Download or read book Experimental Validation of the Lower Leg Trajectory Error an Optimization Metric for Prosthetic Feet written by Victor Prost (S.M.) and published by . This book was released on 2017 with total page 75 pages. Available in PDF, EPUB and Kindle. Book excerpt: In India alone, there are about one million people with lower limb amputation who require significantly more effort to walk than able-bodied individuals. They are subject to social stigmas preventing them from employment and independent living. There is a gap between the high-performance prosthetic feet in the United States that come at a cost of thousands of dollars and affordable prostheses in the developing world, which lack quality, durability and performance. The aim of this project was to design a high-performance, mass-manufacturable passive prosthetic foot for Indian amputees that complies with international standards at an affordable cost. This work was conducted in collaboration with Bhagwan Mahaveer Viklang Sahayata Samiti (BMVSS, the Jaipur Foot organization), in Jaipur, India. Through a novel, quantitative method called Lower Leg Trajectory Error (LLTE) which maps the mechanical design of a prosthetic foot to its biomechanical performance, we can optimize the compliance and geometry of a passive prosthesis to replicate able-bodied gait and loading on the foot using affordable materials. This thesis is focused on evaluating the accuracy and validity of the LLTE as a novel design tool. To validate feet designed using the LLTE, field trials and clinical testing were performed on prosthetic feet prototypes with varying stiffnesses and geometries. The novel merits of these prototypes are that they can replicate a similar quasi-stiffness and range of motion of a physiological ankle using interchangeable custom U-shaped constant stiffness springs ranging from 1.5 to 24 Nm/deg and having up to 30' of range of motion. Initial testing conducted using these feet validated the consitutive model of the LLTE and suggested that prosthetic feet designed with lower LLTE values could offer benefits to the user. In future work, the validated design tool will be used to create high-performance, low-cost and mass-manufacturable prosthetic feet for amputees, throughout the developing world and in the developed world.

Download or read book Development and Validation of a Novel Framework for Designing and Optimizing Passive Prosthetic Feet Using Lower Leg Trajectory written by Kathryn M. Olesnavage and published by . This book was released on 2018 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents a novel framework to optimize the design of passive prosthetic feet to best replicate physiological lower leg trajectory under typical ground reaction forces. The goal of developing this framework is ultimately to design a low cost, mass manufacturable prosthetic foot for persons with amputations living in the developing world. Despite a vast body of literature on prosthetic foot design, there is a dearth of knowledge regarding how the mechanical characteristics of passive prosthetic feet affect their biomechanical performance. Without understanding this relationship, the design of a prosthetic foot cannot be optimized for peak performance as measured by gait symmetry, metabolic cost of walking, or subjective feedback. The approach to designing prosthetic feet introduced here involves predicting the lower leg trajectory for a given prosthetic foot under typical loading and comparing this modeled trajectory to target physiological gait kinematics with a novel metric called the Lower Leg Trajectory Error (LLTE). The usefulness of this design approach was demonstrated by optimizing three simple conceptual models of prosthetic feet, each with two degrees of freedom. An experimental prosthetic foot with variable ankle stiffness was built based on one of these analytical models and tested by a subject with unilateral transtibial amputation in a gait lab under five different ankle stiffness conditions. Across five prosthetic-side steps with each of the five ankle stiffness conditions, the constitutive model used in the optimization process accurately predicted the horizontal and vertical position of the knee throughout stance phase to within an average of 1.0 cm and 0.3 cm, respectively, and the orientation of the lower leg segment to within 1.5°. After validating the theory behind this approach with the simple conceptual foot models, a method was developed to implement the same approach in optimizing the shape and size of a single-part compliant foot, resulting in a lightweight, easy to manufacture, low cost prosthetic foot. The optimal prosthetic foot design was built and tested qualitatively on six subjects in India with unilateral transtibial amputations with promising preliminary results..

Download or read book Development and Validation of a Passive Prosthetic Foot Design Framework Based on Lower Leg Dynamics written by Victor Prost and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: People with lower limb amputations face considerable challenges to everyday mobility that affect their quality of life. This is especially the case in low and middle income countries (LMIC) where the lack of affordable high-performance prosthetic devices forces people to use inadequate limbs that require more effort and exhibit unnatural walking motions. This thesis develops methods for designing customized, high-performance, low-cost, and durable passive prosthetic feet that enable users to replicate able-bodied walking patterns. The current development process of prosthetic feet relies on extensive user testing and iterative design rather than a predictive and quantitative design methodology that would facilitate the development of improved prosthetic devices. Here, we further developed the lower leg trajectory error (LLTE) framework, a novel design methodology that connects the mechanical characteristics of a prosthetic foot to the user's walking pattern. We extended the methodology to describe the entire prosthetic step for multiple walking activities and foot architectures, including durability requirements, and efficient constitutive modelling of prosthetic foot designs. These developments resulted in more than a two-fold improvement in the walking performance of LLTE-designed prosthetic feet that fulfilled the international standards durability requirements, and a ten-times reduction in computational time compared to the original LLTE methodology. The LLTE design framework and foot architectures described in this work should provide designers, engineers, and clinicians with a practical, predictive, and quantitative tool for designing and evaluating prosthetic feet. Using the LLTE framework, low-cost, customized passive prosthetic feet prototypes were designed and clinically evaluated for level ground walking against conventional carbon fiber prostheses. The LLTE feet performed as predicted with no iteration for a wide variety of patients. In addition, these prosthetic feet demonstrated 14% closer replication of able-bodied walking motion, 46% higher propulsion, 13% lower peak leg loading, and higher user preference compared to a standard commercial carbon fiber foot for less than a tenth of its cost. These results suggest that the LLTE framework can be used to design customized, low-cost prostheses that enable able-bodied walking pattern, with reduced effort and risk of long-term injuries. A systematic sensitivity investigation of five foot prototypes designed using the LLTE framework showed that users' most closely replicated the target able-bodied walking pattern with the predicted LLTE-optimal foot, experimentally demonstrating that the predicted optimum was a true optimum. In addition, the predicted LLTE performance of the prototype feet was correlated to the user's ability to replicate the target walking pattern, user's preference, and conventional clinical outcomes. This sensitivity study illustrated the utility of the LLTE framework as an systematic and robust evaluation methodology for prosthetic feet, potentially improving the development and prescription of prosthetic devices. A rugged prosthetic foot with a cosmetic overmold was also designed using the LLTE framework to accommodate the economic, environmental, and cultural requirements for users in India. The foot was distributed to 16 prosthetic users in India to be used for several months. Users walked 16% faster with the foot compared to their daily-use prosthesis, the Jaipur foot, and commented on the reduced effort of walking. The rugged foot endured one million cycles of fatigue testing, and the wear and tear of daily living without alterations in its mechanical performance. This mass-manufacturable, high-performance rugged foot could replace conventional feet used in low-resource settings and significantly improve the mobility and quality of life of LMIC prosthesis users.

Download or read book Design of a Novel Mechatronic System to Test Prosthetic Feet Under Specific Walking Activity Loads and Evaluate Their Lower Leg Trajectory Error written by Heidi V. Peterson and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Lower limb amputees, numbered at more than 40 million globally, are challenged with limited mobility due to prosthetic devices that do not fully restore the functionalities of their biological limbs. While commercially available energy storage and return feet do restore some of the functionalities of a missing limb, the development and use of these prosthetic devices are limited by the current design, evaluation, and prescription processes. This is because the connection between the combined mechanical characteristics of a foot and user outcomes, such as mobility, comfort, and walking effort, is not fully understood. The lower leg trajectory error (LLTE) is a novel prosthetic foot performance metric that provides a quantitative connection between the mechanical characteristics of a foot and the expected gait of an amputee. Thus far, the LLTE value of a foot has only been calculated via simulation, which limits the practical use of the metric in prosthetic foot design, evaluation, and prescription. One way to systematically measure the LLTE value of a physical prosthetic foot would be through a mechanical bench test, but the capabilities of existing bench testing devices are insufficient due to limited degrees of actuation and reported accuracy. The purpose of this work was to design the Prosthetic Foot Testing Device (PFTD), a mechatronic testing device that could apply specific and uncoupled GRFs to any CoP on a foot and measure its deflection, through which it could measure the LLTE value and thus predict walking performance of any passive prosthetic foot. First, we determined high-level functional requirements of the PFTD, including the ranges of reference loads and prosthetic foot deflections as well as the LLTE measurement accuracy, such that the PFTD could meaningfully measure the full range of commercially available prosthetic feet. Second, we derived the relationships between the variables used to calculate the LLTE metric and those controlled or measured by the PFTD. Third, we used these relationships to design the PFTD and perform sensitivity analysis to ensure it could meaningfully and accurately measure the LLTE value of any passive prosthetic foot. In future work, the PFTD will be built, validated, and used to measure and compare the LLTE values of various prosthetic feet. The PFTD and theory presented herein may become a new tool in the prosthetics industry to systematically and amputee-independently measure and compare the performance of prosthetic devices using the LLTE value as a universal metric, which could ultimately improve the development and prescription processes of prostheses.

Download or read book Biomechanics of Lower Limb Prosthetics written by Mark R. Pitkin and published by Springer. This book was released on 2009-10-14 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt: Foreword from a Clinical Biomechanist, Applied Physiologist and Prosthetist teaching graduate students in Prosthetics & Orthotics. While there are many books on Biomechanics, arguably the quintessential science of limb prosthetics, none addresses the fundamental principles in sufficient detail and depth to be practically useful to the prosthetist, rehabilitation specialist or researcher. Dr. Pitkin’s monograph is an exemplary collection of theoretical principles from his research and o- ers, presented in its clinical and applied biomechanics form. The textbook provides an excellent overview of the many facets of lower limb prosthetic design and engineering for the ardent clinician researcher and student. The book delves into many of the basic concepts that are required knowledge for the clinician and the scientist to have as the foundation for their work. Dr. Pitkin has an e- quent manner in which he reflects on the history and literature to tell the storied evolution of prosthetic design . He takes the reader on a journey to consider his theories, which have substantive foundations to contemplate. By the end of chapter one, we have the basic h- tory and an appreciation for the rationale behind the “rolling joint ankle” with evidence to support his theoretical views.

Download or read book Lower limb Prosthetics written by Norman Berger and published by . This book was released on 1997 with total page 178 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book ROMANSY 21 Robot Design Dynamics and Control written by Vincenzo Parenti-Castelli and published by Springer. This book was released on 2016-06-29 with total page 436 pages. Available in PDF, EPUB and Kindle. Book excerpt: This proceedings volume contains papers that have been selected after review for oral presentation at ROMANSY 2016, the 21th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators. These papers cover advances on several aspects of the wide field of Robotics as concerning Theory and Practice of Robots and Manipulators. ROMANSY 2016 is the 21st event in a series that started in 1973 as one of the first conference activities in the world on Robotics. The first event was held at CISM (International Centre for Mechanical Science) in Udine, Italy on 5-8 September 1973. It was also the first topic conference of IFToMM (International Federation for the Promotion of Mechanism and Machine Science) and it was directed not only to the IFToMM community.

Download or read book Wearable Robots written by José L. Pons and published by John Wiley & Sons. This book was released on 2008-04-15 with total page 358 pages. Available in PDF, EPUB and Kindle. Book excerpt: A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

Download or read book Kinematics Dynamics and Design of Machinery written by Kenneth J. Waldron and published by John Wiley & Sons. This book was released on 2016-09-20 with total page 720 pages. Available in PDF, EPUB and Kindle. Book excerpt: Kinematics, Dynamics, and Design of Machinery, Third Edition, presents a fresh approach to kinematic design and analysis and is an ideal textbook for senior undergraduates and graduates in mechanical, automotive and production engineering Presents the traditional approach to the design and analysis of kinematic problems and shows how GCP can be used to solve the same problems more simply Provides a new and simpler approach to cam design Includes an increased number of exercise problems Accompanied by a website hosting a solutions manual, teaching slides and MATLAB® programs

Download or read book Fundamentals of Amputation Care and Prosthetics written by Douglas Murphy, MD and published by Demos Medical Publishing. This book was released on 2013-08-28 with total page 249 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by experienced physiatrists, prosthetists, and therapists, this book provides an introduction to the field of amputee care and prosthetics. Dedicated chapters guide you through prescription of prostheses for the various levels and types of amputations in both the lower and upper extremity and address recent advances in functionality and safety. Pre- and post-operative care, prosthetic troubleshooting, gait issues and medical management of the residual limb are also addressed. With concise key information highlighted throughout, this handbook is a welcome point of care resource or study tool for trainees and practitioners in any field who work with amputees to restore function and help enrich the lives of these individuals. Fundamentals of Amputation Care and Prosthetics features: Concise, practical manual; covers the basics of upper and lower extremity amputee care and prosthetics Succinct presentation, well-illustrated; information is easy to find Portable; perfect for use on rounds or in the clinic State-of-the-art distillation of current thinking and practice; excellent transitional book for residents or ready reference for experienced practitioners

Download or read book Anthropometry and Biomechanics written by Ronald Easterby and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 310 pages. Available in PDF, EPUB and Kindle. Book excerpt: Assessment of the physical dimensions of the human body and application of this knowledge to the design of tools, equip ment, and work are certainly among the oldest arts and sciences. It would be an easy task if all anthropometric dimensions, of all people, would follow a general rule. Thus, philosophers and artists embedded their ideas about the most aesthetic proportions into ideal schemes of perfect proportions. "Golden sections" were developed in ancient India, China, Egypt, and Greece, and more recently by Leonardo DaVinci, or Albrecht Durer. However, such canons are fictive since actual human dimensions and proportions vary greatly among individuals. The different physical appearances often have been associated with mental, physiological and behavioral characteristics of the individuals. Hypocrates (about 460-377 BC) taught that there are four temperaments (actually, body fluids) represented by four body types. The psychiatrist Ernst Kretchmer (1888-1964) proposed that three typical somatotypes (pyknic, athletic, aesthenic) could reflect human character traits. Since the 1940's, W. H. Sheldon and his coworkers devised a system of three body physiques (endo-, meso-, ectomorphic). The classification was originally qualitative, and only recently has been developed to include actual measurements.

Download or read book Prosthetics and Orthotics written by Ron Seymour and published by Lippincott Williams & Wilkins. This book was released on 2002 with total page 518 pages. Available in PDF, EPUB and Kindle. Book excerpt: Focusing on the lower extremities and spine, this extensively illustrated text presents a problem-solving approach to the evaluation and prescription of prosthetics and orthotics in physical therapy interventions. Prosthetics and Orthotics presents the latest developments in materials and fabrications, an in-depth analysis of gait deviations and interventions, conditions, psychosocial issues, biomechanics, and more. This invaluable resource also includes pediatric and geriatric perspectives, scientific literature supporting evidence-based practice, exercise and functional activities for the patient, case studies following the APTA's "Guide to Physical Therapist Practice", critical thinking questions, lab activities and practical applications.

Download or read book Converging Technologies for Improving Human Performance written by Mihail C. Roco and published by Springer Science & Business Media. This book was released on 2013-04-17 with total page 477 pages. Available in PDF, EPUB and Kindle. Book excerpt: M. C. Roco and W.S. Bainbridge In the early decades of the 21st century, concentrated efforts can unify science based on the unity of nature, thereby advancing the combination of nanotechnology, biotechnology, information technology, and new technologies based in cognitive science. With proper attention to ethical issues and societal needs, converging in human abilities, societal technologies could achieve a tremendous improvement outcomes, the nation's productivity, and the quality of life. This is a broad, cross cutting, emerging and timely opportunity of interest to individuals, society and humanity in the long term. The phrase "convergent technologies" refers to the synergistic combination of four major "NBIC" (nano-bio-info-cogno) provinces of science and technology, each of which is currently progressing at a rapid rate: (a) nanoscience and nanotechnology; (b) biotechnology and biomedicine, including genetic engineering; (c) information technology, including advanced computing and communications; (d) cognitive science, including cognitive neuroscience. Timely and Broad Opportunity. Convergence of diverse technologies is based on material unity at the nanoscale and on technology integration from that scale.

Download or read book Prosthetics and Patient Management written by Joan Edelstein and published by CRC Press. This book was released on 2024-06-01 with total page 641 pages. Available in PDF, EPUB and Kindle. Book excerpt: Prosthetics and Patient Management: A Comprehensive Clinical Approach is an innovative text covering both upper and lower extremity prosthetics. All the information clinicians need to manage a range of patients with amputations and their disorders is available in this practical and all-inclusive text. Kevin Carroll and Joan E. Edelstein, together with internationally recognized leaders, present a multidisciplinary team approach to the care of a patient with an amputation. Prosthetics and Patient Management covers practical solutions to everyday problems that clinicians encounter, from early prosthetic management to issues facing the more advanced user. The text is divided into four sections encompassing the range of subjects that confront practitioners including Early Management; Rehabilitation of Patients with Lower Limb Amputation; Rehabilitation of Patients with Upper Limb Amputations; and Beyond the Basics, which includes special considerations for children and futuristic concepts. Prosthetics and Patient Management will provide expert guidance for dealing with a wide array of patients and is a must-have for clinicians and students in physical therapy, certified prosthetists, and orthopedists interested in the wide-ranging field of prosthetics and amputations.

Download or read book Biologically Inspired Robotics written by Yunhui Liu and published by CRC Press. This book was released on 2011-12-21 with total page 343 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic engineering inspired by biology—biomimetics—has many potential applications: robot snakes can be used for rescue operations in disasters, snake-like endoscopes can be used in medical diagnosis, and artificial muscles can replace damaged muscles to recover the motor functions of human limbs. Conversely, the application of robotics technology to our understanding of biological systems and behaviors—biorobotic modeling and analysis—provides unique research opportunities: robotic manipulation technology with optical tweezers can be used to study the cell mechanics of human red blood cells, a surface electromyography sensing system can help us identify the relation between muscle forces and hand movements, and mathematical models of brain circuitry may help us understand how the cerebellum achieves movement control. Biologically Inspired Robotics contains cutting-edge material—considerably expanded and with additional analysis—from the 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO). These 16 chapters cover both biomimetics and biorobotic modeling/analysis, taking readers through an exploration of biologically inspired robot design and control, micro/nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems. Contributors examine a wide range of topics, including: A method for controlling the motion of a robotic snake The design of a bionic fitness cycle inspired by the jaguar The use of autonomous robotic fish to detect pollution A noninvasive brain-activity scanning method using a hybrid sensor A rehabilitation system for recovering motor function in human hands after injury Human-like robotic eye and head movements in human–machine interactions A state-of-the-art resource for graduate students and researchers in the fields of control engineering, robotics, and biomedical engineering, this text helps readers understand the technology and principles in this emerging field.

Download or read book Recent Advances and Applications of Hybrid Simulation written by Wei Song and published by Frontiers Media SA. This book was released on 2021-01-13 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Prosthetic Designs for Restoring Human Limb Function written by William Craelius and published by Springer Nature. This book was released on 2021-07-30 with total page 231 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook provides a thorough introduction and overview of the design and engineering of state-of-the-art prosthetics and assistive technologies. Innovations in prosthetics are increasingly made by cross-disciplinary thinking, and the author introduces the application of biomedical, mechanical, electrical, computer, and materials engineering principles to the design of artificial limbs. Coverage includes the fundamentals of biomechanics, biomechanical modeling and measurements, the basics of anatomy and physiology of limb defects, and the historical development of prosthetic design. This book stimulates the innovative thinking necessary for advancing limb restoration, and will be essential reading for students, as well as researchers, professional engineers, and prosthetists involved in the design and manufacture of artificial limbs. Learning enhanced by the exercises, including physical modeling with MATLAB and Simulink; Includes appendices with relevant equations and parameters for reference; Introduction to the design and engineering of prosthetics and assistive technologies.