Effect of polyester-based artificial tendons on movement biomechanics: A preliminary in vivo study.

Artificial tendons may be valuable clinical devices for replacing damaged or missing biological tendons. In this preliminary study, we quantified the effect of polyester-suture-based artificial tendons on movement biomechanics. New Zealand White rabbits underwent surgical replacement of either the Achilles (n = 2) or tibialis cranialis (TC, n = 2) biological tendons with artificial tendons. Once pre-surgery and weekly from 2 to 6 weeks post-surgery, we quantified hindlimb kinematics and ground contact pressures during the stance phase of hopping gait. Post-surgical movement biomechanics were either consistent or improved over time in both groups. However, the Achilles group had greater overall biomechanical and muscle deficits than the TC group. In the TC group, at 6 weeks post-surgery, foot angles were about 10° greater than those in healthy controls during the first 30 % of stance. At 6 weeks post-surgery, the Achilles group exhibited lesser (i.e., more dorsiflexed) ankle angles (minimum angle = 31.5 ± 9.4°) and vertical ground reaction forces (37.4 ± 2.6 %BW) during stance than those in healthy controls (65.0 ± 11.2° and 50.2 ± 8.3 %BW, respectively). Future studies are needed to quantify long-term biomechanical function with artificial tendons, the effect of artificial tendons on muscle function and structure, and the effect of formal rehabilitation.

Feasibility of Implanting a Foot-Ankle Endoprosthesis within Skin in a Rabbit Model of Transtibial Amputation.

Prosthetic limbs that are completely implanted within skin (i.e., endoprostheses) could permit direct, physical muscle-prosthesis attachment to restore more natural sensorimotor function to people with amputation. The objective of our study was to test, in a rabbit model, the feasibility of replacing the lost foot after hindlimb transtibial amputation by implanting a novel rigid foot-ankle endoprosthesis that is fully covered with skin. We first conducted a pilot, non-survival surgery in two rabbits to determine the maximum size of the skin flap that could be made from the biological foot-ankle. The skin flap size was used to determine the dimensions of the endoprosthesis foot segment. Rigid foot-ankle endoprosthesis prototypes were successfully implanted in three rabbits. The skin incisions healed over a period of approximately 1 month after surgery, with extensive fur regrowth by the pre-defined study endpoint of approximately 2 months post surgery. Upon gross inspection, the skin surrounding the endoprosthesis appeared normal, but a substantial subdermal fibrous capsule had formed around the endoprosthesis. Histology indicated that the structure and thickness of the skin layers (epidermis and dermis) were similar between the operated and non-operated limbs. A layer of subdermal connective tissue representing the fibrous capsule surrounded the endoprosthesis. In the operated limb of one rabbit, the subdermal connective tissue layer was approximately twice as thick as the skin on the medial (skin = 0.43 mm, subdermal = 0.84 mm), ventral (skin = 0.80 mm, subdermal = 1.47 mm), and lateral (skin = 0.76 mm, subdermal = 1.42 mm) aspects of the endoprosthesis. Our results successfully demonstrated the feasibility of implanting a fully skin-covered rigid foot-ankle endoprosthesis to replace the lost tibia-foot segment of the lower limb. Concerns include the fibrotic capsule which could limit the range of motion of jointed endoprostheses. Future studies include testing of endoprosthetics, as well as materials and pharmacologic agents that may suppress fibrous encapsulation.

Fully Implanted Prostheses for Musculoskeletal Limb Reconstruction After Amputation: An In Vivo Feasibility Study.

Previous prostheses for replacing a missing limb following amputation must be worn externally on the body. This limits the extent to which prostheses could physically interface with biological tissues, such as muscles, to enhance functional recovery. The objectives of our study were to (1) test the feasibility of implanting a limb prosthesis, or endoprosthesis, entirely within living skin at the distal end of a residual limb, and (2) identify effective surgical and post-surgical care approaches for implanting endoprostheses in a rabbit model of hindlimb amputation. We iteratively designed, fabricated, and implanted unjointed endoprosthesis prototypes in six New Zealand White rabbits following amputation. In the first three rabbits, the skin failed to heal due to ishemia and dehiscence along the sutured incision. The skin of the final three subsequent rabbits successfully healed over the endoprotheses. Factors that contributed to successful outcomes included modifying the surgical incision to preserve vasculature; increasing the radii size on the endoprostheses to reduce skin stress; collecting radiographs pre-surgery to match the bone pin size to the medullary canal size; and ensuring post-operative bandage integrity. These results will support future work to test jointed endoprostheses that can be attached to muscles.

Wearable Shoulder Exoskeleton with Spring-Cam Mechanism for Customizable, Nonlinear Gravity Compensation.

Wearable, mechanically passive (i.e. spring-powered) exoskeletons may be more practical and affordable than active, motorized exoskeletons for providing continuous, home-based, antigravity movement assistance for people with shoulder disability. However, the biomechanical moment due to gravity is a nonlinear function of shoulder elevation angle and, thus, challenging to counteract proportionally across the shoulder elevation range of motion with a spring alone. We designed, fabricated, and tested an integrated spring-cam-wheel system that can generate a nonlinear moment to proportionally compensate for the expected antigravity moment at the shoulder. We then incorporated the proposed system in a benchtop model and a novel wearable passive cable-driven exoskeleton that was intended to counteract half of the gravitational moment during shoulder elevation movements. The rotational moment measured from the benchtop model closely matched the theoretical moment during simulated positive shoulder elevation. However, a larger moment (up to 12.5% larger) was required during simulated negative shoulder elevation to stretch the spring to its initial length due to spring hysteresis and friction losses. The wearable exoskeleton prototype was qualitatively tested for assisting shoulder elevation movements; we identified several aspects of the prototype design that need to be improved before further testing on human participants. In future studies, we will quantitatively evaluate human kinematics and neuromuscular coordination with the exoskeleton to determine its suitability for assisting patients with shoulder disability.

Effect of continuous, mechanically passive, anti-gravity assistance on kinematics and muscle activity during dynamic shoulder elevation.

Passive shoulder exoskeletons, which provide continuous anti-gravitational force at the shoulder, could assist with dynamic shoulder elevation movements involved in activities of daily living and rehabilitation exercises. However, prior biomechanical studies of these exoskeletons primarily focused on static overhead tasks. In this study, we evaluated how continuous passive anti-gravity assistance affects able-bodied neuromuscular activity and shoulder kinematics during dynamic and static phases of shoulder elevation movements. Subjects, seated upright, elevated the shoulder from a rest posture (arm relaxed at the side) to a target shoulder elevation angle of 90°. Subjects performed the movement in the frontal (abduction) and scapular (scaption) planes with and without passive anti-gravity assistance. Muscles that contribute to positive shoulder elevation, based on their reported moment arms, had significantly lower muscle activations with assistance during both dynamic and static elevation. Muscles that contribute to negative shoulder elevation, which can decelerate the shoulder during dynamic shoulder elevation, were not significantly different between assistance conditions. This may be partly explained by the trend of subjects to reduce their maximum angular decelerations near the target to offset the positive shoulder elevation moment due to the anti-gravity assistance. Our results suggest that passive anti-gravity assistance could reduce the muscle activations needed to perform dynamic movements. Consequently, the anti-gravity assistance of passive shoulder exoskeletons may enhance motor function and reduce muscle and joint loads for both able-bodied and disabled users.

Effect of Mechanically Passive, Wearable Shoulder Exoskeletons on Muscle Output During Dynamic Upper Extremity Movements: A Computational Simulation Study.

Wearable passive (ie, spring powered) shoulder exoskeletons could reduce muscle output during motor tasks to help prevent or treat shoulder musculoskeletal disorders. However, most wearable passive shoulder exoskeletons have been designed and evaluated for static tasks, so it is unclear how they affect muscle output during dynamic tasks. The authors used a musculoskeletal model and Computed Muscle Control optimization to estimate muscle output with and without a wearable passive shoulder exoskeleton during 2 simulated dynamic tasks: abduction and upward reach. To an existing upper extremity musculoskeletal model, the authors added an exoskeleton model with 3-dimensional representations of the exoskeleton components, including a spring, cam wheel, force-transmitting shoulder cable, and wrapping surfaces that permitted the shoulder cable to wrap over the shoulder. The exoskeleton reduced net muscle-generated moments in positive shoulder elevation by 28% and 62% during the abduction and upward reach, respectively. However, muscle outputs (joint moments and muscle effort) were higher with the exoskeleton than without at some points of the movement. Muscle output was higher with the exoskeleton because the exoskeleton moment opposed the muscle-generated moment in some postures. The results of this study highlight the importance of evaluating muscle output for passive exoskeletons designed to support dynamic movements to ensure that the exoskeletons assist, rather than impede, movement.