The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking

Background: Robotic ankle-foot prostheses that provide net positive push-off work can reduce the metabolic rate of walking for individuals with amputation, but benefits might be sensitive to push-off timing. Simple walking models suggest that preemptive push-off reduces center-of-mass work, possibly reducing metabolic rate. Studies with bilateral exoskeletons have found that push-off beginning before leading leg contact minimizes metabolic rate, but timing was not varied independently from push-off work, and the effects of push-off timing on biomechanics were not measured. Most lower-limb amputations are unilateral, which could also affect optimal timing. The goal of this study was to vary the timing of positive prosthesis push-off work in isolation and measure the effects on energetics, mechanics and muscle activity. Methods: We tested 10 able-bodied participants walking on a treadmill at 1.25 m.s(-1). Participants wore a tethered ankle-foot prosthesis emulator on one leg using a rigid boot adapter. We programmed the prosthesis to apply torque bursts that began between 46% and 56% of stride in different conditions. We iteratively adjusted torque magnitude to maintain constant net positive push-off work. Results: When push-off began at or after leading leg contact, metabolic rate was about 10% lower than in a condition with Spring-like prosthesis behavior. When push-off began before leading leg contact, metabolic rate was not different from the Spring-like condition. Early push-off led to increased prosthesis-side vastus medialis and biceps femoris activity during push-off and increased variability in step length and prosthesis loading during push-off. Prosthesis push-off timing had no influence on intact-side leg center-of-mass collision work. Conclusions: Prosthesis push-off timing, isolated from push-off work, strongly affected metabolic rate, with optimal timing at or after intact-side heel contact. Increased thigh muscle activation and increased human variability appear to have caused the lack of reduction in metabolic rate when push-off was provided too early. Optimal timing with respect to opposite heel contact was not different from normal walking, but the trends in metabolic rate and center-of-mass mechanics were not consistent with simple model predictions. Optimal push-off timing should also be characterized for individuals with amputation, since meaningful benefits might be realized with improved timing

Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization

Exoskeletons that assist in ankle plantarflexion can improve energy economy in locomotion. Characterizing the joint-level mechanisms behind these reductions in energy cost can lead to a better understanding of how people interact with these devices, as well as to improved device design and training protocols. We examined the biomechanical responses to exoskeleton assistance in exoskeleton users trained with a lengthened protocol. Kinematics at unassisted joints were generally unchanged by assistance, which has been observed in other ankle exoskeleton studies. Peak plantarflexion angle increased with plantarflexion assistance, which led to increased total and biological mechanical power despite decreases in biological joint torque and whole-body net metabolic energy cost. Ankle plantarflexor activity also decreased with assistance. Muscles that act about unassisted joints also increased activity for large levels of assistance, and this response should be investigated over long-term use to prevent overuse injuries.</p

Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization

Exoskeletons that assist in ankle plantarflexion can improve energy economy in locomotion. Characterizing the joint-level mechanisms behind these reductions in energy cost can lead to a better understanding of how people interact with these devices, as well as to improved device design and training protocols. We examined the biomechanical responses to exoskeleton assistance in exoskeleton users trained with a lengthened protocol. Kinematics at unassisted joints were generally unchanged by assistance, which has been observed in other ankle exoskeleton studies. Peak plantarflexion angle increased with plantarflexion assistance, which led to increased total and biological mechanical power despite decreases in biological joint torque and whole-body net metabolic energy cost. Ankle plantarflexor activity also decreased with assistance. Muscles that act about unassisted joints also increased activity for large levels of assistance, and this response should be investigated over long-term use to prevent overuse injuries.</p

Dynamic Walking Principles Applied to Human Gait.

The subject of this thesis is the application of the dynamic walking approach to human gait. This work is motivated by the needs of persons with disabilities and by a desire to expand basic understanding of human walking. We address human gait from the perspective of dynamic walking, a theoretical approach to legged locomotion which emphasizes the use of simple dynamical models and focuses on behavior over the course of many steps rather than within a single step. We build on results from prior dynamic walking research and develop new areas of exploration, with energetics and stability providing context. We focus on three areas: improvement of prosthetic foot design, the function of arm swinging, and evaluation of balance among the elderly. These issues are addressed by use of dynamic walking models and controlled human subject experiments. We propose a Controlled Energy Storage and Return (CESR) foot prosthesis to increase push-off work and reduce energy expenditure in amputees, and tested a prototype experimentally. To better understand the role of arms swinging in gait, we developed a simple dynamic walking model with free-swinging arms and performed human subject experiments in which subjects swung their arms in various ways. Finally, we studied the effects of aging on balance during walking using a computational model and a human subject experiment in which younger and older adults walked overground for hundreds of consecutive steps. These models and experiments each expand our understanding of the fundamentals of gait and indicate pathways toward assisting individuals with disabilities. Taken as a whole, this work emphasizes the utility of the dynamic walking approach.Ph.D.Mechanical EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/60646/1/shc_1.pd

Self-Doping of Gold Chains on Silicon: A New Structural Model for Si(111)5x2-Au

A new structural model for the Si(111)5x2-Au reconstruction is proposed and analyzed using first-principles calculations. The basic model consists of a "double honeycomb chain" decorated by Si adatoms. The 5x1 periodicity of the honeycomb chains is doubled by the presence of a half-occupied row of Si atoms that partially rebonds the chains. Additional adatoms supply electrons that dope the parent band structure and stabilize the period doubling; the optimal doping corresponds to one adatom per four 5x2 cells, in agreement with experiment. All the main features observed in scanning tunneling microscopy and photoemission are well reproduced.Comment: 4 pages, 4 figures, to appear in Phys. Rev. Lett. (preprint with high quality figures available at http://cst-www.nrl.navy.mil/~erwin/papers/ausi111

Thoughts on Commercial Speech: A Roundtable Discussion

Adam Liptak, the legal affairs writer for The New York Times, moderates a lively discussion about commercial speech between three esteemed constitutional scholars: Professor Erwin Chemerinsky of Duke University School of Law; Professor Kathleen Sullivan of Stanford Law School; and Professor Steve Shiffrin of Cornell Law School. These scholars debate the proper definition of defining commercial speech, how the corporate identity of a speaker and the content of the speech determines the level of First Amendment protection, whether it is possible to demarcate commercial speech from political speech, and the problems of paternalism and viewpoint discrimination in this complex and conflicted area

Thoughts on Commercial Speech: A Roundtable Discussion

Adam Liptak, the legal affairs writer for The New York Times, moderates a lively discussion about commercial speech between three esteemed constitutional scholars: Professor Erwin Chemerinsky of Duke University School of Law; Professor Kathleen Sullivan of Stanford Law School; and Professor Steve Shiffrin of Cornell Law School. These scholars debate the proper definition of defining commercial speech, how the corporate identity of a speaker and the content of the speech determines the level of First Amendment protection, whether it is possible to demarcate commercial speech from political speech, and the problems of paternalism and viewpoint discrimination in this complex and conflicted area

The influence of push-off timing in a robotic ankle-foot prosthesis on the energetics and mechanics of walking

Background Robotic ankle-foot prostheses that provide net positive push-off work can reduce the metabolic rate of walking for individuals with amputation, but benefits might be sensitive to push-off timing. Simple walking models suggest that preemptive push-off reduces center-of-mass work, possibly reducing metabolic rate. Studies with bilateral exoskeletons have found that push-off beginning before leading leg contact minimizes metabolic rate, but timing was not varied independently from push-off work, and the effects of push-off timing on biomechanics were not measured. Most lower-limb amputations are unilateral, which could also affect optimal timing. The goal of this study was to vary the timing of positive prosthesis push-off work in isolation and measure the effects on energetics, mechanics and muscle activity. Methods We tested 10 able-bodied participants walking on a treadmill at 1.25 m · s−1. Participants wore a tethered ankle-foot prosthesis emulator on one leg using a rigid boot adapter. We programmed the prosthesis to apply torque bursts that began between 46% and 56% of stride in different conditions. We iteratively adjusted torque magnitude to maintain constant net positive push-off work. Results When push-off began at or after leading leg contact, metabolic rate was about 10% lower than in a condition with Spring-like prosthesis behavior. When push-off began before leading leg contact, metabolic rate was not different from the Spring-like condition. Early push-off led to increased prosthesis-side vastus medialis and biceps femoris activity during push-off and increased variability in step length and prosthesis loading during push-off. Prosthesis push-off timing had no influence on intact-side leg center-of-mass collision work. Conclusions Prosthesis push-off timing, isolated from push-off work, strongly affected metabolic rate, with optimal timing at or after intact-side heel contact. Increased thigh muscle activation and increased human variability appear to have caused the lack of reduction in metabolic rate when push-off was provided too early. Optimal timing with respect to opposite heel contact was not different from normal walking, but the trends in metabolic rate and center-of-mass mechanics were not consistent with simple model predictions. Optimal push-off timing should also be characterized for individuals with amputation, since meaningful benefits might be realized with improved timing