publication . Article . 2017

Performance of Optimized Prosthetic Ankle Designs That Are Based on a Hydraulic Variable Displacement Actuator (VDA)

James Gardiner; Abu Zeeshan Bari; Laurence Kenney; Martin Twiste; David Moser; Saeed Zahedi; David Howard;
Open Access
  • Published: 01 Dec 2017 Journal: IEEE Transactions on Neural Systems and Rehabilitation Engineering, volume 25, pages 2,418-2,426 (issn: 1534-4320, eissn: 1558-0210, Copyright policy)
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Current energy storage and return (ESR) prosthetic\ud feet only marginally reduce the cost of amputee locomotion\ud compared to basic solid ankle cushioned heel (SACH) feet,\ud possibly due to their lack of push-off at the end of stance. To our knowledge, a prosthetic ankle that utilises a hydraulic variable displacement actuator (VDA) to improve push-off performance has not previously been proposed. Therefore, here we report a design optimisation and simulation feasibility study for a VDA based prosthetic ankle. The proposed device stores the eccentric ankle work done from heel strike to maximum dorsiflexion in a\ud hydraulic accumulator and then returns the st...
Subjects
free text keywords: General Neuroscience, Biomedical Engineering, Computer Science Applications, Torque, Ankle, medicine.anatomical_structure, medicine, Simulation, Variable displacement, Work (physics), Hydraulic machinery, Hydraulic accumulator, Engineering, business.industry, business, Accumulator (structured product), Actuator
Related Organizations
34 references, page 1 of 3

[1] L. J. Mengelkoch, J. T. Kahle, and M. J. Highsmith, “Energy costs & performance of transtibial amputees & non-amputees during walking & running,” Int. J. Sports Med., vol. 35, no. 14, pp. 1223-1228, Aug. 2014. [OpenAIRE]

[2] T. Schmalz, S. Blumentritt, and R. Jarasch, “Energy expenditure and biomechanical characteristics of lower limb amputee gait: the influence of prosthetic alignment and different prosthetic components.,” Gait Posture, vol. 16, no. 3, pp. 255-63, Dec. 2002. [OpenAIRE]

[3] D. H. Nielsen, D. G. Shurr, J. C. Golden, and K. Meier, “Comparison of energy cost and gait efficiency during ambulation in below-knee amputees using different prosthetic feet - a preliminary report,” JPO J. Prosthetics Orthot., vol. 1, no. 1, pp. 24-31, 1988. [OpenAIRE]

[4] J. J. Genin, G. J. Bastien, B. Franck, C. Detrembleur, and P. Willems, “Effect of speed on the energy cost of walking in unilateral traumatic lower limb amputees.,” Eur. J. Appl. Physiol., vol. 103, no. 6, pp. 655- 63, Aug. 2008.

[5] C. Hofstad, H. Linde, J. Limbeek, and K. Postema, “Prescription of prosthetic ankle-foot mechanisms after lower limb amputation.,” Cochrane database Syst. Rev., no. 1, p. CD003978, Jan. 2004. [OpenAIRE]

[6] J. Gardiner, A. Z. Bari, D. Howard, and L. Kenney, “Energy storage and return prosthetic feet have only marginally improved trans-tibial amputee gait efficiency compared to that with solid ankle cushioned heel feet,” J. Rehabil. Res. Dev., vol. 53, no. 6, pp. 1133-1138, 2016. [OpenAIRE]

[7] S. Lipfert, M. Günther, D. Renjewski, and A. Seyfarth, “Impulsive ankle push-off powers leg swing in human walking,” J. Exp. Biol., vol. 217, pp. 1218-1228, Dec. 2013.

[8] K. E. Zelik, T.-W. P. Huang, P. G. Adamczyk, and A. D. Kuo, “The role of series ankle elasticity in bipedal walking.,” J. Theor. Biol., vol. 346, pp. 75-85, Apr. 2014.

[9] A. Ruina, J. E. A. Bertram, and M. Srinivasan, “A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition,” J. Theor. Biol., vol. 237, no. 2, pp. 170-192, 2005.

[10] K. Postema, H. Hermens, J. de Vries, H. Koopman, and W. Eisma, “Energy storage and release of prosthetic feet Part 1: Biomechanical analysis related to user benefits,” Prosthet. Orthot. Int., vol. 21, no. 1, pp. 17-27, 1997.

[11] A. D. Segal, M. S. Orendurff, G. K. Klute, M. L. McDowell, J. a. Pecoraro, J. Shofer, and J. M. Czerniecki, “Kinematic and kinetic comparisons of transfemoral amputee gait using C-Leg and Mauch SNS prosthetic knees,” J. Rehabil. Res. Dev., vol. 43, no. 7, p. 857, 2006.

[12] A. E. Ferris, J. M. Aldridge, C. A. Rábago, and J. M. Wilken, “Evaluation of a powered ankle-foot prosthetic system during walking.,” Arch. Phys. Med. Rehabil., vol. 93, no. 11, pp. 1911-1918, Nov. 2012.

[13] R. A. Weinert-Aplin, D. Howard, M. Twiste, H. L. Jarvis, A. N. Bennett, and R. J. Baker, “Energy flow analysis of amputee walking shows a proximally-directed transfer of energy in intact limbs, compared to a distally-directed transfer in prosthetic limbs at push-off.,” Med. Eng. Phys., vol. 39, pp. 73-82, 2017.

[14] R. J. Williams, A. H. Hansen, and S. a Gard, “Prosthetic ankle-foot mechanism capable of automatic adaptation to the walking surface.,” J. Biomech. Eng., vol. 131, no. 3, p. 35002, Mar. 2009.

[15] S. H. Collins and A. D. Kuo, “Recycling energy to restore impaired ankle function during human walking.,” PLoS One, vol. 5, no. 2, p. e9307, Jan. 2010.

34 references, page 1 of 3
Abstract
Current energy storage and return (ESR) prosthetic\ud feet only marginally reduce the cost of amputee locomotion\ud compared to basic solid ankle cushioned heel (SACH) feet,\ud possibly due to their lack of push-off at the end of stance. To our knowledge, a prosthetic ankle that utilises a hydraulic variable displacement actuator (VDA) to improve push-off performance has not previously been proposed. Therefore, here we report a design optimisation and simulation feasibility study for a VDA based prosthetic ankle. The proposed device stores the eccentric ankle work done from heel strike to maximum dorsiflexion in a\ud hydraulic accumulator and then returns the st...
Subjects
free text keywords: General Neuroscience, Biomedical Engineering, Computer Science Applications, Torque, Ankle, medicine.anatomical_structure, medicine, Simulation, Variable displacement, Work (physics), Hydraulic machinery, Hydraulic accumulator, Engineering, business.industry, business, Accumulator (structured product), Actuator
Related Organizations
34 references, page 1 of 3

[1] L. J. Mengelkoch, J. T. Kahle, and M. J. Highsmith, “Energy costs & performance of transtibial amputees & non-amputees during walking & running,” Int. J. Sports Med., vol. 35, no. 14, pp. 1223-1228, Aug. 2014. [OpenAIRE]

[2] T. Schmalz, S. Blumentritt, and R. Jarasch, “Energy expenditure and biomechanical characteristics of lower limb amputee gait: the influence of prosthetic alignment and different prosthetic components.,” Gait Posture, vol. 16, no. 3, pp. 255-63, Dec. 2002. [OpenAIRE]

[3] D. H. Nielsen, D. G. Shurr, J. C. Golden, and K. Meier, “Comparison of energy cost and gait efficiency during ambulation in below-knee amputees using different prosthetic feet - a preliminary report,” JPO J. Prosthetics Orthot., vol. 1, no. 1, pp. 24-31, 1988. [OpenAIRE]

[4] J. J. Genin, G. J. Bastien, B. Franck, C. Detrembleur, and P. Willems, “Effect of speed on the energy cost of walking in unilateral traumatic lower limb amputees.,” Eur. J. Appl. Physiol., vol. 103, no. 6, pp. 655- 63, Aug. 2008.

[5] C. Hofstad, H. Linde, J. Limbeek, and K. Postema, “Prescription of prosthetic ankle-foot mechanisms after lower limb amputation.,” Cochrane database Syst. Rev., no. 1, p. CD003978, Jan. 2004. [OpenAIRE]

[6] J. Gardiner, A. Z. Bari, D. Howard, and L. Kenney, “Energy storage and return prosthetic feet have only marginally improved trans-tibial amputee gait efficiency compared to that with solid ankle cushioned heel feet,” J. Rehabil. Res. Dev., vol. 53, no. 6, pp. 1133-1138, 2016. [OpenAIRE]

[7] S. Lipfert, M. Günther, D. Renjewski, and A. Seyfarth, “Impulsive ankle push-off powers leg swing in human walking,” J. Exp. Biol., vol. 217, pp. 1218-1228, Dec. 2013.

[8] K. E. Zelik, T.-W. P. Huang, P. G. Adamczyk, and A. D. Kuo, “The role of series ankle elasticity in bipedal walking.,” J. Theor. Biol., vol. 346, pp. 75-85, Apr. 2014.

[9] A. Ruina, J. E. A. Bertram, and M. Srinivasan, “A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition,” J. Theor. Biol., vol. 237, no. 2, pp. 170-192, 2005.

[10] K. Postema, H. Hermens, J. de Vries, H. Koopman, and W. Eisma, “Energy storage and release of prosthetic feet Part 1: Biomechanical analysis related to user benefits,” Prosthet. Orthot. Int., vol. 21, no. 1, pp. 17-27, 1997.

[11] A. D. Segal, M. S. Orendurff, G. K. Klute, M. L. McDowell, J. a. Pecoraro, J. Shofer, and J. M. Czerniecki, “Kinematic and kinetic comparisons of transfemoral amputee gait using C-Leg and Mauch SNS prosthetic knees,” J. Rehabil. Res. Dev., vol. 43, no. 7, p. 857, 2006.

[12] A. E. Ferris, J. M. Aldridge, C. A. Rábago, and J. M. Wilken, “Evaluation of a powered ankle-foot prosthetic system during walking.,” Arch. Phys. Med. Rehabil., vol. 93, no. 11, pp. 1911-1918, Nov. 2012.

[13] R. A. Weinert-Aplin, D. Howard, M. Twiste, H. L. Jarvis, A. N. Bennett, and R. J. Baker, “Energy flow analysis of amputee walking shows a proximally-directed transfer of energy in intact limbs, compared to a distally-directed transfer in prosthetic limbs at push-off.,” Med. Eng. Phys., vol. 39, pp. 73-82, 2017.

[14] R. J. Williams, A. H. Hansen, and S. a Gard, “Prosthetic ankle-foot mechanism capable of automatic adaptation to the walking surface.,” J. Biomech. Eng., vol. 131, no. 3, p. 35002, Mar. 2009.

[15] S. H. Collins and A. D. Kuo, “Recycling energy to restore impaired ankle function during human walking.,” PLoS One, vol. 5, no. 2, p. e9307, Jan. 2010.

34 references, page 1 of 3
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