Spatio Temporal Parameters and Symmetry Index in Transtibial Amputees Wearing Prosthetic Feet with and without Adaptive Ankles

Riveras, Mauricio; Ravera, Emiliano Pablo; Shaheen, Aliah F.; Ewins, David; Formento, Paola Catalfamo

doi:10.1109/gmepe-pahce.2019.8717362

Cited by 6 publications

(7 citation statements)

References 33 publications

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“…Other studies measured spatio temporal parameters in amputees walking on level ground and reached similar results [21], [30], [31]. In particular, Kovac et al [30] studied differences in STP between healthy and transtibial amputees with their current prosthetic foot.…”

Section: Spatio Temporal Parameters (Stp)mentioning

confidence: 61%

“…Similar results have been reported in the literature. For example, symmetry values greater than 88% have been reported in UTTA [17], [21], [32], [33], while results greater than 94% were found for unimpaired subjects [33], [34].…”

Section: Symmetry Index (Si)mentioning

confidence: 99%

“…The authors then discussed that this improvement in symmetry when using adaptive ankle feet may influence spatiotemporal parameters. A previous study [21] investigated the STP and symmetry index for amputees walking on level ground using different prosthesis. The results of the study did not show statistically significant differences for the conditions evaluated.…”

Section: Introductionmentioning

confidence: 99%

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Spatio temporal parameters and symmetry in subjects ascending and descending a ramp, using three different prosthetic feet

et al. 2020

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This study aimed at evaluating spatiotemporal parameters (STP) and symmetry index (SI), commonly used for evaluating amputee gait for routine clinical use, in individuals with unilateral transtibial amputations wearing energy storage and return (ESAR) feet with fixed ankles, prosthetic feet with adaptive ankles (PFAA) and prosthetic feet with microcontrolled adaptive ankles (PFAA-MC) in ramp ascent and descent. Thirteen individuals with transtibial amputations walked up and down a ramp. The STPs were measured in the amputated and intact legs and the relationship between them was quantified using the SI. The results showed that the use of PFAA-MC decreases walking speed in ramp descent (P ≤ 0.018). However, this was the only parameter that showed a significant change. Hence, the differences in the amputees' gait pattern when using the above-mentioned prostheses may not be reflected by STP and their SI.

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Section: Spatio Temporal Parameters (Stp)mentioning

confidence: 61%

Section: Symmetry Index (Si)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Spatio temporal parameters and symmetry in subjects ascending and descending a ramp, using three different prosthetic feet

et al. 2020

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“…Studies have shown that wearing active prostheses can make the gait of disabled people more comfortable 2,3 . It also increases their ability to walk steadily on various terrains 4,5 . Most common transfemoral prostheses only have knee and ankle joints, while toe joint is usually ignored, and the feet are all single‐structure carbon fibre feet 6,7 .…”

Section: Introductionmentioning

confidence: 99%

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Chen

Geng

et al. 2022

Robotics Computer Surgery

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Background:Wearing appropriate active prosthesis is the guarantee of daily life for amputees. Normally the controller of the traditional active transfemoral prosthesis is designed based on the mathematical model. The modelling error and the external interference will reduce the control accuracy of the system and make the prosthesis unable to operate in the desired trajectory.Methods: Firstly, combined with time delay estimation (TDE), a model-free robust integral sliding mode impedance controller is designed. This method not only suppress the impedance error, but also eliminate the nonlinear relationship and disturbance in the dynamic model. Secondly, an adaptive law is proposed to update the controller gain, which provide stable control effect. Thirdly, the stability of prosthesis closed-loop system is proved by Lyapunov stability theory. Finally, the motor torque is used to drive each joint, and Matlab/Simscape is used to verify the prosthesis control system. Results:From the result of the simulation experiment, the control method has a good tracking effect on each joint. The root mean square error and mean absolute errors of each joint's angle tracking error are 0.6123°, 1.9976°, 0.5574°and 0.2635°, 1.8175°, 0.4796°. Compared with the controller without adaptive gain and impedance control, the control effect is improved, and the plantar pressure of amputees is closer to the sound side. Conclusions:Comparing the results of different controllers, the adaptive integral sliding mode impedance controller with TDE can better track the expected angles of each joint. The gait is more normal. The walking performance of the prosthesis wearers is improved. K E Y W O R D Sactive lower limb prosthesis, adaptive integral sliding mode impedance control, motor execution, time delay estimation (TDE) | INTRODUCTIONWith the continuous development of economy, science and technology, people's living standards keep improving, and the disabled also need higher performance active prostheses to ensure the quality of daily life. Although domestic prosthetic industry has gradually formed, most of the products are passive prostheses, which will lead to asymmetrical gait and consume more energy. 1 Studies have shown that wearing active prostheses can make the gait of disabled people more comfortable. 2,3 It also increases their ability to walk steadily on various terrains. 4,5 Most common transfemoral prostheses only have knee and ankle joints, while toe joint is usually ignored, and the feet

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“…Advanced gait analysis systems can provide objective and quantitative kinematics and kinetics data. Typically, these more involved gait analyses involve comparison to some gold standard, either a set of control data that represents good gait(2), or there is an assumption made that bilateral symmetry represents good gait (3)(4)(5). Currently, there is not good agreement in the literature about how to best assess gait quality.…”

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confidence: 99%

Identifying gait quality metrics sensitive to changes in lower limb constraint

Herrin

Kwak

Chang

2021

Preprint

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Background Manual tuning of robotic lower limb prostheses can be time consuming for both the patient and the clinician and requires in-person visits to a clinic. An automated process for the tuning parameters of a robotic lower limb prosthesis could result in a substantial savings in healthcare resources. A critical challenge to an automated parameter tuning algorithm is the quantification of a person’s gait quality. There is not good agreement in the literature of an objective outcome measure that can rapidly assess gait quality in lower limb amputees. As a first step, we investigated the ability of four common gait quality metrics to detect differences in gait quality: Prosthetic Observational Gait Score (POGS), Gait Deviation Index (GDI), Lateral Sway, and Impulse Asymmetry. Methods We systematically applied four unilateral lower limb joint constraint conditions (baseline/no constraint, ankle constraint, knee constraint, and knee + ankle constraint) to nine able-bodied participants walking at three different speeds (0.7, 0.85 and 1.0 m/s). We calculated and compared the resulting GDI, POGS, Lateral Sway and Impulse Asymmetry scores across all conditions. We performed a 2-way ANOVA statistical analysis to compare sensitivity of the metrics to the various conditions with significance defined by an alpha-level = 0.05. Results The Lateral Sway metric distinguished three joint constraint conditions and two of the speed conditions. Both GDI and POGS were able to distinguish four out of six possible constraint-speed conditions, while Impulse Asymmetry was only able to detect differences between three of the six constraint-speed conditions. Conclusions No single gait quality metric could distinguish every condition. Accordingly, a single metric of gait quality may be inadequate for tuning a prosthesis and therefore multiple metrics and sensors may provide the best results for tuning a prosthesis to the most natural gait pattern for an individual. Compared to the more complex gait measures, Lateral Sway performed well as a simple metric that might easily be operationalized into a real-time parameter tuning controller.

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Spatio Temporal Parameters and Symmetry Index in Transtibial Amputees Wearing Prosthetic Feet with and without Adaptive Ankles

Cited by 6 publications

References 33 publications

Spatio temporal parameters and symmetry in subjects ascending and descending a ramp, using three different prosthetic feet

Spatio temporal parameters and symmetry in subjects ascending and descending a ramp, using three different prosthetic feet

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Identifying gait quality metrics sensitive to changes in lower limb constraint

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