‘ankle’ devices have been added to some dynamic-response feet. This study determined whether use of a microprocessor controlled passive-articulating hydraulic ankle–foot device improved the gait biomechanics of ramp descent in comparison to conventional ankle–foot mechanisms. Methods Nine active unilateral trans-tibial amputees repeatedly walked down a 5° ramp, using a hydraulic ankle–foot with microprocessor active or inactive or using a comparable foot with rubber ball-joint (elastic) ‘ankle’ device. When inactive the hydraulic unit's resistances were those deemed to be optimum for level-ground walking, and when active, the plantar- and dorsi-flexion resistances switched to a ramp-descent mode. Residual limb kinematics, joints moments/powers and prosthetic foot power absorption/return were compared across ankle types using ANOVA. Findings Foot-flat was attained fastest with the elastic foot and second fastest with the active hydraulic foot (P < 0.001). Prosthetic shank single-support mean rotation velocity (p = 0.006), and the flexion (P < 0.001) and negative work done at the residual knee (P = 0.08) were reduced, and negative work done by the ankle–foot increased (P < 0.001) when using the active hydraulic compared to the other two ankle types. Interpretation The greater negative ‘ankle’ work done when using the active hydraulic compared to other two ankle types, explains why there was a corresponding reduction in flexion and negative work at the residual knee. These findings suggest that use of a microprocessor controlled hydraulic foot will reduce the biomechanical compensations used to walk down slopes.
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"Anticipatory Muscle Responses for Transitioning Between Rigid Surface and Surfaces of Different Compliance: Towards Smart Ankle-foot Prostheses." Master's thesis, 2019. http://hdl.handle.net/2286/R.I.53887.
Full textAbstract:
abstract: Locomotion is of prime importance in enabling human beings to effectively respond
in space and time to meet different needs. Approximately 2 million Americans live
with an amputation with most of those amputations being of the lower limbs. To
advance current state-of-the-art lower limb prosthetic devices, it is necessary to adapt
performance at a level of intelligence seen in human walking. As such, this thesis
focuses on the mechanisms involved during human walking, while transitioning from
rigid to compliant surfaces such as from pavement to sand, grass or granular media.
Utilizing a unique tool, the Variable Stiffness Treadmill (VST), as the platform for
human walking, rigid to compliant surface transitions are simulated. The analysis of
muscular activation during the transition from rigid to different compliant surfaces
reveals specific anticipatory muscle activation that precedes stepping on a compliant
surface. There is also an indication of varying responses for different surface stiffness
levels. This response is observed across subjects. Results obtained are novel and
useful in establishing a framework for implementing control algorithm parameters to
improve powered ankle prosthesis. With this, it is possible for the prosthesis to adapt
to a new surface and therefore resulting in a more robust smart powered lower limb
prosthesis.Dissertation/Thesis
Masters Thesis Biomedical Engineering 2019
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Eslamy, Mahdy. "Emulation of Ankle Function for Different Gaits through Active Foot Prosthesis: Actuation Concepts, Control and Experiments." Phd thesis, 2014. https://tuprints.ulb.tu-darmstadt.de/4202/1/PhDEslamy.pdf.
Full textAbstract:
A main effort has been devoted in this thesis to consider the effects of the actuator components
(i.e. springs, dampers and motors) and their configuration (i.e. the way they are assembled) in
power and energy requirement of powered foot prostheses. It has been investigated which actuation
mechanism would have the least requirements to perform a certain human gait (e.g. walking, running,
ascending or descending the stairs). This thesis shows that the components of the robotic foot and
their configurations are important design factors. This information is fundamental for building
mechanical prototypes of active foot prostheses.
In addition, the human body is equipped with muscle assemblies to actuate a joint. In robotics this
phenomenon is called over-actuation. In this thesis, it was investigated if and how this fact could
be used to reduce power-energy requirements in active foot prosthesis.
Furthermore, the control structures of the active foot prostheses are investigated and discussed and
the results of the first laboratory experiments with the Powered Ankle Knee Ortho-prosthesis (the
PAKO platform) are explained. In continuation to this topic, some master controller schemes were
introduced for gait identification. A video of experiments with PAKO platform can be seen here:
https://www.youtube.com/watch?v=i7N3L6RsNNU
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Chang, Chia-Hao, and 張家豪. "Computer Aided Manufacturing in Dental Prosthesis and Image-base Digital Measuring System of Foot Profile and Pressure." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/v4v524.
Full textAbstract:
碩士崑山科技大學
機械工程研究所
91
The manufacture procedures of traditional dental restorations include many artificial steps. Each step will cause many errors that lead to different sizes of dental restorations from the original design and make patients have abnormal occlusions or insufficient contact. By the dentists’ clinical experience, investing among all of the manufacture procedures of the restorations will make the wax pattern deformed because of thermal expansion. It will cause greatest error of the manufacture procedure of the restorations. In the dental treatment territory, a lot of traditional auxiliary instruments are used, but there is few instruments integrating computer assisting technique and automatic equipments. This research method is using computer aided technique and automatic equipment in clinical treatment to advance diagnosis procedure, shorten treatment duration, and let patients have more comfortable occlusions. In addition, there’s no system that measures the shape and pressure of the consumer’s feet in the past. The consumer chooses insoles and footwear only by trying the shoes. It is hard to be controlled. Besides, discomfort of wearing often results in foot diseases. Furthermore, there is no system which records consumer’s foot information. On the basis of needs above-mentioned, this research developed one system of digital image measuring foot shape and pressure, that gets foot image by high-resolution scan system and measures length and width of foot to pick up idoneous size of shoes and calculates bearing pressure of every part of foot. So we can operate in coordination with adjustable multi-gasbag insoles to get personal insoles, and help factories to fabricate shoes products with better comfort and structure.
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De, Asha Alan R., R. Munjal, J. Kulkarni, and John G. Buckley. "Impact on the biomechanics of overground gait of using an ‘Echelon’ hydraulic ankle–foot device in unilateral trans-tibial and trans-femoral amputees." 2014. http://hdl.handle.net/10454/8223.
Full textAbstract:
YesIf a prosthetic foot creates resistance to forwards shank rotation as it deforms during loading, it will exert a braking effect on centre of mass progression. The present study determines whether the centre of mass braking effect exerted by an amputee's habitual rigid ‘ankle’ foot was reduced when they switched to using an ‘Echelon’ hydraulic ankle–foot device. Nineteen lower limb amputees (eight trans-femoral, eleven trans-tibial) walked overground using their habitual dynamic-response foot with rigid ‘ankle’ or ‘Echelon’ hydraulic ankle–foot device. Analysis determined changes in how the centre of mass was transferred onto and above the prosthetic-foot, freely chosen walking speed, and spatio-temporal parameters of gait. When using the hydraulic device both groups had a smoother/more rapid progression of the centre of pressure beneath the prosthetic hindfoot (p ≤ 0.001), and a smaller reduction in centre of mass velocity during prosthetic-stance (p < 0.001). As a result freely chosen walking speed was higher in both groups when using the device (p ≤ 0.005). In both groups stance and swing times and cadence were unaffected by foot condition whereas step length tended (p < 0.07) to increase bilaterally when using the hydraulic device. Effect size differences between foot types were comparable across groups. Use of a hydraulic ankle–foot device reduced the foot's braking effect for both amputee groups. Findings suggest that attenuation of the braking effect from the foot in early stance may be more important to prosthetic-foot function than its ability to return energy in late stance.
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De, Asha Alan R., C. T. Barnett, Vasily Struchkov, and John G. Buckley. "Which prosthetic foot to prescribe? Biomechanical differences found during a single session comparison of different foot types hold true one year later." 2016. http://hdl.handle.net/10454/10922.
Full textAbstract:
YesIntroduction: Clinicians typically use findings from cohort studies to objectively inform judgements regarding the potential (dis)advantages of prescribing a new prosthetic device. However, before finalising prescription a clinician will typically ask a patient to ‘try out’ a change of prosthetic device while the patient is at the clinic. Observed differences in gait when using the new device should be the result of the device’s mechanical function, but could also conceivably be due to patient related factors which can change from day-to-day and can thus make device comparisons unreliable. To determine whether a device’s mechanical function consistently has a more meaningful impact on gait than patient-related factors, the present study undertook quantitative gait analyses of a trans-tibial amputee walking using two different foot-ankle devices on two occasions over a year apart. If the observed differences present between devices, established using quantitative gait analysis, were in the same direction and of similar magnitude on each of the two occasions, this would indicate that device-related factors were more important than patient-related factors. Methods: One adult male with a unilateral trans-tibial amputation completed repeated walking trials using two different prosthetic foot devices on two separate occasions, 14 months apart. Walking speed and sagittal plane joint kinematics and kinetics for both limbs were assessed on each occasion. Clinically meaningful differences in these biomechanical outcome variables were defined as those with an effect size difference (d) between prosthetic conditions of at least 0.4 (i.e. ‘medium’ effect size). Results: Eight variables namely, walking speed, prosthetic ‘ankle’ peak plantar- and dorsi- flexion and peak positive power, and residual knee loading response flexion, peak stance-phase extension and flexion moments and peak negative power, displayed clinically meaningful differences (d > 0.4) between foot devices during the first session. All eight of these showed similar effect size differences during the second session despite the participant being heavier and older. Conclusions: Findings suggest that a prosthetic device’s mechanical function consistently has a more meaningful impact on gait than patient-related factors. These findings support the current clinical practice of making decisions regarding prosthetic prescription for an individual, based on a single session evaluation of their gait using two different devices. However, to confirm this conclusion, a case series using the same approach as the present study could be undertaken.
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Carli, Valerio. "Design of an active foot for a smart prosthetic leg." Phd thesis, 2007. http://tuprints.ulb.tu-darmstadt.de/891/1/Dissertation_Valerio_12345_neu_klein.pdf.
Full textAbstract:
The purpose of this project is the realisation of a prosthetic foot, able to adapt to the different conditions encountered by the patient during walking. The analysis of the human gait shows that a normal foot has the capability to assume an optimised shape. Coordinated movements of body parts, together with the shape assumed by the foot, result in minimising the energy expenditure during walking. Concerning the prosthetic foot, the bending stiffness of the plantar spring is the quantity to vary, in order to achieve the desired change in foot properties. Three different concepts are investigated: The first one deals with the possibility of adjusting the static response of the plantar spring of the foot by means of solid-state actuators. Piezoceramic patches are employed as active elements which are able to change the shape of the plantar spring. The second concept takes advantage of the property of a hollow beam with an ellipticalal cross- section. Depending on the value of the inner pressure applied, the ellipticalal cross-section deforms, resulting in a change in the moment of inertia of the cross-section itself. The deformation of the cross-section, due to the inner pressure, leads to an increased bending stiffness of the structure. The behaviour of an integrated structure made of a passive plate and of active beams is numerically and experimentally analysed. The third concept is based on the possibility of controlling the deformation of a flat hollow structure while under a bending load. The conventional plantar spring is replaced by a thin structure consisting of two parallel plates. The space between the plates is filled with a hydraulic fluid to generate inner pressure. Due to the shear stiffness of the structure, the bending load leads to the inward deformation of the plate assuming the shorter radius of curvature. The inner pressure stiffens the structure by controlling the inward displacement of the plate. A system for generating the pressure is presented. The system is activated by the patient and takes advantage of the work performed during the stance phase. The system is integrated in the foot structure and may replace the conventional ankle joint of the prosthetic foot.
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Carli, Valerio [Verfasser]. "Design of an active foot for a smart prosthetic leg / vorgelegt von Valerio Carli." 2007. http://d-nb.info/986508594/34.
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Fey, Nicholas Phillip. "The influence of prosthetic foot design and walking speed on below-knee amputee gait mechanics." Thesis, 2011. http://hdl.handle.net/2152/ETD-UT-2011-12-4686.
Full textAbstract:
Unilateral below-knee amputees commonly experience asymmetrical gait patterns and develop comorbidities in their intact (non-amputated) and residual (amputated) legs, with the mechanisms leading to these asymmetries and comorbidities being poorly understood. Prosthetic feet have been designed in an attempt to minimize walking asymmetries by utilizing elastic energy storage and return (ESAR) to help provide body support, forward propulsion and leg swing initiation. However, identifying the influence of walking speed and prosthetic foot stiffness on amputee gait mechanics is needed to develop evidence-based rationale for prosthetic foot selection and treatment of comorbidities. In this research, experimental and modeling studies were performed to identify the influence of walking speed and prosthetic foot stiffness on amputee walking mechanics.
The results showed that when asymptomatic and relatively new amputees walk using clinically prescribed prosthetic feet across a wide range of speeds, loading asymmetries exist between the intact and residual knees. However, knee intersegmental joint force and moment quantities in both legs were not higher compared to non-amputees, suggesting that increased knee loads leading to joint disorders may develop in response to prolonged prosthesis usage or the onset of joint pathology over time. In addition, the results showed that decreasing ESAR foot stiffness can increase prosthesis range of motion, mid-stance energy storage, and late-stance energy return. However, the prosthetic foot contributions to forward propulsion and swing initiation were limited due to muscle compensations needed to provide body support and forward propulsion in the absence of residual leg ankle muscles.
A study was also performed that integrated design optimization with forward dynamics simulations of amputee walking to identify the optimal prosthetic foot stiffness that minimized metabolic cost and intact knee joint forces. The optimal stiffness profile stiffened the toe and mid-foot while making the ankle less stiff, which decreased the intact knee joint force during mid-stance while reducing the overall metabolic cost of walking.
These studies have provided new insight into the relationships between prosthetic foot stiffness and amputee walking mechanics, which provides biomechanics-based rationale for prosthetic foot prescription that can lead to improved amputee mobility and overall quality of life.text
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Shell, Courtney Elyse. "A framework for manipulating the sagittal and coronal plane stiffness of a commercially-available, low profile carbon fiber foot." Thesis, 2012. http://hdl.handle.net/2152/ETD-UT-2012-08-6308.
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While amputee gait has been studied in great detail, the influence of prosthetic foot sagittal and coronal plane stiffness on amputee walking biomechanics is not well understood. In order to investigate the effects of sagittal and coronal plane foot stiffness on amputee walking, a framework for manipulating the stiffness of a prosthetic foot needs to be developed. The sagittal and coronal plane stiffness of a low profile carbon fiber prosthetic foot was manipulated through coupling with selective-laser-sintered prosthetic ankles. The carbon fiber foot provided an underlying non-linear stiffness profile while the ankle modified the overall stiffness of the ankle-foot combination. A design of experiments was performed to determine the effect of four prosthetic ankle dimensions (keel thickness, keel width, space between the ankle top and bottom faces, and the location of the pyramid connection) on ankle-foot sagittal and coronal plane stiffness. Ankles were manufactured using selective laser sintering and statically tested to determine stiffness. Two of the dimensions, space between the ankle top and bottom faces and the location of the pyramid connection, were found to have the largest influence on both sagittal and coronal plane stiffness. A third dimension, keel thickness, influenced only coronal plane stiffness. A number of prosthetic ankle-foot combinations were created that encompassed a range of sagittal and coronal plane stiffness levels that were lower than that of the low profile carbon fiber foot alone. To further test the effectiveness of the framework to manipulate sagittal and coronal plane stiffness, two ankle-foot combinations, one stiffer than the other in the sagittal and coronal planes, were used in a case study analyzing amputee walking biomechanics. Differences in stiffness were large enough to cause noticeable changes in amputee kinematics and kinetics during turning and straight-line walking. Future work will expand the range of ankle-foot stiffness levels that can be created using this framework. The framework will then be used to create ankle-foot combinations to investigate the effect of sagittal and coronal plane stiffness on gait mechanics in a large sample of unilateral transtibial amputees.text
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Askew, G. N., L. A. McFarlane, A. E. Minetti, and John G. Buckley. "Energy cost of ambulation in trans-tibial amputees using a dynamic-response foot with hydraulic versus rigid 'ankle': insights from body centre of mass dynamics." 2019. http://hdl.handle.net/10454/16902.
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YesBackground Previous research has shown that use of a dynamic-response prosthetic foot (DRF) that incorporates a small passive hydraulic ankle device (hyA-F), provides certain biomechanical benefits over using a DRF that has no ankle mechanism (rigA-F). This study investigated whether use of a hyA-F in unilateral trans-tibial amputees (UTA) additionally provides metabolic energy expenditure savings and increases the symmetry in walking kinematics, compared to rigA-F. Methods Nine active UTA completed treadmill walking trials at zero gradient (at 0.8, 1.0, 1.2, 1.4, and 1.6 of customary walking speed) and for customary walking speed only, at two angles of decline (5° and 10°). The metabolic cost of locomotion was determined using respirometry. To gain insights into the source of any metabolic savings, 3D motion capture was used to determine segment kinematics, allowing body centre of mass dynamics (BCoM), differences in inter-limb symmetry and potential for energy recovery through pendulum-like motion to be quantified for each foot type. Results During both level and decline walking, use of a hyA-F compared to rigA-F significantly reduced the total mechanical work and increased the interchange between the mechanical energies of the BCoM (recovery index), leading to a significant reduction in the metabolic energy cost of locomotion, and hence an associated increase in locomotor efficiency (p < 0.001). It also increased inter-limb symmetry (medio-lateral and progression axes, particularly when walking on a 10° decline), highlighting the improvements in gait were related to a lessening of the kinematic compensations evident when using the rigA-F. Conclusions Findings suggest that use of a DRF that incorporates a small passive hydraulic ankle device will deliver improvements in metabolic energy expenditure and kinematics and thus should provide clinically meaningful benefits to UTAs’ everyday locomotion, particularly for those who are able to walk at a range of speeds and over different terrains.
Engineering and Physical Sciences Research Council(EPSRC, reference EP/H010491/1).