Simulating Prosthetic Gait ‐ Lessons to Learn

Abstract

AbstractModern computer assisted above knee prostheses currently available on the market (e.g. C‐Leg from Otto‐Bock) allow the patients to choose their walking speed freely during level walking. Due to energy reasons it is only possible to change the passive mechanical characteristics of the prosthetic limb but no active actuators can be used to influence the knee joint movement. The control strategies for level walking act on the damping of the knee joint during swing phase of gait. During walking down ramps or descending stairs the control strategies are switched off in current designs. Based on a measured reference kinematics it should be possible to study the influence and behaving of technical devices in combination with the whole body biomechanical system. For this purpose we use a combined inverse‐forward‐dynamics approach. Kinematics parameters that are not critical in the inverse‐dynamics approach (leading to physiological reasonable forces and moments) and that are not influenced by the other parameters in the model are prescribed as in the classical inverse‐dynamics approach. To follow the other kinematics parameters (joint‐angles) control elements are used where the associated joint‐moments are determined by the goal trajectory and physiological boundary conditions. The so called “controlled joints” of the model and the applied technical device (prosthesis) are formulated as a forward‐dynamics system. In contrast to experimental studies a simulation study offers the advantage, that parameters can be varied in a wide range. Different ramp and stair inclinations can be implemented and different control strategies can be tested without any risk for the patient. The disadvantage lies in the fact, that there are only few reference sets for the kinematics of real patients. The modification of a reference kinematics for different situations (level walking, ramp or stair descent) is a big challenge and needs further investigation. On the other hand the combined inverse‐forward‐dynamics approach with its well balanced simplicity and complexity offers a flexible tool to reach this aim. This approach can also be used to investigate the interaction of the biomechanical system with other technical systems like sports equipment.