Perceptions and biomechanical effects of varying prosthetic ankle stiffness during uphill walking: A case series.

BACKGROUND: Prosthetic foot stiffness, which is typically invariable for commercially available prosthetic feet, needs to be considered when prescribing a prosthetic foot. While a biological foot adapts its function according to the movement task, an individual with lower limb amputation may be limited during more functionally demanding gait tasks by their conventional energy storing and return prosthetic foot. RESEARCH QUESTION: How do changes in prosthetic foot stiffness during incline walking affect biomechanical measures as well as perception of participants. METHODS: Kinetic and kinematic data were collected during incline walking, for five participants with trans-tibial amputation. A mixed model analysis of variance was used to analyse the effects of changing the stiffness during incline walking, using a novel variable-stiffness unit built on a commercially available prosthetic foot. Biomechanical results were also analysed on an individual level alongside the participant feedback, for a better understanding of the various strategies and perceptions exhibited during incline walking. RESULTS: Statistically significant effects were only observed on the biomechanical parameters directly related to prosthetic ankle kinematics and kinetics (i.e., peak prosthetic ankle dorsiflexion, peak prosthetic ankle power, dynamic joint stiffness during controlled dorsiflexion). Participant perception during walking was affected by changes in stiffness. Individual analyses revealed varied perceptions and varied biomechanical responses among participants. SIGNIFICANCE: While changes in prosthesis mechanical properties influenced the amputee's experience, minimal immediate effects were found with the overall gait pattern. The reported inter-participant variability may be due to the person's physical characteristics or habitual gait pattern, which may influence prosthesis function. The ability to vary prosthetic foot stiffness during the assessment phase of setting up a prosthesis could provide useful information to guide selection of the appropriate prosthetic device for acceptable performance across a range of activities.

Designing Custom Mechanics in Running-Specific Prosthetic Feet via Shape Optimization.

OBJECTIVE: Running-specific prosthetic feet are curved cantilever springs, distinguished from ordinary prosthetic feet by their size, shape, and greater ability to store and return elastic potential energy. Finite element analyses show how modifications to prosthesis shape alter the multidimensional and nonlinear mechanics, but designers seeking to prescribe custom mechanics are limited by the complex constraints and high dimensionality of possible geometries. METHODS: We introduce two simple formulations for describing foot mechanics, and use them with a custom spline-based shape optimization to generate new prosthetic foot shapes given desired endpoint mechanics. We then tackle a relevant example problem using this approach, designing and characterizing three running-specific prosthetic feet with similar vertical and angular deflections but varied horizontal deflections, with the expectation that knee extension moments would increase with anterior deflection of the toe. Finally, we compare the prostheses' endpoint mechanics and resulting biomechanics in an athlete with unilateral transfemoral amputation. RESULTS: The shape optimization was able to derive shapes that substantially alter prosthesis mechanics along all dimensions of endpoint behavior, and benchtop testing validated the behavior of two new feet constructed from the optimization. The subject's knee moments increased with horizontal endpoint deflection as expected. CONCLUSION: We developed and validated a shape optimization tool using a simplified formulation of foot behavior to achieve desired running prosthesis mechanics. SIGNIFICANCE: With this framework, researchers can begin to elucidate the link between prosthesis mechanics and athlete biomechanics and performance.

Tracking Ideal Varieties and Cropping Techniques for Agroecological Weed Management: A Simulation-Based Study on Pea.

Pea or Pisum sativum L. is a key diversification crop, but current varieties are not very competitive against weeds. The objective was to identify, depending on the type of cropping system and weed flora, (1) the key pea parameters that drive crop production, weed control and weed contribution to biodiversity, (2) optimal combinations of pea-parameter values and crop-management techniques to maximize these goals. For this, virtual experiments were run, using FLORSYS, a mechanistic simulation model. This individual-based 3D model simulates daily crop-weed seed and plant dynamics over the years, from the cropping system and pedoclimate. Here, this model was parameterized for seven pea varieties, from experiments and literature. Moreover, ten virtual varieties were created by randomly combining variety-parameter values according to a Latin Hypercube Sampling (LHS) plan, respecting parameter ranges and correlations observed in the actual varieties. A global sensitivity analysis was run, using another LHS plan to combine pea varieties, crop rotations and management techniques in nine contrasting situations (e.g., conventional vs. organic, no-till, type of weed flora). Simulated data were analyzed with classification and regression trees (CART). We highlighted (1) Parameters that drive potential yield and competitivity against weeds (notably the ability to increase plant height and leaf area in shaded situations), depending on variety type (spring vs. winter) and cropping system. These are pointers for breeding varieties to regulate weeds by biological interactions; (2) Rules to guide farmers to choose the best pea variety, depending on the production goal and the cropping system; (3) The trade-off between increasing yield potential and minimizing yield losses due to weeds when choosing pea variety and management, especially in winter peas. The main pea-variety rules were the same for all performance goals, management strategies, and analyses scales, but further rules were useful for individual goals, strategies, and scales. Some variety features only fitted to particular systems (e.g., delayed pea emergence is only beneficial in case of herbicide-spraying and disastrous in unsprayed systems). Fewer variety rules should be compensated by more management rules. If one of the two main weed-control levers, herbicide or tillage, was eliminated, further pea-variety and/or management rules were needed.

Task dependent changes in mechanical and biomechanical measures result from manipulating stiffness settings in a prosthetic foot.

BACKGROUND: Adaptation of lower limb function to different gait tasks is inherently not as effective among individuals with lower limb amputation as compared to able-bodied individuals. Varying stiffness of a prosthetic foot may be a way of facilitating gait tasks that require larger ankle joint range of motion. METHODS: Three stiffness settings of a novel prosthetic foot design were tested for level walking at three speeds as well as for 7,5° incline and decline walking. Outcome measures, describing ankle range of motion and ankle dynamic joint stiffness were contrasted across the three stiffness settings. Standardized mechanical tests were done for the hindfoot and forefoot. FINDINGS: Dorsiflexion angle was incrementally increased with a softer foot and a faster walking speed / higher degree of slope. The concurrent dynamic joint stiffness exhibited a less systematic change, especially during INCLINE and DECLINE walking. The small difference seen between the stiffness settings for hindfoot loading limits analysis for the effects of stiffness during weight acceptance, however, a stiffer foot significantly restricted plantarflexion during DECLINE. INTERPRETATIONS: Varying stiffness settings within a prosthetic foot does have an effect on prosthetic foot dynamics, and differences are task dependent, specifically in parameters involving kinetic attributes. When considering the need for increased ankle range of motion while performing more demanding gait tasks, a foot that allows the users themselves to adjust stiffness according to the task at hand may be of benefit for active individuals, possibly enhancing the user's satisfaction and comfort during various daily activities.

Multiple Breeds and Countries' Predictions of Mineral Contents in Milk from Milk Mid-Infrared Spectrometry.

Measuring the mineral composition of milk is of major interest in the dairy sector. This study aims to develop and validate robust multi-breed and multi-country models predicting the major minerals through milk mid-infrared spectrometry using partial least square regressions. A total of 1281 samples coming from five countries were analyzed to obtain spectra and in ICP-AES to measure the mineral reference contents. Models were built from records coming from four countries (n = 1181) and validated using records from the fifth country, Austria (n = 100). The importance of including local samples was tested by integrating 30 Austrian samples in the model while validating with the remaining 70 samples. The best performances were achieved using this second set of models, confirming the need to cover the spectral variability of a country before making a prediction. Validation root mean square errors were 54.56, 63.60, 7.30, 59.87, and 152.89 mg/kg for Na, Ca, Mg, P, and K, respectively. The built models were applied on the Walloon milk recording large-scale spectral database, including 3,510,077. The large-scale predictions on this dairy herd improvement database provide new insight regarding the minerals' variability in the population, as well as the effect of parity, stage of lactation, breeds, and seasons.

Monobac System-A Single Baculovirus for the Production of rAAV.

Large-scale manufacturing of rAAV is a bottleneck for the development of genetic disease treatments. The baculovirus/Sf9 cell system underpins the first rAAV treatment approved by EMA and remains one of the most advanced platforms for rAAV manufacturing. Despite early successes, rAAV is still a complex biomaterial to produce. Efficient production of the recombinant viral vector requires that AAV replicase and capsid genes be co-located with the recombinant AAV genome. Here, we present the Monobac system, a singular, modified baculovirus genome that contains all of these functions. To assess the relative yields between the dual baculovirus and Monobac systems, we prepared each system with a transgene encoding γSGC and evaluated vectors' potency in vivo. Our results show that rAAV production using the Monobac system not only yields higher titers of rAAV vector but also a lower amount of DNA contamination from baculovirus.

Rhizosphere Bacterial Networks, but Not Diversity, Are Impacted by Pea-Wheat Intercropping.

Plant-plant associations, notably cereal-legume intercropping, have been proposed in agroecology to better value resources and thus reduce the use of chemical inputs in agriculture. Wheat-pea intercropping allows to decreasing the use of nitrogen fertilization through ecological processes such as niche complementarity and facilitation. Rhizosphere microbial communities may account for these processes, since they play a major role in biogeochemical cycles and impact plant nutrition. Still, knowledge on the effect of intecropping on the rhizosphere microbiota remains scarce. Especially, it is an open question whether rhizosphere microbial communities in cereal-legume intercropping are the sum or not of the microbiota of each plant species cultivated in sole cropping. In the present study, we assessed the impact of wheat and pea in IC on the diversity and structure of their respective rhizosphere microbiota. For this purpose, several cultivars of wheat and pea were cultivated in sole and intercropping. Roots of wheat and pea were collected separately in intercropping for microbiota analyses to allow deciphering the effect of IC on the bacterial community of each plant species/cultivar tested. Our data confirmed the well-known specificity of the rhizosphere effect and further stress the differentiation of bacterial communities between pea genotypes (Hr and hr). As regards the intercropping effect, diversity and structure of the rhizosphere microbiota were comparable to sole cropping. However, a specific co-occurrence pattern in each crop rhizosphere due to intercropping was revealed through network analysis. Bacterial co-occurrence network of wheat rhizosphere in IC was dominated by OTUs belonging to Alphaproteobacteria, Bacteroidetes and Gammaproteobacteria. We also evidenced a common network found in both rhizosphere under IC, indicating the interaction between the plant species; this common network was dominated by Acidobacteria, Alphaproteobacteria, and Bacteroidetes, with three OTUs belonging to Acidobacteria, Betaproteobacteria and Chloroflexi that were identified as keystone taxa. These findings indicate more complex rhizosphere bacterial networks in intercropping. Possible implications of these conclusions are discussed in relation with the functioning of rhizosphere microbiota in intercropping accounting for its beneficial effects.

Variable stiffness foot design and validation.

Energy storing and returning prosthetic feet are commonly prescribed. Research has demonstrated advantages to use these types of prosthetic feet. However, their stiffness in the sagittal plane is fixed and cannot adapt to different walking tasks and user preference. In this paper, we propose a novel prosthetic foot design capable of modulating its stiffness in the sagittal plane. The Variable Stiffness Ankle unit (VSA) is mounted on a commercially available prosthetic foot. The stiffness of the foot is adjusted with a lightweight servo motor controlled wirelessly. The stiffness change is accomplished by moving the supports points on the glass fiber leaf spring of the VSA ankle unit. We described the design and characterized changes in ankle stiffness using a mechanical test bench. A novel method was used to capture mechanical test data using a six degree of freedom load cell, allowing us to contrast mechanical and biomechanical data. A transtibial unilateral amputee performed level ground walking on an instrumented treadmill. The VSA prosthetic foot exhibited ankle stiffness change in the mechanical test bench. Ankle stiffness changes were also confirmed during the biomechanical analysis. Future work will involve additional subjects. The VSA prosthetic foot could improve user satisfaction and help prosthetist to fine tune prosthetic feet during fittings.

Speed Adaptable Prosthetic Foot: Concept Description, Prototyping and Initial User Testing.

This article presents a novel design of a prosthetic foot that features adaptable stiffness that changes according to the speed of ankle motion. The motivation is the natural graduation in stiffness of a biological ankle over a range of ambulation tasks. The device stiffness depends on rate of movement, ranging from a dissipating support at very slow walking speed, to efficient energy storage and return at normal walking speed. The objective here is to design a prosthetic foot that provides a compliant support for slow ambulation, without sacrificing the spring-like energy return beneficial in normal walking. The design is a modification of a commercially available foot and employs material properties to provide a change in stiffness. The velocity dependent properties of a non-Newtonian working fluid provide the rate adaptability. Material properties of components allow for a geometry shift that results in a coupling action, affecting the stiffness of the overall system. The function of an adaptive coupling was tested in linear motion. A prototype prosthetic foot was built, and the speed dependent stiffness measured mechanically. Furthermore, the prototype was tested by a user and body kinematics measured in gait analysis for varying walking speed, comparing the prototype to the original foot model (non-modified). Mechanical evaluation of stiffness shows increase in stiffness of about 60% over the test range and 10% increase between slow and normal walking speed in user testing.

Functional joint center of prosthetic feet during level ground and incline walking.

Energy storage and returning prosthetic feet do not provide a well-defined articulation point compared to the human ankle. Calculation of user relevant parameters, such as ankle power, requires such a joint center point when using traditional mechanical models. However, shortcomings of current calculation methods result in some errors. The aim of this case study was to compare conventional ankle joint calculations to a functional joint center (FJC) using data collected on a roll-over test machine and in a motion lab during dissimilar walking tasks. Three prosthetic feet were evaluated on a roll-over test machine. Then, two trans-tibial amputees were each fitted with the same three prosthetic feet matching their weight and activity category. Kinematic data were collected during walking on level ground, as well as up and down a slope. The FJC during the stance phase of gait was calculated for each test method and compared with outcomes using conventional methods. The location of the FJC was generally anterior and inferior to the estimated anatomical joint position. Importantly, the FJC location varied for the different prosthetic feet and was task dependent as per the three gait conditions. This was reflected in different ankle angles and moments of FJC calculations compared to conventional methods for level ground walking. Differences in the calculated FJC between conditions represented the variations in prosthetic foot deformation, and explained how this parameter is influenced by the prosthetic's stiffness. For level ground walking, calculated FJC location between human subject testing and machine evaluation were strongly correlated. Both stiffness and task dependent demands of the prosthetic foot should be considered during testing. The FJC of elastic ankles can serve as a parameter for characterization and differentiation between various prosthetic foot designs and be an important parameter for prosthetic foot designers to consider. As the position of the FJC is dependent on the design and task, it is a more informative measure of the prosthetic foot's response to the user's needs. Furthermore, prosthetists could use this metric in clinical practice to better appreciate amputee feedback and perception. FJC provides an alternative center during calculation of ankle power using standard methods.

Methods for Describing and Characterizing the Mechanical Behavior of Running-Specific Prosthetic Feet.

Current methods for describing and characterizing the mechanical behavior of running-specific prosthetic feet are incomplete, and this has limited our understanding of how design parameters impact athlete performance. Deflections induced by most ground reaction forces consist of vertical, horizontal, and angular components, but previous work has focused only on the vertical component. Furthermore, the deflection depends heavily on the direction of the force, which changes throughout stance phase of running. In this paper, we introduce several methods that can be used to more precisely describe and characterize the mechanics of running-specific prosthetic feet. We use a custom finite element model to simulate these methods, and validate them with a series of tests using a prototype foot in a universal testing machine.

A frequency averaging framework for the solution of complex dynamic systems.

A frequency averaging framework is proposed for the solution of complex linear dynamic systems. It is remarkable that, while the mid-frequency region is usually very challenging, a smooth transition from low- through mid- and high-frequency ranges is possible and all ranges can now be considered in a single framework. An interpretation of the frequency averaging in the time domain is presented and it is explained that the average may be evaluated very efficiently in terms of system solutions.

Zero and root loci of disturbed spring-mass systems.

Models consisting of chains of particles that are coupled to their neighbours appear in many applications in physics or engineering, such as in the study of dynamics of mono-atomic and multi-atomic lattices, the resonances of crystals with impurities and the response of damaged bladed discs. Analytical properties of the dynamic responses of such disturbed chains of identical springs and masses are presented, including when damping is present. Several remarkable properties in the location of the resonances (poles) and anti-resonances (zeros) of the displacements in the frequency domain are presented and proved. In particular, it is shown that there exists an elliptical region in the frequency-disturbance magnitude plane from which zeros are excluded and the discrete values of the frequency and disturbance at which double poles occur are identified. A particular focus is on a local disturbance, such as when a spring or damper is modified at or between the first and last masses. It is demonstrated how, notably through normalization, the techniques and results of the paper apply to a broad category of more complex systems in physics, chemistry and engineering.