A Review of Prosthetic Interface Stress Investigations

Over the last decade, numerous experimental and numerical analyses have been conducted to investigate the stress distribution between the residual limb and prosthetic socket of persons with lower limb amputation. The objectives of these analyses have been to improve our understanding of the residual limb/prosthetic socket system, to evaluate the influence of prosthetic design parameters and alignment variations on the interface stress distribution, and to evaluate prosthetic fit. The purpose of this paper is to summarize these experimental investigations and identify associated limitations. In addition, this paper presents an overview of various computer models used to investigate the residual limb interface, and discusses the differences and potential ramifications of the various modeling formulations. Finally, the potential and future applications of these experimental and numerical analyses in prosthetic design are presented

Generic, Geometric Finite Element Analysis of the Transtibial Residual Limb and Prosthetic Socket

Finite element analysis was used to investigate the stress distribution between the residual limb and prosthetic socket of persons with transtibial amputation (TTA). The purpose of this study was to develop a tool to provide a quantitative estimate of prosthetic interface pressures to improve our understanding of residual limb/prosthetic socket biomechanics and prosthetic fit. FE models of the residual limb and prosthetic socket were created. In contrast to previous FE models of the prosthetic socket/residual limb system, these models were not based on the geometry of a particular individual, but instead were based on a generic, geometric approximation of the residual limb. These models could then be scaled for the limbs of specific individuals. The material properties of the bulk soft tissues of the residual limb were based upon local in vivo indentor studies. Significant effort was devoted toward the validation of these generic, geometric FE models; prosthetic interface pressures estimated via the FE model were compared to experimentally determined interface pressures for several persons with TTA in a variety of socket designs and static load/alignment states. The FE normal stresses were of the same order of magnitude as the measured stresses (0-200 kPa); however, significant differences in the stress distribution were observed. Although the generic, geometric FE models do not appear to accurately predict the stress distribution for specific subjects, the models have practical applications in comparative stress distribution studies

CAPAbility: Comparison of the JOURNEY II Bi-Cruciate Stabilised and GENESIS II total knee arthroplasty in performance and functional ability: protocol of a randomised controlled trial

Background: Osteoarthritis of the knee is a common condition that is expected to rise in the next two decades leading to an associated increase in total knee replacement (TKR) surgery. Although there is little debate regarding the safety and efficacy of modern TKR, up to 20% of patients report poor functional outcomes following surgery. This study will investigate the functional outcome of two TKRs; the JOURNEY II Bi-Cruciate Stabilised knee arthroplasty, a newer knee prosthesis designed to provide guided motion and improve knee kinematics by more closely approximating a normal knee, and the GENESIS II, a proven existing design. Aim: To compare the change in Patient-reported Outcome Measures (PROMs) scores of the JOURNEY II BCS and the GENESIS II from pre-operation to 6 months post operation. Methods: CAPAbility is a pragmatic, blinded, two-arm parallel, randomised controlled trial recruiting patients with primary osteoarthritis due to have unilateral TKR surgery across two UK hospitals. Eligible participants (n = 80) will be randomly allocated to receive either the JOURNEY II or the GENESIS II BCS knee prosthesis. Baseline measures will be taken prior to surgery. Patients will be followed at 1 week, 6 to 8 weeks and 6 months post-operatively. The primary outcome is the Oxford Knee Score (OKS) at 6 months post-operatively. Secondary outcomes include: Other PROMs, biomechanical, radiological (computerised tomography, (CT)), clinical efficacy and safety outcomes. An embedded qualitative study will also investigate patients' perspectives via interview pre and post surgery on variables known to affect the outcome of TKR surgery. A sub-sample (n = 30) will have additional in-depth interviews to explore the themes identified. The surgeons' perspectives on the operation will be investigated by a group interview after all participants have undergone surgery. Discussion: This trial will evaluate two generations of TKR using PROMS, kinematic and radiological analyses and qualitative outcomes from the patient perspective

Design and Implementation of the Powered Self-Contained AMPRO Prostheses

This thesis presents a complete methodology for translating robotic walking to powered prostheses, and demonstrates this framework on two novel custom built powered prostheses, AMPRO. Motivated by methods that have successfully generated dynamically stable walking gaits on bipedal robots, reference human locomotion data is collected via Inertial Measurement Units (IMU) and stable walking gaits are generated using the framework of human-inspired optimization and control. Next two novel transfemoral protheses are designed and custom built based on the understanding obtained from the collection of human data and gait generation. For experimental realization, the IMUs are mounted on the healthy human leg to estimate human intention during walking on-line, and serves as the feedback interaction point between human and prosthesis. The end result is the experimental verification of the proposed methodology in achieving stable and robust locomotion on a powered prosthesis. Furthermore it is concluded that reducing the weight of AMPRO I, through the design of AMPRO II, improves the performance of the prosthesis and comfort of the human subject

Long-term Follow up of Van Nes Rotationplasty for Congenital Proximal Focal Femoral Deficiency

Van Nes rotationplasty may be used for patients with congenital proximal focal femoral deficiency (PFFD). The lower limb is rotated to use the ankle and foot as a functional knee joint within a prosthesis. A small series of cases was investigated to determine the long-term outcome. At a mean of 21.5 years (11 to 45) after their rotationplasty, a total of 12 prosthetic patients completed the Short-Form (SF)-36, Faces Pain Scale-Revised, Harris hip score, Oswestry back pain score and Prosthetic Evaluation Questionnaires, as did 12 age- and gender-matched normal control participants. A physical examination and gait analysis, computerised dynamic posturography (CDP), and timed ‘Up & Go’ testing was also completed. Wilcoxon Signed rank test was used to compare each PFFD patient with a matched control participant with false discovery rate of 5%. There were no differences between the groups in overall health and well-being on the SF-36. Significant differences were seen in gait parameters in the PFFD group. Using CDP, the PFFD group had reduced symmetry in stance, and reduced end point and maximum excursions. Patients who had undergone Van Nes rotationplasty had a high level of function and quality of life at long-term follow-up, but presented with significant differences in gait and posture compared with the control group

A Generalized Method for Predictive Simulation-Based Lower Limb Prosthesis Design

Lower limb prostheses are designed to replace the functions and form of the missing biological anatomy. These functions are hypothesized to improve user outcome measures which are negatively affected by receiving an amputation – such as metabolic cost of transport, preferred walking speed, and perceived discomfort during walking. However, the effect of these design functions on the targeted outcome measures is highly variable, suggesting that these relationships are not fully understood. Biomechanics simulation and modeling tools are increasingly capable of analyzing the effects of a design on the resulting user gait. In this work, prothesis-aided gait is optimized in simulation to reduce both muscle effort and peak loads on the residual limb using a generalized prosthesis model. Compared to a traditional revolute powered ankle joint model, a two degree-of freedom generalized model reduced muscle activations by 50% and peak loads by 15%. Simulated prosthesis behaviors corresponding to the optimal gait patterns were translated into a two degree-of-freedom ankle-foot prosthesis design with powered bidirectional linear translation and plantarflexion. The prototype is capable of delivering up to 171 N-m of plantarflexion torque and 499 N of translation force, with 15° dorsi-/35° plantarflexion and 10 cm translation range of motion. The mass and height of the ankle-foot are 2.29 kg and 19.5 cm, respectively. The mass of the entire system including the wearable offboard system is 8.58 kg. This platform is designed to emulate the behavior of the simulated prosthesis, as well as be configurable to emulate alternate behaviors obtained from simulations with different optimization objectives. The prototype is controlled to replicate simulated walking patterns using a high level finite state controller, mid-level stiffness controller, and low level load controller. Closed loop load control has bandwidth of 15 Hz in translation and 7.2 Hz in flexion. Load tracking during walking with a single able-bodied human subject ranges from 93 to 159 N in translation and 4.6 to 21.3 N-m in flexion. The contribution of this work is to provide a framework for predictive simulation-based prosthesis design, evidence of its practical implementation, and the experimental tools to validate future predictive simulation studies

Comfort-Centered Design of a Lightweight and Backdrivable Knee Exoskeleton

This paper presents design principles for comfort-centered wearable robots and their application in a lightweight and backdrivable knee exoskeleton. The mitigation of discomfort is treated as mechanical design and control issues and three solutions are proposed in this paper: 1) a new wearable structure optimizes the strap attachment configuration and suit layout to ameliorate excessive shear forces of conventional wearable structure design; 2) rolling knee joint and double-hinge mechanisms reduce the misalignment in the sagittal and frontal plane, without increasing the mechanical complexity and inertia, respectively; 3) a low impedance mechanical transmission reduces the reflected inertia and damping of the actuator to human, thus the exoskeleton is highly-backdrivable. Kinematic simulations demonstrate that misalignment between the robot joint and knee joint can be reduced by 74% at maximum knee flexion. In experiments, the exoskeleton in the unpowered mode exhibits 1.03 Nm root mean square (RMS) low resistive torque. The torque control experiments demonstrate 0.31 Nm RMS torque tracking error in three human subjects.Comment: 8 pages, 16figures, Journa

Real-Time Feedback Control for Knee Prosthesis using Motion Fusion Algorithm in 6-DOF IMU

213-215Stump angle measurement (SAM) system was developed and tested for its use in the development of a low cost electronic knee prosthesis using an accelerometer to measure “tilt” angle of the residual stump during various phases of gait. This system provided real time feedback to control the actuator position for covering a wide range of mobility for the above knee amputees. However, this system is prone to high frequency noise resulting from gait events. These “noise” spikes triggered false threshold values resulting in incorrect operation of the actuator. In the proposed design, a 6-degree of freedom (6-DOF) sensor replaces the accelerometer from previous design. The modified algorithm uses complimentary filter to process the data from inertial measurement units (IMU). This new system produces sensitive yet smoother output, removing the drawbacks of the earlier system. This paper reports the comparative analysis of the SAM system using 6-DOF and accelerometer. These results using 6-DOF sensor will assist in the further development of an intelligent feedback system for low cost active prosthetic leg