Frequency-dependent behavior of paretic and non-paretic leg force during standing post stroke.

Maintaining upright posture in quiet standing is an important skill that is often disrupted by stroke. Despite extensive study of human standing, current understanding is incomplete regarding the muscle coordination strategies that produce the ground-on-foot force (F) that regulates translational and rotational accelerations of the body. Even less is understood about how stroke disrupts that coordination. Humans produce sagittal plane variations in the location (center of pressure, xCP) and orientation (Fx/Fz) of F that, along with the force of gravity, produce sagittal plane body motions. As F changes during quiet standing there is a strong correlation between the xCP and Fx/Fz time-varying signals within narrow frequency bands. The slope of the correlation varies systematically with frequency in non-disabled populations, is sensitive to changes in both environmental and neuromuscular control factors, and emerges from the interaction of body mechanics and neural control. This study characterized the xCP versus Fx/Fz relationship as frequency-dependent Intersection Point (IP) heights for the paretic and non-paretic legs of individuals with history of a stroke (n = 12) as well as in both legs of non-disabled controls (n = 22) to reveal distinguishing motor coordination patterns. No inter-leg difference of IP height was present in the control group. The paretic leg IP height was lower than the non-paretic, and differences from control legs were in opposite directions. These results quantify disrupted coordination that may characterize the paretic leg balance deficit and non-paretic leg compensatory behavior, providing a means of monitoring balance impairment and a target for therapeutic interventions.

Wearable sensing for understanding and influencing human movement in ecological contexts.

Wearable sensors offer a unique opportunity to study movement in ecological contexts - that is, outside the laboratory where movement happens in ordinary life. This article discusses the purpose, means, and impact of using wearable sensors to assess movement context, kinematics, and kinetics during locomotion, and how this information can be used to better understand and influence movement. We outline the types of information wearable sensors can gather and highlight recent developments in sensor technology, data analysis, and applications. We close with a vision for important future research and key questions the field will need to address to bring the potential benefits of wearable sensing to fruition.

Sensitivity of lower-limb joint mechanics to prosthetic forefoot stiffness with a variable stiffness foot in level-ground walking.

This paper presents the effectsof the Variable Stiffness Foot (VSF) on lower-limb joint mechanics in level-ground walking. Persons with transtibial amputations use lower-limb prostheses to restore level-ground walking, and foot stiffness and geometry have been shown to be the main factors for evaluating foot prostheses. Previous studies have validated the semi-active and stiffness modulation capabilities of the VSF. The core aim of this study is to investigate the mechanical effects of adjusting stiffness on knee and ankle mechanics for prosthetic users wearing the VSF. For this study, seven human participants walked with three different stiffnesses (compliant, medium, stiff) of the VSF across two force plates in a motion capture lab. Linear mixed models were utilized to estimate the significance and coefficients of determinations for the regression of stiffness on several biomechanical metrics. A stiffer VSF led to decreased ankle dorsiflexion angle (p < 0.0001, r2 = 0.90), increased ankle plantarflexor moment (p = 0.016, r2 = 0.40), increased knee extension (p = 0.021, r2 = 0.37), increased knee flexor moment (p = 0.0007, r2 = 0.63), and decreased magnitudes of prosthetic energy storage (p < 0.0001, r2 = 0.90), energy return (p = 0.0003, r2 = 0.67), and power (p < 0.0001, r2 = 0.74). These results imply lower ankle, knee, and hip moments, and more ankle angle range of motion using a less stiff VSF, which may be advantageous to persons walking with lower-limb prostheses. Responsive modulation of the VSF stiffness, according to these findings, could help overcome gait deviations associated with different slopes, terrain characteristics, or footwear.

A simulation-based analysis of the effects of variable prosthesis stiffness on interface dynamics between the prosthetic socket and residual limb.

Introduction: Loading of a residual limb within a prosthetic socket can cause tissue damage such as ulceration. Computational simulations may be useful tools for estimating tissue loading within the socket, and thus provide insights into how prosthesis designs affect residual limb-socket interface dynamics. The purpose of this study was to model and simulate residual limb-socket interface dynamics and evaluate the effects of varied prosthesis stiffness on interface dynamics during gait. Methods: A spatial contact model of a residual limb-socket interface was developed and integrated into a gait model with a below-knee amputation. Gait trials were simulated for four subjects walking with low, medium, and high prosthesis stiffness settings. The effects of prosthesis stiffness on interface kinematics, normal pressure, and shear stresses were evaluated. Results: Model-predicted values were similar to those reported previously in sensor-based experiments; increased stiffness resulted in greater average normal pressure and shear stress (p < 0.05). Conclusions: These methods may be useful to aid experimental studies by providing insights into the effects of varied prosthesis design parameters or gait conditions on residual limb-socket interface dynamics. The current results suggest that these effects may be subject-specific.

A Computational Gait Model With a Below-Knee Amputation and a Semi-Active Variable-Stiffness Foot Prosthesis.

INTRODUCTION: Simulations based on computational musculoskeletal models are powerful tools for evaluating the effects of potential biomechanical interventions, such as implementing a novel prosthesis. However, the utility of simulations to evaluate the effects of varied prosthesis design parameters on gait mechanics has not been fully realized due to the lack of a readily-available limb loss-specific gait model and methods for efficiently modeling the energy storage and return dynamics of passive foot prostheses. The purpose of this study was to develop and validate a forward simulation-capable gait model with lower-limb loss and a semi-active variable-stiffness foot (VSF) prosthesis. METHODS: A seven-segment 28-DoF gait model was developed and forward kinematics simulations, in which experimentally observed joint kinematics were applied and the resulting contact forces under the prosthesis evolved accordingly, were computed for four subjects with unilateral below-knee amputation walking with a VSF. RESULTS: Model-predicted resultant ground reaction force (GRFR) matched well under trial-specific optimized parameter conditions (mean R2: 0.97, RMSE: 7.7% body weight (BW)) and unoptimized (subject-specific, but not trial-specific) parameter conditions (mean R2: 0.93, RMSE: 12% BW). Simulated anterior-posterior center of pressure demonstrated a mean R2 = 0.64 and RMSE = 14% foot length. Simulated kinematics remained consistent with input data (0.23 deg RMSE, R2 > 0.99) for all conditions. CONCLUSIONS: These methods may be useful for simulating gait among individuals with lower-limb loss and predicting GRFR arising from gait with novel VSF prostheses. Such data are useful to optimize prosthesis design parameters on a user-specific basis.

A Reduced-Order Computational Model of a Semi-Active Variable-Stiffness Foot Prosthesis.

Passive energy storage and return (ESR) feet are current performance standard in lower limb prostheses. A recently developed semi-active variable-stiffness foot (VSF) prosthesis balances the simplicity of a passive ESR device with the adaptability of a powered design. The purpose of this study was to model and simulate the ESR properties of the VSF prosthesis. The ESR properties of the VSF were modeled as a lumped parameter overhung beam. The overhung length is variable, allowing the model to exhibit variable ESR stiffness. Foot-ground contact was modeled using sphere-to-plane contact models. Contact parameters were optimized to represent the geometry and dynamics of the VSF and its foam base. Static compression tests and gait were simulated. Simulation outcomes were compared to corresponding experimental data. Stiffness of the model matched that of the physical VSF (R2: 0.98, root-mean-squared error (RMSE): 1.37 N/mm). Model-predicted resultant ground reaction force (GRFR) matched well under optimized parameter conditions (R2: 0.98, RMSE: 5.3% body weight,) and unoptimized parameter conditions (R2: 0.90, mean RMSE: 13% body weight). Anterior-posterior center of pressure matched well with R2 > 0.94 and RMSE < 9.5% foot length in all conditions. The ESR properties of the VSF were accurately simulated under benchtop testing and dynamic gait conditions. These methods may be useful for predicting GRFR arising from gait with novel prostheses. Such data are useful to optimize prosthesis design parameters on a user-specific basis.

Frequency-dependent contributions of sagittal-plane foot force to upright human standing.

Quiet standing is a mechanically unstable postural objective that humans typically perform with ease. Control of upright posture requires stabilization of both translational and rotational degrees-of-freedom that is accomplished by neuro-muscular coordination. This coordination produces a force at the ground-foot interface (F) that is quantified by magnitude, direction (θF), and point of application (center-of-pressure, CP). Previous research has shown that the nervous system controls muscle activation such that CP motion occurs at both slow and fast time scales. However, it is unknown how θF varies with respect to CP and how that relationship varies across time scales. We present a novel method for assessing the frequency-dependent relative variation in θF and CP. The center-of-pressure (CP) and direction of the ground-on-foot force (F) in the sagittal-plane during quiet standing were decomposed into 0.2 Hz-width frequency bands within 0.4-8.0 Hz. The relation between the direction and CP was approximately linear with a slope positively related to frequency. These frequency-dependent features of F have critical implications for understanding balance strategy because the translational and rotational acceleration effects of F were coupled, but with opposite phasing at high versus low frequencies. Such results suggest a system tuned for one stability mode at low frequencies and another mode at higher frequencies. This frequency-wise approach to examining the translational and rotational effects of humans' preferred F may be useful for establishing balance rehabilitation metrics, directing study of the underlying neural mechanisms responsible for the observed coordination, and for setting a biometric standard to inform biomimetic prosthetics and robotics.