Abstract
Standard underarm or forearm crutches have some drawbacks induced by their rigid legs. Spingloaded crutches can reduce the impact effect. However, whether or not they also improve propulsion is an open problem. We formulate a problem of the optimal performance of spring-loaded crutches and propose a numerical approach to solve the problem. Then, the numerical optimal values are incorporated to the innovative design of a pair of spring-loaded crutches. To evaluate the crutches' performance, we have conducted standard biomechanical experiments for a number of male subjects under two conditions: walking with standard crutches and with spring-loaded crutches. Three dimensional kinematic data and ground reaction force were recorded and analysed. It was observed that optimized spring-loaded crutches can efficiently propel the crutch walkers, which conforms to the theory.
Highlights
Underarm or forearm crutches are common assistive devices that aid people’s ambulation with various walking problems
MATLAB 6.5 is used as the platform to develop codes for optimization, where MATLAB function ‘ode45’, a Runge‐ Kutta method, is taken as a solver to the initial value problem associated with the boundary value problem in each optimization task
The anterior‐posterior ground reaction forces changed signs when the crutches crossed through the transversal plane of the crutch‐tips, which marked the phase of mid‐ stance
Summary
Underarm or forearm crutches are common assistive devices that aid people’s ambulation with various walking problems. When a patient with an injured leg cannot perform biped walking (Alexander, 1995; Srinivasan & Ruina, 2006) with both legs, the upper extremities with crutches can play the role of a normal leg during ambulation (see Fig. 1). Ambulation with crutches is a dynamical process of biped walking (Requejo, 2005). Forearm crutches and their underarm counterparts have their distinct advantages from the patients’ point of view—the former are convenient to use and the latter are easier to control gait and have higher standing stability. The impulse may cause discomfort and even lead to diseases such as crutch palsy, aneurysms and thromboses (Subramony, 1989; Raikin & Froimson, 1997; Feldman, 1995; Gil‐Agudo, 2009; Ginanneschi et al, 2009)
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