Influence of Walking Over Unexpected Uneven Terrain on Joint Loading for Individuals With Transtibial Amputation.

Individuals with transtibial amputation (TTA) experience asymmetric lower-limb loading which can lead to joint pain and injuries. However, it is unclear how walking over unexpected uneven terrain affects their loading patterns. This study sought to use modeling and simulation to determine how peak joint contact forces and impulses change for individuals with unilateral TTA during an uneven step and subsequent recovery step and how those patterns compare to able-bodied individuals. We expected residual limb loading during the uneven step and intact limb loading during the recovery step would increase relative to flush walking. Further, individuals with TTA would experience larger loading increases compared to able-bodied individuals. Simulations of individuals with TTA showed during the uneven step, changes in joint loading occurred at all joints except the prosthetic ankle relative to flush walking. During the recovery step, intact limb joint loading increased in early stance relative to flush walking. Simulations of able-bodied individuals showed large increases in ankle joint loading for both surface conditions. Overall, increases in early stance knee joint loading were larger for those with TTA compared to able-bodied individuals during both steps. These results suggest that individuals with TTA experience altered joint loading patterns when stepping on uneven terrain. Future work should investigate whether an adapting ankle-foot prosthesis can mitigate these changes to reduce injury risk.

Using Deep Learning Models to Predict Prosthetic Ankle Torque.

Inverse dynamics from motion capture is the most common technique for acquiring biomechanical kinetic data. However, this method is time-intensive, limited to a gait laboratory setting, and requires a large array of reflective markers to be attached to the body. A practical alternative must be developed to provide biomechanical information to high-bandwidth prosthesis control systems to enable predictive controllers. In this study, we applied deep learning to build dynamical system models capable of accurately estimating and predicting prosthetic ankle torque from inverse dynamics using only six input signals. We performed a hyperparameter optimization protocol that automatically selected the model architectures and learning parameters that resulted in the most accurate predictions. We show that the trained deep neural networks predict ankle torques one sample into the future with an average RMSE of 0.04 ± 0.02 Nm/kg, corresponding to 2.9 ± 1.6% of the ankle torque's dynamic range. Comparatively, a manually derived analytical regression model predicted ankle torques with a RMSE of 0.35 ± 0.53 Nm/kg, corresponding to 26.6 ± 40.9% of the ankle torque's dynamic range. In addition, the deep neural networks predicted ankle torque values half a gait cycle into the future with an average decrease in performance of 1.7% of the ankle torque's dynamic range when compared to the one-sample-ahead prediction. This application of deep learning provides an avenue towards the development of predictive control systems for powered limbs aimed at optimizing prosthetic ankle torque.

The Influence of Multiple Pregnancies on Gait Asymmetry: A Case Study.

Gait asymmetry is a predictor of fall risk and may contribute to increased falls during pregnancy. Previous work indicates that pregnant women experience asymmetric joint laxity and pelvic tilt during standing and asymmetric joint moments and angles during walking. How these changes translate to other measures of gait asymmetry remains unclear. Thus, the purpose of this case study was to determine the relationships between pregnancy progression, subsequent pregnancies, and gait asymmetry. Walking data were collected from an individual during 2 consecutive pregnancies during the second and third trimesters and 6 months postpartum of her first pregnancy and the first, second, and third trimesters and 6 months postpartum of her second pregnancy. Existing asymmetries in step length, anterior-posterior (AP) impulses, AP peak ground reaction forces, lateral impulses, and joint work systematically increased as her pregnancy progressed. These changes in asymmetry may be attributed to pelvic asymmetry, leading to asymmetric hip flexor and extensor length, or due to asymmetric plantar flexor strength, as suggested by her ankle work asymmetry. Relative to her first pregnancy, she had greater asymmetry in step length, step width, braking AP impulse, propulsive AP impulse, and peak braking AP ground reaction force during her second pregnancy, which may have resulted from increased joint laxity.

Analysis of the Relative Motion Between the Socket and Residual Limb in Transtibial Amputees While Wearing a Transverse Rotation Adapter.

The coupling between the residual limb and the lower-limb prosthesis is not rigid. As a result, external loading produces movement between the prosthesis and residual limb that can lead to undesirable soft-tissue shear stresses. As these stresses are difficult to measure, limb loading is commonly used as a surrogate. However, the relationship between limb loading and the displacements responsible for those stresses remains unknown. To better understand the limb motion within the socket, an inverse kinematic analysis was performed to estimate the motion between the socket and tibia for 10 individuals with a transtibial amputation performing walking and turning activities at 3 different speeds. The authors estimated the rotational stiffness of the limb-socket body to quantify the limb properties when coupled with the socket and highlight how this approach could help inform prosthetic prescriptions. Results showed that peak transverse displacement had a significant, linear relationship with peak transverse loading. Stiffness of the limb-socket body varied significantly between individuals, activities (walking and turning), and speeds. These results suggest that transverse limb loading can serve as a surrogate for residual-limb shear stress and that the setup of a prosthesis could be individually tailored using standard motion capture and inverse kinematic analyses.

Foot and Ankle Joint Biomechanical Adaptations to an Unpredictable Coronally Uneven Surface.

Coronally uneven terrain, a common yet challenging feature encountered in daily ambulation, exposes individuals to an increased risk of falling. The foot-ankle complex may adapt to improve balance on uneven terrains, a recovery strategy which may be more challenging in patients with foot-ankle pathologies. A multisegment foot model (MSFM) was used to study the biomechanical adaptations of the foot and ankle joints during a step on a visually obscured, coronally uneven surface. Kinematic, kinetic and in-shoe pressure data were collected as ten participants walked on an instrumented walkway with a surface randomly positioned ±15 deg or 0 deg in the coronal plane. Coronally uneven surfaces altered hindfoot-tibia loading, with more conformation to the surface in early than late stance. Distinct loading changes occurred for the forefoot-hindfoot joint in early and late stance, despite smaller surface conformations. Hindfoot-tibia power at opposite heel contact (@OHC) was generated and increased on both uneven surfaces, whereas forefoot-hindfoot power was absorbed and remained consistent across surfaces. Push-off work increased for the hindfoot-tibia joint on the everted surface and for the forefoot-hindfoot joint on the inverted surface. Net work across joints was generated for both uneven surfaces, while absorbed on flat terrain. The partial decoupling and joint-specific biomechanical adaptations on uneven surfaces suggest that multi-articulating interventions such as prosthetic devices and arthroplasty may improve ambulation for mobility-impaired individuals on coronally uneven terrain.

Does a torsion adapter improve functional mobility, pain, and fatigue in patients with transtibial amputation?

BACKGROUND: Turning gait is an integral part of daily ambulation and likely poses a greater challenge for patients with transtibial amputation compared with walking a straight pathway. A torsion adapter is a prosthetic component that can increase transverse plane compliance of the prosthesis and decrease the torque applied to the residual limb, but whether this will improve patients' mobility, pain, and fatigue remains unknown. QUESTIONS/PURPOSES: Does prescription of a torsion adapter translate to improvements in (1) functional mobility and (2) self-perceived pain and fatigue in moderately active patients with lower limb amputation? METHODS: Ten unilateral transtibial amputees wore a torsion or rigid adapter in random order. Functional mobility was assessed through a field measurement using an activity monitor and through a laboratory measurement using a 6-minute walk test that included turns. The residual limb pain grade assessed self-perceived pain and the Multidimensional Fatigue Inventory assessed fatigue. RESULTS: We found relatively small functional differences for amputees wearing a torsion adapter versus a rigid adapter. Amputees wearing a torsion adapter tended to take more low- and medium-intensity steps per day (331 ± 365 and 437 ± 511 difference in steps; effect size = 0.44 and 0.17; confidence interval [CI], 70-592 and 71-802; p = 0.019 and 0.024, respectively). They also experienced less pain interference with activities (1.9 ± 1.7 change in score; effect size = 0.83; CI, 0.3-3.4; p = 0.026) when wearing a torsion adapter. However, these patients took a similar number of total steps per day, walked a comparable distance in 6 minutes, and reported similar residual limb pain and fatigue. CONCLUSIONS: For a moderately active group of amputees, the torsion adapter did not translate to substantial improvements in functional mobility and self-perceived pain and fatigue. The small increases in low- and medium-intensity activities with less pain interference when wearing a torsion adapter provides evidence to support prescribing this device for amputees with difficulty navigating the household and community environments.

Does activity affect residual limb skin temperatures?

BACKGROUND: Many lower limb amputees experience thermal discomfort as a result of wearing a prosthesis. The development of new prosthetic technology to address thermal discomfort requires an understanding of how activity (or inactivity) affects residual limb skin temperatures and how skin temperatures are mapped across the skin-prosthesis interface. QUESTIONS/PURPOSES: We studied skin temperatures inside the socket and suspension system of unilateral transtibial amputees to determine the following: (1) Does residual limb skin temperature change as a function of activity and its cessation? (2) If changes occur, are there regional differences (circumferential or proximal-distal) in temperature? METHODS: Nine unilateral transtibial amputees provided informed consent to participate in this institutional review board-approved study. Residual limb skin temperatures inside their prosthesis were measured at 16 distributed sites using thermistor sensors and a portable data acquisition system. The 150-minute protocol began with a 60-minute seated rest, continued with a 30-minute treadmill walk at a self-selected speed, and concluded after a second 60-minute seated rest. Data from the last minute of each of the three periods were used for analysis. RESULTS: The skin temperature was 31.0° ± 1.5° C (mean ± SD) at the end of the initial rest period. After 30 minutes of treadmill walking, skin temperature increased to 34.1° ± 1.3° C, an increase of 3.1° C (95% confidence interval [CI], 2.4-3.8; p < 0.001). After the final 60 minutes of rest, the skin temperature was 33.2° ± 1.2° C, 0.9° C lower (95% CI, 0.5-1.2; p < 0.001) than at the end of treadmill walking but 2.2° C higher (95% CI, 1.4-2.9; p < 0.001) than the temperature observed at the end of the initial rest period. Skin temperatures were warmest over the tibialis anterior region (p < 0.006) and decreased from the most proximal to the most distal locations on the residual limb (p = 0.001). CONCLUSIONS: Walking causes a dramatic increase in skin temperatures inside the prosthesis and subsequent rest of twice the walking duration fails to return temperatures to their initial condition. Rest alone is likely to be insufficient to provide thermal relief without doffing the prosthesis. New prosthetic technology is needed to address this problem. Skin temperatures also varied by residual limb location, suggesting that the development of location-specific technology would be advantageous.

Sagittal and transverse ankle angle coupling can influence prosthetic socket transverse plane moments.

Introduction: The intact foot and ankle comprise a complex set of joints that allow rotation in multiple planes of motion. Some of these motions are coupled, meaning rotation in one plane induces motion in another. One such coupling is between the sagittal and transverse planes. For every step, plantar- and dorsi-flexion motion is coupled with external and internal rotation of the shank relative to the foot, respectively. There is no prosthetic foot available for prescription that mimics this natural coupling. The purpose of this study was to determine if a sagittal:transverse ankle angle coupling ratio exists that minimizes the peak transverse plane moment during prosthetic limb stance. Methods: A novel, torsionally active prosthesis (TAP) was used to couple sagittal and transverse plane motions using a 60-watt motor. An embedded controller generated transverse plane rotation trajectories proportional to sagittal plane ankle angles corresponding to sagittal:transverse coupling ratios of 1:0 (rigid coupling analogous to the standard-of-care), 6:1, 4:1, 3:1, and 2:1. Individuals with unilateral transtibial amputation were block randomized to walk in a straight line and in both directions around a 2 m circle at their self-selected speed with the TAP set at randomized coupling ratios. The primary outcome was the peak transverse plane moment, normalized to body mass, during prosthetic limb stance. Secondary outcomes included gait biomechanic metrics and a measure of satisfaction. Results: Eleven individuals with unilateral transtibial amputations participated in the study. The 6:1 coupling ratio resulted in reduced peak transverse plane moments in pairwise comparisons with 3:1 and 2:1 coupling ratios while walking in a straight line and with the prosthesis on the outside of the circle (p < .05). Coupling ratio had no effect on gait biomechanic metrics or satisfaction. Discussion: The general pattern of results suggests a quadratic relationship between the peak transverse plane moment and coupling ratio with a minimum at the 6:1 coupling ratio. The coupling ratio did not appear to adversely affect propulsion or body support. Subjects indicated they found all coupling ratios to be comfortable. While a mechatronic prosthesis like the TAP may have limited commercial potential, our future work includes testing a robust, passive prosthetic foot with a fixed coupling ratio.

Biomechanical responses of individuals with transtibial amputation stepping on a coronally uneven and unpredictable surface.

Coronally uneven surfaces are prevalent in natural and man-made terrain, such as holes or bumps in the ground, curbs, sidewalks, and driveways. These surfaces can be challenging to navigate, especially for individuals with lower limb amputations. This study examined the biomechanical response of individuals with unilateral transtibial amputation (TTA) taking a step on a coronally uneven surface while wearing their clinically prescribed prosthesis, compared to individuals without mobility impairments (controls). An instrumented walkway was used with the middle force plate positioned either flush or rotated ± 15˚ in the coronal plane and concealed (blinded). TTAs used greater hip abduction compared to controls across all conditions, but especially during blinded inversion. The recovery step width of TTAs was wider after blinded eversion and narrower after blinded inversion, but unchanged for controls. These results suggest TTAs may have decreased balance control on unexpected, uneven surfaces. Additionally, TTAs generated less positive prosthetic ankle joint work during blinded inversion and eversion, and less negative coronal hip joint work during blinded inversion compared to controls. These biomechanical responses could lead to increased energy expenditure on uneven terrain. Surface condition had no effect on the vertical center of mass for either group of participants. Finally, the TTAs and the control group generated similar vertical GRF impulses, suggesting the TTAs had sufficient body support despite differences in surface conditions. These results are important to consider for future prosthetic foot designs and rehabilitation strategies.

A Data-Driven and Personalized Stance Symmetry Controller for Robotic Ankle-Foot Prostheses: A Preliminary Investigation.

People with unilateral transtibial amputation generally exhibit asymmetric gait, likely due to inadequate prosthetic ankle function. This results in compensatory behavior, leading to long-term musculoskeletal impairments (e.g., osteoarthritis in the joints of the intact limb). Powered prostheses can better emulate biological ankles, however, control methods are over-reliant on non-disabled data, require extensive amounts of tuning by experts, and cannot adapt to each user's unique gait patterns. This work directly addresses all these limitations with a personalized and data-driven control strategy. Our controller uses a virtual setpoint trajectory within an impedance-inspired formula to adjust the dynamics of the robotic ankle-foot prosthesis as a function of stance phase. A single sensor measuring thigh motion is used to estimate the gait phase in real time. The virtual setpoint trajectory is modified via a data-driven iterative learning strategy aimed at optimizing ankle angle symmetry. The controller was experimentally evaluated on two people with transtibial amputation. The control scheme successfully increased ankle angle symmetry about the two limbs by 24.4% when compared to the passive condition. In addition, the symmetry controller significantly increased peak prosthetic ankle power output at push-off by 0.52 W/kg and significantly reduced biomechanical risk factors associated with osteoarthritis (i.e., knee and hip abduction moments) in the intact limb. This research demonstrates the benefits of personalized and data-driven symmetry controllers for robotic ankle-foot prostheses.

Optimization of prosthetic foot stiffness to reduce metabolic cost and intact knee loading during below-knee amputee walking: a theoretical study.

Unilateral below-knee amputees develop abnormal gait characteristics that include bilateral asymmetries and an elevated metabolic cost relative to non-amputees. In addition, long-term prosthesis use has been linked to an increased prevalence of joint pain and osteoarthritis in the intact leg knee. To improve amputee mobility, prosthetic feet that utilize elastic energy storage and return (ESAR) have been designed, which perform important biomechanical functions such as providing body support and forward propulsion. However, the prescription of appropriate design characteristics (e.g., stiffness) is not well-defined since its influence on foot function and important in vivo biomechanical quantities such as metabolic cost and joint loading remain unclear. The design of feet that improve these quantities could provide considerable advancements in amputee care. Therefore, the purpose of this study was to couple design optimization with dynamic simulations of amputee walking to identify the optimal foot stiffness that minimizes metabolic cost and intact knee joint loading. A musculoskeletal model and distributed stiffness ESAR prosthetic foot model were developed to generate muscle-actuated forward dynamics simulations of amputee walking. Dynamic optimization was used to solve for the optimal muscle excitation patterns and foot stiffness profile that produced simulations that tracked experimental amputee walking data while minimizing metabolic cost and intact leg internal knee contact forces. Muscle and foot function were evaluated by calculating their contributions to the important walking subtasks of body support, forward propulsion and leg swing. The analyses showed that altering a nominal prosthetic foot stiffness distribution by stiffening the toe and mid-foot while making the ankle and heel less stiff improved ESAR foot performance by offloading the intact knee during early to mid-stance of the intact leg and reducing metabolic cost. The optimal design also provided moderate braking and body support during the first half of residual leg stance, while increasing the prosthesis contributions to forward propulsion and body support during the second half of residual leg stance. Future work will be directed at experimentally validating these results, which have important implications for future designs of prosthetic feet that could significantly improve amputee care.

Using theoretical frameworks to examine fall history and associated prosthetic mobility in people with nondysvascular lower limb amputation.

BACKGROUND: Over a million people live with lower limb amputation (LLA) in the United States, and many of them will experience a fall in the next year. The aim of this study was to use existing theoretical frameworks in an attempt to organize the complex interactions of reported fall history and prosthetic mobility in community-ambulating people with LLA. METHODS: Self-reported fall rate and fall circumstances were recorded in a cross-section of people with unilateral LLA due to nondysvascular causes. Self-report and performance-based standardized outcome measures assessed prosthetic mobility and balance confidence. All variables were considered and appropriately placed within a proposed International Classification of Functioning, Disability, and Health framework while using a fall-type classification framework to classify fall circumstances. RESULTS: Information from 69 participants was analyzed. The reported fall rate was at 46%, with those with transfemoral amputation reporting significantly more falls than those with transtibial amputation ( P = 0.001). Tripping over an object was the most common cause (62.5%), and fallers reported significantly lower perceived prosthetic mobility than nonfallers ( P = 0.001). Despite reporting high levels of balance confidence, results indicate that all groups of fallers and nonfallers are at increased fall risk according to performance-based prosthetic mobility score cutoffs. CONCLUSIONS: Community-dwelling people with nondysvascular LLA are at increased fall risk. Classifying fall-related variables using theoretical frameworks provides a means to structure more informative fall risk surveys for people with LLA in an attempt to identify those at greater risk for falling and its potential detrimental effects.

Vacuum-assisted socket suspension compared with pin suspension for lower extremity amputees: effect on fit, activity, and limb volume.

OBJECTIVE: To investigate the effect of a vacuum-assisted socket suspension system as compared with pin suspension on lower extremity amputees. DESIGN: Randomized crossover with 3-week acclimation. SETTING: Household, community, and laboratory environments. PARTICIPANTS: Unilateral, transtibial amputees (N=20 enrolled, N=5 completed). INTERVENTIONS: (1) Total surface-bearing socket with a vacuum-assisted suspension system (VASS), and (2) modified patellar tendon-bearing socket with a pin lock suspension system. MAIN OUTCOME MEASURES: Activity level, residual limb volume before and after a 30-minute treadmill walk, residual limb pistoning, and Prosthesis Evaluation Questionnaire. RESULTS: Activity levels were significantly lower while wearing the vacuum-assisted socket suspension system than the pin suspension (P=.0056; 38,000 ± 9,000 steps per 2 wk vs 73,000 ± 18,000 steps per 2 wk, respectively). Residual limb pistoning was significantly less while wearing the vacuum-assisted socket suspension system than the pin suspension (P=.0021; 1 ± 3mm vs 6 ± 4mm, respectively). Treadmill walking had no effect on residual limb volume. In general, participants ranked their residual limb health higher, were less frustrated, and claimed it was easier to ambulate while wearing a pin suspension compared with the VASS. CONCLUSIONS: The VASS resulted in a better fitting socket as measured by limb movement relative to the prosthetic socket (pistoning), although the clinical relevance of the small but statistically significant difference is difficult to discern. Treadmill walking had no effect, suggesting that a skilled prosthetist can control for daily limb volume fluctuations by using conventional, nonvacuum systems. Participants took approximately half as many steps while wearing the VASS which, when coupled with their subjective responses, suggests a preference for the pin suspension system.

Locomotor activities of individuals with lower-limb amputation.

BACKGROUND: Ambulatory individuals with lower-limb amputation perform a variety of locomotor activities, but the step count distribution of these activities is unknown. OBJECTIVE: To describe a novel method for activity monitoring and to use it to count steps taken while walking straight ahead on level ground, turning right and left, up and down stairs, and up and down ramps. STUDY DESIGN: This is an observational study. METHODS: A portable instrument to record leg motion was placed on or inside the prosthetic pylon of 10 individuals with unilateral transtibial amputations. Participants first walked a defined course in a hospital environment to train and validate a machine learning algorithm for classifying locomotor activity. Participants were then free to pursue their usual activities while data were continuously collected over 1-2 d. RESULTS: Overall classification accuracy was 97.5% ± 1.5%. When participants were free to walk about their home, work, and community environments, 82.8% of all steps were in a straight line, 9.0% were turning steps, 4.8% were steps on stairs, and 3.6% were steps on ramps. CONCLUSION: A novel activity monitoring method accurately classified the locomotion activities of individuals with lower-limb amputation. Nearly 1 in 5 of all steps taken involved turning or walking on stairs and ramps.

Biomechanical response to mediolateral foot-placement perturbations during walking.

Dynamic balance in the frontal plane requires active control, which is accomplished largely through control of mediolateral foot placement. Individuals without mobility impairments have the ability to compensate for variability in foot-placement to maintain their balance; however, it is unknown how individuals respond to unexpected mediolateral perturbations to their foot placement that alter their balance control. The purpose of this study was to identify the biomechanical responses of individuals without mobility impairments to medial and lateral foot-placement perturbations during walking. Three-dimensional body segment kinematic and ground reaction force data were collected from 15 participants at 1.0 m/s and their self-selected speed on an instrumented treadmill. Dynamic balance was assessed by analyzing whole-body angular momentum in the frontal plane. We hypothesized that participants would respond to the perturbations with a combination of a lateral ankle strategy, hip adduction strategy and/or ankle push-off strategy to restore their balance. Overall, the medial perturbations adversely affected dynamic balance while lateral perturbations had little effect. Individuals responded to medial (lateral) perturbations with an increased (decreased) ankle inversion moment, which correlated to lateral (medial) shifts in their foot center of pressure. In addition, individuals responded to medial (lateral) perturbations with a decreased (slightly decreased) hip abduction moment. Contrary to our hypothesis, we did not observe an ankle push-off moment response but rather, a small response in the opposite direction. These results highlight the response of individuals without mobility impairments to unexpected foot-placement perturbations and provide a basis of comparison for those with impaired balance control.

Variables that Influence Basic Prosthetic Mobility in People With Non-Vascular Lower Limb Amputation.

BACKGROUND: There exists a dearth of evidence on rehabilitation factors that influence prosthetic mobility in people with lower limb amputation (LLA). Examining variables that contribute to prosthetic mobility can inform rehabilitation interventions, providing guidance in developing more comprehensive care for these individuals. OBJECTIVE: To determine the influence of modifiable and non-modifiable variables related to LLA and their impact on prosthetic mobility, using the International Classification of Functioning, Disability and Health (ICF) model. Secondarily, to determine if personal factors and self-reported balance and mobility are predictive of Component timed-up-and-go (cTUG) performance. DESIGN: Cross-sectional study of a convenience sample. SETTING: National conference. PARTICIPANTS: People (N=68) with non-vascular causes of unilateral LLA. METHODS: Assessment of anthropometrics, mobility, bilateral hip extensor strength, hip range of motion, single limb balance, and self report measures. Lasso linear regression and extreme gradient boosting analyses were used to determine influence of variables on prosthetic mobility. MAIN OUTCOME MEASURE: Timed performance of the cTUG. RESULTS: The following five variables were found to influence basic prosthetic mobility (P ≤ .05) in people with transtibial amputation: hip extensor strength, hip range of motion, single limb balance, waist circumference, and age. In the transfemoral cohort, number of comorbidities and waist circumference primarily influenced prosthetic mobility. Additionally, 66% of the variance in cTUG total time for the entire sample could be explained by simply regressing on level of amputation, number of comorbidities, age and Activities-specific Balance Confidence scale score, all variables easily collected in a waiting room. CONCLUSION: Variables that are modifiable with physical therapy intervention including hip extensor strength, hip range of motion, single limb balance, and waist circumference significantly influenced basic prosthetic mobility. These variables can be affected by targeted rehabilitation interventions and lifestyle changes. LEVEL OF EVIDENCE: II.

Stiffness and energy storage characteristics of energy storage and return prosthetic feet.

BACKGROUND: Mechanical properties of prosthetic feet can significantly influence amputee gait, but how they vary with respect to limb loading and orientation is infrequently reported. OBJECTIVE: The objective of this study is to measure stiffness and energy storage characteristics of prosthetic feet across limb loading and a range of orientations experienced in typical gait. STUDY DESIGN: This study included mechanical testing. METHODS: Force-displacement data were collected at combinations of 15 sagittal and 5 coronal orientations and used to calculate stiffness and energy storage across prosthetic feet, stiffness categories, and heel wedge conditions. RESULTS: Stiffness and energy storage were highly non-linear in both the sagittal and coronal planes. Across all prosthetic feet, stiffness decreased with greater heel, forefoot, medial, and lateral orientations, while energy storage increased with forefoot, medial, and lateral loading orientations. Stiffness category was proportional to stiffness and inversely proportional to energy storage. Heel wedge effects were prosthetic foot dependent. CONCLUSION: Orientation, manufacturer, stiffness category, and heel wedge inclusion greatly influenced stiffness and energy storage characteristics. CLINICAL RELEVANCE: These results and an available graphical user interface tool may help improve clinical prescriptions by providing prosthetists with quantitative measures to compare prosthetic feet.

Ideal operating conditions for a variable stiffness transverse plane adapter for individuals with lower-limb amputation.

Transverse plane shear stress between the prosthetic socket and residual limb often results in soft tissue breakdown and discomfort for individuals with lower-limb amputation. To better understand the effects of reduced transverse plane stiffness in the shank of a prosthesis, a second-generation variable stiffness torsion adapter (VSTA II) was tested with individuals with a transtibial amputation (n = 10). Peak transverse plane moments, VSTA II deflection, range of whole body angular momentum (WBAM), ground reaction impulse, joint work, and personal stiffness preference were evaluated at three fixed stiffness levels (compliant: 0.25 Nm/°, intermediate: 0.75 Nm/°, stiff: 1.25 Nm/°) at three walking speeds (self-selected, fast and slow: +/- 20% of self-selected, respectively) while straight-line walking and performing left and right turns. Residual limb loading decreased and VSTA II displacement increased for reductions in stiffness and both metrics increased with increasing walking speed, while ground reaction impulse and joint work were unaffected. The range of WBAM increased with decreased stiffness, which suggests an increased risk of falling when using the VSTA II at lower stiffness settings. Preference testing showed no significant result, but trends for lower stiffness settings when turning and walking at self-selected speeds were noted, as were stiffer settings when walking straight and at faster speeds. These results show that a device with rotational compliance like the VSTA II could reduce loading on the residual limb during straight walking and turning activities and that factors such as walking speed, activity type and user preference can affect the conditions for optimal use.

Local dynamic stability in turning and straight-line gait.

Successful community and household ambulation require the ability to navigate corners and maneuver around obstacles, posing unique challenges compared to straight-line walking. The challenges associated with turning may contribute to an increased incidence of falling and the occurrence of fall-related injuries. A measure of stability applied to turning gait may be able to quantify a system's response to naturally occurring disturbances associated with turning and identify subjects at greater risk of falling. An index of stability has been used previously to assess the rate of kinematic separation (local dynamic stability) during straight-line gait. The purpose of this study was to determine if local dynamic stability during constant speed turning is reduced compared to straight-line treadmill walking. Maximum finite-time Lyapunov exponents (lambda) were used to estimate the local stability of able-bodied subjects' (n=19) sagittal plane hip, knee, and ankle trajectories for turning compared to straight-line walking at two different walking speeds. Turning lambda was greater than straight lambda for the hip, right knee, and ankle (p<0.05). Turning lambda for the left knee angle was similar to straight lambda. There were no differences in lambda between left and right limbs for the hip and ankle and also no differences between the inside and outside limbs during turning for all joints. These findings indicate able-bodied subjects' hip, right knee, and ankle kinematics are less locally stable while turning than walking in a straight line and may be used as a comparative tool for determining the efficacy of therapeutic interventions for mobility-impaired populations.

Ground reaction forces and impulses during a transient turning maneuver.

Understanding the kinetic strategies of turning as expressed in ground reaction forces (GRFs) and impulses (GRIs) is necessary to design therapies and technologies to enable patients with ambulatory difficulties perform daily activities. Previous studies have reported data only for one step of the turn and expressed the data in terms of a global reference frame making it difficult to understand how the forces act on the body to cause a change in heading and orientation during a turn. This study is the first to report GRF and GRI data for three steps of a turn and express that data in terms of a body reference frame. Motion and GRF data were collected from 10 subjects walking at self-selected speeds along a straight path and performing 90 degrees left and right turns. During the left turn, turn initiation and apex steps were collected. During the right turn, turn termination steps were collected. GRF data were rotated to a reference frame whose origin was the body center of mass (COM) and aligned to the COM trajectory and then integrated to find the GRIs. In the medial-lateral direction, straight steps were characterized by a brief medial impulse at heel strike followed by a prolonged lateral impulse. Turn initiation and termination steps were both characterized by medial impulses spanning the entire stance phase while apex steps were characterized by a large lateral impulse. In the anterior-posterior direction, initiation steps had larger braking and smaller propulsive impulses than straight steps. Apex steps had larger propulsive impulses than straight steps, and termination steps had smaller braking and larger propulsive impulses than straight steps.