Prosthetic Ankle-foot Devices Research Articles

Biomechanical effects of adding an articulating toe joint to a passive foot prosthesis for incline and decline walking.

Walking on sloped surfaces is challenging for many lower limb prosthesis users, in part due to the limited ankle range of motion provided by typical prosthetic ankle-foot devices. Adding a toe joint could potentially benefit users by providing an additional degree of flexibility to adapt to sloped surfaces, but this remains untested. The objective of this study was to characterize the effect of a prosthesis with an articulating toe joint on the preferences and gait biomechanics of individuals with unilateral below-knee limb loss walking on slopes. Nine active prosthesis users walked on an instrumented treadmill at a +5° incline and -5° decline while wearing an experimental foot prosthesis in two configurations: a Flexible toe joint and a Locked-out toe joint. Three participants preferred the Flexible toe joint over the Locked-out toe joint for incline and decline walking. Eight of nine participants went on to participate in a biomechanical data collection. The Flexible toe joint decreased prosthesis Push-off work by 2 Joules during both incline (p = 0.008; g = -0.63) and decline (p = 0.008; g = -0.65) walking. During incline walking, prosthetic limb knee flexion at toe-off was 3° greater in the Flexible configuration compared to the Locked (p = 0.008; g = 0.42). Overall, these results indicate that adding a toe joint to a passive foot prosthesis has relatively small effects on joint kinematics and kinetics during sloped walking. This study is part of a larger body of work that also assessed the impact of a prosthetic toe joint for level and uneven terrain walking and stair ascent/descent. Collectively, toe joints do not appear to substantially or consistently alter lower limb mechanics for active unilateral below-knee prosthesis users. Our findings also demonstrate that user preference for passive prosthetic technology may be both subject-specific and task-specific. Future work could investigate the inter-individual preferences and potential benefits of a prosthetic toe joint for lower-mobility individuals.

Criteria for Advanced Prosthetic Foot Prescription: Rationale, Design, and Protocol for a Multisite, Randomized Controlled Trial.

The prescription of prosthetic ankle-foot devices is often based on the professional judgment of the limb loss care team or limited evidentiary research. Current prosthetic research efforts have focused on the design and development of prosthetic devices rather than on understanding which devices are the most appropriate to prescribe. This investigation will evaluate biomechanical, functional, and subjective outcome measures to help determine the optimal prescription parameters of prosthetic ankle-foot devices. This study aims to develop evidence-based guidelines for limb loss care teams for the appropriate prescription of commercially available prosthetic ankle-foot devices to improve function and satisfaction. This investigation will be a multisite, randomized, crossover clinical trial targeting the enrollment of 100 participants. Participants will use 3 different types of prosthetic devices (energy storing and returning, articulating, and powered) in random order. Participants will be fitted and trained with each device and then separately use each device for a 1-week acclimation period. Following each 1-week acclimation period, participants will be evaluated using several functional measures and subjective surveys. A random subset of participants (30/100, 30%) will also undergo full-body gait analysis, following each 1-week acclimation period, to collect biomechanical data during level ground and incline and decline walking. After all individual device evaluations, participants will be given all 3 prostheses concurrently for 4 weeks of home and community use to capture user preference. Activity monitoring and a guided interview will be used to determine overall user preference. The study was funded in August 2017, and data collection began in 2018. Data collection is expected to be completed before July 2023. Initial dissemination of results is expected to occur in the winter of 2023. By identifying biomechanical, functional, and subjective outcomes that are sensitive to differences in prosthetic ankle-foot devices, a benchmark of evidence can be developed to guide effective prosthetic prescription. ClinicalTrials.gov NCT03505983; https://clinicaltrials.gov/ct2/show/NCT03505983. DERR1-10.2196/45612.

Biomechanical accommodation to walking with an ankle-foot prosthesis: An exploratory analysis of novice users with transtibial limb loss within the first year of ambulation.

The way in which a person with limb loss interacts with a prosthesis changes over time; however, there remains a lack of guidance for defining accommodation to walking with a prosthesis, limiting consistency and generalizability of research. To evaluate accommodations to walking with dynamic elastic response prosthetic ankle-foot devices among novice users with unilateral transtibial limb loss during the first year of ambulation. This is a retrospective cohort study. Prosthetic and intact ankle-foot mechanical power profiles and mechanical work during step-to-step transitions were calculated using the Unified Deformable model for 22 male individuals with limb loss at five time points within the first year of independent ambulation (0, 2, 4, 6, and 12 months). Subjects walked at a self-selected walking velocity and controlled walking velocity (CWV). Subjective measures included the Prosthetic Evaluation Questionnaire and the 36-Item Short-Form Health Survey. Self-selected walking velocity ranged from 1.24 ± 0.06 m/s at 0 month to 1.38 ± 0.04 m/s at 12 months, whereas CWV was 1.20 ± 0.02 m/s. At both velocities, positive work/peak power during prosthetic push-off trended upward until the 4-month time point. In addition, negative peak power during intact foot-strike seemed to qualitatively become less negative until 4 months. Positive work during intact push-off trended downward until 4 months at CWV, whereas positive peak power during intact push-off qualitatively became more positive at self-selected walking velocity. These trends may partially indicate (biomechanical) accommodation to walking by appearance of a "plateau" at 4 months after initial ambulation with a prosthesis.

Calculated functional joint center positions are highly variable in individuals with unilateral transtibial amputation walking with identical prosthetic ankle-foot devices.

Biomechanical modeling of the lower limbs, including prosthetic componentry, makes a number of assumptions that influence the data obtained and their subsequent interpretation. Calculated prosthetic ankle functional joint center (FJC) positions vary between devices and have been suggested as a possible method of comparing device function. The study aimed to assess the variability of joint center position estimates, calculated using an FJC methodology, in all three planes. This was assessed in participants with unilateral transtibial amputation using an identical prosthetic ankle-foot device during walking on a flat surface. Case series. Three-dimensional motion capture recorded the position of markers placed on the shank and ankle-foot device of five individuals with unilateral transtibial amputation, as they completed 10 trials of level walking using the same ankle-foot device. The FJC between the prosthetic foot and shank segments were calculated for each trial. The calculated FJC positions were highly variable across individual participants and within each individual. This variability was observed across all three planes of movement and resulted in calculated joint center positions created beyond the physical boundaries of the prosthetic device. Biomechanical data are affected by lower limb and prosthetic device modeling assumptions. Definition of a prosthetic "ankle" joint using an FJC method results in highly variable "ankle" joint center positions when applied to a prosthetic ankle-foot device. Their use should be discouraged to avoid misleading interpretations of data.

Nonlinear net ankle quasi-stiffness reduces error and changes with speed but not load carried

BackgroundNatural ankle quasi-stiffness (NAS) is a key metric used to personalize orthotic and prosthetic ankle-foot devices. NAS has traditionally been defined as the average slope (i.e. linear regression) of the net ankle moment vs. ankle angle curve during stance. However, NAS appears to have nonlinear characteristics. Characterizing nonlinear NAS across a wide range of tasks will enable us to incorporate these attributes into future orthotic and prosthetic ankle-foot device designs. Research questionDoes nonlinear NAS change across multiple intensities of walking, running, and load carriage tasks? MethodsThis observational study examined 22 young, healthy individuals as they walked, ran, and walked while carrying a load at three intensities (speed or load). Linear, quadratic, and cubic regressions were done on the net ankle moment vs. ankle angle curve over three phases of stance: impact, loading, and push-off. RMSE between regressions and measured data were computed to determine regression accuracy, and multilevel linear models (MLMs) were used to determine significant differences between coefficients across intensities. ResultsQuadratic and cubic regressions of NAS had significantly lower RMSE than linear NAS for all phases of stance. Because of diminishing reductions in RMSE between quadratic and cubic regressions, only quadratic regression coefficients were further analyzed. Most first (linear) and second (nonlinear) order coefficients of quadratic regressions exhibited clear trends with respect to changes in walking or running speed, but not to increases in load. SignificanceThis was the first study to our knowledge to thoroughly characterize nonlinear NAS across multiple gait tasks and intensities. This study provides an advanced understanding of the characteristics of nonlinear NAS for the design of future prosthetic and orthotic ankle-foot devices.

Week-long protocol to monitor physical activity intensity and impact loading in children

Natural ankle quasi-stiffness (NAS) is a key metric used to personalize orthotic and prosthetic ankle-foot devices. NAS has traditionally been defined as the average slope (i.e. linear regression) of the net ankle moment vs. ankle angle curve during stance. However, NAS appears to have nonlinear characteristics. Characterizing nonlinear NAS across a wide range of tasks will enable us to incorporate these attributes into future orthotic and prosthetic ankle-foot device designs.Does nonlinear NAS change across multiple intensities of walking, running, and load carriage tasks?This observational study examined 22 young, healthy individuals as they walked, ran, and walked while carrying a load at three intensities (speed or load). Linear, quadratic, and cubic regressions were done on the net ankle moment vs. ankle angle curve over three phases of stance: impact, loading, and push-off. RMSE between regressions and measured data were computed to determine regression accuracy, and multilevel linear models (MLMs) were used to determine significant differences between coefficients across intensities.Quadratic and cubic regressions of NAS had significantly lower RMSE than linear NAS for all phases of stance. Because of diminishing reductions in RMSE between quadratic and cubic regressions, only quadratic regression coefficients were further analyzed. Most first (linear) and second (nonlinear) order coefficients of quadratic regressions exhibited clear trends with respect to changes in walking or running speed, but not to increases in load.This was the first study to our knowledge to thoroughly characterize nonlinear NAS across multiple gait tasks and intensities. This study provides an advanced understanding of the characteristics of nonlinear NAS for the design of future prosthetic and orthotic ankle-foot devices.

Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

Recent advancements in powered lower limb prostheses have appeased several difficulties faced by lower limb amputees by using a series-elastic actuator (SEA) to provide powered sagittal plane flexion. Unfortunately, these devices are currently unable to provide both powered sagittal plane flexion and two degrees of freedom (2-DOF) at the ankle, removing the ankle’s capacity to invert/evert, thus severely limiting terrain adaption capabilities and user comfort. The developed 2-DOF ankle system in this paper allows both powered flexion in the sagittal plane and passive rotation in the frontal plane; an SEA emulates the biomechanics of the gastrocnemius and Achilles tendon for flexion while a novel universal-joint system provides the 2-DOF. Several studies were undertaken to thoroughly characterize the capabilities of the device. Under both level- and sloped-ground conditions, ankle torque and kinematic data were obtained by using force-plates and a motion capture system. The device was found to be fully capable of providing powered sagittal plane motion and torque very close to that of a biological ankle while simultaneously being able to adapt to sloped terrain by undergoing frontal plane motion, thus providing 2-DOF at the ankle. These findings demonstrate that the device presented in this paper poses radical improvements to powered prosthetic ankle-foot device (PAFD) design.

Individuals with Unilateral Transtibial Amputation and Lower Activity Levels Walk More Quickly when Using a Hydraulically Articulating Versus Rigidly Attached Prosthetic Ankle-Foot Device

ABSTRACT Introduction Prosthetic ankle-foot devices incorporating a hydraulic articulation between the pylon and prosthetic foot have been shown to be beneficial to the gait of more active individuals with unilateral transtibial amputation (UTA). However, the functional benefits of using hydraulic ankle-foot devices to less active individuals with UTA are yet to be determined. The aim of the current study was to investigate the effects on gait performance of using a non-energy-storage-and-return foot with a hydraulic attachment compared with an identical rigidly attached foot during overground walking in less active individuals with UTA. Materials and Methods Kinematic and kinetic data were recorded while five individuals with UTA, deemed K2 activity level by their prescribing physician, performed two-minute walk tests (2MWTs) and 10 overground gait trials in two conditions: using a hydraulically articulating ankle-foot device (HYD) and using a rigidly attached ankle-foot device (RIG). Results Walking speed during the 2MWT was increased by 6.5% on average in the HYD (1.07 m/second) condition compared with the RIG (1.01 m/second) condition (Cohen d = 0.4). Participants displayed more symmetrical interlimb loading (d = 0.8), increased minimum forward center of pressure velocity (d = 0.8), increased peak shank rotational velocity (d = 1.0), and decreased prosthetic energy efficiency (d = 0.7) when using the HYD compared with the RIG device. Conclusions Individuals with lower activity levels walk faster and therefore further when using a foot with a hydraulically articulating attachment in comparison with a rigid attachment. A reduced braking effect in early stance phase as a result of the action of the hydraulic component present in the articulating attachment partially explains the improvement in walking performance.

The influence of a hydraulic prosthetic ankle on residual limb loading during sloped walking.

In recent years, numerous prosthetic ankle-foot devices have been developed to address the demands of sloped walking for individuals with lower-limb amputation. The goal of this study was to compare the performance of a passive, hydraulic ankle-foot prosthesis to two related, non-hydraulic ankles based on their ability to minimize the socket reaction moments of individuals with transtibial amputation during a range of sloped walking tasks. After a two-week accommodation period, kinematic data were collected on seven subjects with a transtibial amputation walking on an instrumented treadmill set at various slopes. Overall, this study was unable to find significant differences in the torque at the distal end of the prosthetic socket between an ankle-foot prosthesis with a hydraulic range-of-motion and other related ankle-foot prosthesis designs (rigid ankle, multiaxial ankle) during the single-support phase of walking. In addition, socket comfort and perceived exertion were not significantly different for any of the ankle-foot prostheses tested in this study. These results suggest the need for further work to determine if more advanced designs (e.g., those with microprocessor control of hydraulic features, powered ankle-foot designs) can provide more biomimetic function to prosthesis users.

Effect on gait using various prosthetic ankle-foot devices

Five different commonly prescribed ankle-foot devices for below-knee prostheses were tested for effects on gait: SACH, SAFE, SEATTLE, SINGLE AXIS, and MULTIPLE AXIS. Subjective ratings by the amputees served to resolve which physical variables determined the preferred ankle-foot device. Ratings were related to age, body weight, length of residual limb, and ratio of stride frequency to stride length. Distinctions in performances were derived from analyses of anterior-posterior angular accelerations occurring in the prosthesis immediately following heel strike. The accelerations were characterized as a damped oscillatory waveform. These objective findings, when related to the subjective ratings, showed that the amputees preferred devices which developed the lesser shock and greater damping.