Estimation of Quasi-Stiffness and Propulsive Work of the Human Ankle in the Stance Phase of Walking

PLoS ONE

Volumn 8, Issue 3, 2013, Pages

  Shamaei, Kamran ^a   Sawicki, Gregory S ^b   Dollar, Aaron M ^a  

^a Yale University   (United States)

^b Biomedical Research Imaging Center   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANKLE; ARTICLE; BIOMECHANICS; BODY HEIGHT; BODY WEIGHT; CONTACT ANGLE; FEMALE; HUMAN; HUMAN EXPERIMENT; MALE; MUSCULOSKELETAL SYSTEM PARAMETERS; PROPULSIVE WORK; QUANTITATIVE ANALYSIS; QUASI STIFFNESS; STATISTICAL MODEL; WALKING; WALKING SPEED; ADULT; GAIT; LEG; MECHANICAL STRESS; PHYSIOLOGY; REGRESSION ANALYSIS;

ADULT; ANKLE; ANKLE JOINT; BIOMECHANICAL PHENOMENA; FEMALE; GAIT; HUMANS; LEG; MALE; REGRESSION ANALYSIS; STRESS, MECHANICAL; WALKING;

EID: 84875317694     PISSN: None     EISSN: 19326203     Source Type: Journal    
DOI: 10.1371/journal.pone.0059935     Document Type: Article

References (69)

1. McGeer T, (1990) Passive walking with knees. Proceedings of IEEE International Conference on Robotics and Automation, 13-18 May. 3: 1640-1645.
2. Collins S, Ruina A, Tedrake R, Wisse M, (2005) Efficient bipedal robots based on passive-dynamic walkers. Science 307: 1082-1085.
3. Zoss A, Kazerooni H, Chu A, (2006) Biomechanical design of the berkeley lower extremity exoskeleton (BLEEX). IEEE/ASME Transactions on Mechatronics 11: 128-138.
4. Walsh C, Paluska D, Pasch K, Grand W, Valiente A, et al. (2006) Development of a lightweight, underactuated exoskeleton for load-carrying augmentation. Proceedings of IEEE International Conference on Robotics and Automation (ICRA),15-19 May. 3485-3491.
5. Ferris D, Lewis C (2009) Robotic lower limb exoskeletons using proportional myoelectric control. EMBC Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2119-2124.
6. Dollar AM, Herr H, (2008) Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art. IEEE Transactions on Robotics 24: 144-158.
7. Sawicki GS, Lewis C, Ferris D, (2009) It pays to have a spring in your step. Exercise and Sport Sciences Reviews 37: 130-138.
8. Gordon K, Ferris D, (2007) Learning to walk with a robotic ankle exoskeleton. Journal of Biomechanics 40: 2636-2644.
9. Sawicki GS, Domingo A, Ferris D, (2006) The effects of powered ankle-foot orthoses on joint kinematics and muscle activation during walking in individuals with incomplete spinal cord injury. Journal of Neuroengineering and Rehabilitation 3: 3.
10. Wiggin M, Collins SH, Sawicki GS, (2011) An exoskeleton using controlled energy storage and release to aid ankle propulsion. IEEE International Conference on Rehabilitation Robotics (ICORR), 1-5.
11. Markowitz J, Krishnaswamy P, Eilenberg M, Endo K, Barnhart C, et al. (2011) Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model. Philosophical Transactions of the Royal Society B-Biological Sciences 366: 1621-1631.
12. Eilenberg M, Geyer H, Herr H, (2010) Control of a powered ankle-foot prosthesis based on a neuromuscular model. IEEE Transactions on Neural Systems and Rehabilitation Engineering 18: 164-173.
13. Sup F, Bohara A, Goldfarb M, (2008) Design and control of a powered transfemoral prosthesis. International Journal of Robotics Research 27: 263-273.
14. Hitt J, Sugar T, Holgate M, Bellman R, Hollander K, (2009) Robotic transtibial prosthesis with biomechanical energy regeneration. Industrial Robot-an International Journal 36: 441-447.
15. Geyer H, Herr H, (2010) A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. IEEE Transactions on Neural Systems and Rehabilitation Engineering 18: 263-273.
16. Endo K, Herr H (2009) A model of muscle-tendon function in human walking. ICRA: IEEE International Conference on Robotics and Automation, 1909-1915.
17. Geyer H, Seyfarth A, Blickhan R, (2006) Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society B-Biological Sciences 273: 2861-2867.
18. Kuo A, (2002) Energetics of actively powered locomotion using the simplest walking model. Transactions-American Society of Mechanical Engineers Journal of Biomechanical Engineering 124: 113-120.
19. Dean J, Kuo A, (2009) Elastic coupling of limb joints enables faster bipedal walking. Journal of the Royal Society Interface 6: 561-573.
20. Srinivasan M, Ruina A, (2006) Computer optimization of a minimal biped model discovers walking and running. Nature 439: 72-75.
21. Endo K, Paluska D, Herr H (2006) A quasi-passive model of human leg function in level-ground walking. IEEE/RSJ International Conference on Intelligent Robots and Systems, 4935-4939.
22. Farley C, Gonzalez O, (1996) Leg stiffness and stride frequency in human running. Journal of Biomechanics 29: 181-186.
23. Alexander R, (1992) A Model of Bipedal Locomotion on Compliant Legs. Philosophical Transactions of the Royal Society of London Series B-Biological Sciences 338: 189-198.
24. Taga G, (1995) A model of the neuro-musculo-skeletal system for human locomotion. Biological Cybernetics 73: 97-111.
25. Mochon S, McMahon T, (1980) Ballistic walking- an improved model. Mathematical Biosciences 52: 241-260.
26. Winter D (1991) The biomechanics and motor control of human gait: normal, elderly and pathological. University of Waterloo Press. Waterloo, Ont.
27. DeVita P, (1994) The selection of a standard convention for analyzing gait data-based on the analysis of relevant biomechanical factors. Journal of Biomechanics 27: 501-508.
28. Farris D, Sawicki GS, (2012) The mechanics and energetics of human walking and running: a joint level perspective. Journal of The Royal Society Interface 9: 110-118.
29. Weiss P, Kearney R, Hunter I, (1986) Position dependence of ankle joint dynamics: 1. passive mechanics. Journal of Biomechanics 19: 727-735.
30. Weiss P, Kearney R, Hunter I, (1986) Position dependence of ankle joint dynamics: 2. active mechanics. Journal of Biomechanics 19: 737-751.
31. Silder A, Heiderscheit B, Thelen D, (2008) Active and passive contributions to joint kinetics during walking in older adults. Journal of Biomechanics 41: 1520-1527.
32. Frigo C, Crenna P, Jensen L, (1996) Moment-angle relationship at lower limb joints during human walking at different velocities. Journal of Electromyography and Kinesiology 6: 177-190.
33. Davis R, DeLuca P, (1996) Gait characterization via dynamic joint stiffness. Gait & Posture 4: 224-231.
34. Crenna P, Frigo C, (2011) Dynamics of the ankle joint analyzed through moment-angle loops during human walking: gender and age effects. Human Movement Science 30: 1185-1198.
35. Lark S, Buckley J, Bennett S, Jones D, Sargeant A, (2003) Joint torques and dynamic joint stiffness in elderly and young men during stepping down. Clinical Biomechanics 18: 848-855.
36. Shamaei K, Dollar AM. (2011) On the mechanics of the knee during the stance phase of the gait; IEEE International Conference on Rehabilitation Robotics (ICORR), 1-7.
37. Shamaei K, Cenciarini M, Dollar AM. (2011) On the mechanics of the ankle in the stance phase of the gait; Proceedings of the International Conference of IEEE Engineering in Medicine and Biology Society (EMBC), Boston, 8135-8140.
38. Salsich G, Mueller M, (2000) Effect of plantar flexor muscle stiffness on selected gait characteristics. Gait & Posture 11: 207-216.
39. Hansen A, Childress D, Miff S, Gard S, Mesplay K, (2004) The human ankle during walking: implications for design of biomimetic ankle prostheses. Journal of Biomechanics 37: 1467-1474.
40. Kuitunen S, Komi P, Kyrolainen H, (2002) Knee and ankle joint stiffness in sprint running. Medicine and Science in Sports and Exercise 34: 166-173.
41. Stefanyshyn D, Nigg B, (1998) Dynamic angular stiffness of the ankle joint during running and sprinting. Journal of Applied Biomechanics 14: 292-299.
42. Gunther M, Blickhan R, (2002) Joint stiffness of the ankle and the knee in running. Journal of Biomechanics 35: 1459-1474.
43. Hortobágyi T, Herring C, Pories WJ, Rider P, DeVita P, (2011) Massive weight loss-induced mechanical plasticity in obese gait. Journal of Applied Physiology 111: 1391-1399.
44. Collins S, Kuo A, (2010) Recycling energy to restore impaired ankle function during human walking. PloS One 5: e9307.
45. Singer E, Ishai G, Kimmel E, (1995) Parameter estimation for a prosthetic ankle. Annals of Biomedical Engineering 23: 691-696.
46. Au S, Berniker M, Herr H, (2008) Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits. Neural Networks 21: 654-666.
47. Hitt J, Sugar T, Holgate M, Bellman R (2010) An active foot-ankle prosthesis with biomechanical energy regeneration. Journal of Medical Devices-Transactions of ASME 4.
48. Perry J (1992) Gait analysis: normal and pathological function. Slack, Thorofare, NJ.
49. Winter DA, Robertson DGE, (1978) Joint torque and energy patterns in normal gait. Biological Cybernetics 29: 137-142.
50. Andriacchi TP, Ogle JA, Galante JO, (1977) Walking speed as a basis for normal and abnormal gait measurements. Journal of Biomechanics 10: 261-268.
51. Skinner S, Antonelli D, Perry J, Lester D, (1985) Functional demands on the stance limb in walking. Orthopedics 8: 355-361.
52. Winter D (2005) Biomechanics and motor control of human movement.John Wiley & Sons, Hoboken, New Jersey.
53. Dubbeldam R, Buurke J, Simons C, Groothuis-Oudshoorn C, Baan H, et al. (2010) The effects of walking speed on forefoot, hindfoot and ankle joint motion. Clinical Biomechanics 25: 796-801.
54. Ferrigno G, Pedotti A, (1985) ELITe- A digital dedicated hardware system for movement analysis via real-time TV signal-processing. IEEE Transactions on Biomedical Engineering 32: 943-950.
55. Pedotti A, Frigo C, (1992) Quantitative analysis of locomotion for basic research and clinical applications. Functional Neurology 7: 47-56.
56. Frigo C, Rabuffetti M, Kerrigan D, Deming L, Pedotti A, (1998) Functionally oriented and clinically feasible quantitative gait analysis method. Medical & Biological Engineering & Computing 36: 179-185.
57. Frigo C, Rabuffetti M, (1998) Multifactorial estimation of hip and knee joint centres for clinical application of gait analysis. Gait & Posture 8: 91-102.
58. Ferrari A, Benedetti M, Pavan E, Frigo C, Bettinelli D, et al. (2008) Quantitative comparison of five current protocols in gait analysis. Gait & Posture 28: 207-216.
59. Leurs F, Ivanenko Y, Bengoetxea A, Cebolla A, Dan B, et al. (2011) Optimal walking speed following changes in limb geometry. Journal of Experimental Biology 214: 2276-2282.
60. Minetti AE, Ardigo L, Saibene F, Ferrero S, Sartorio A, (2000) Mechanical and metabolic profile of locomotion in adults with childhood-onset GH deficiency. European Journal of Endocrinology 142: 35-41.
61. Minetti AE, Saibene F, Ardigo L, Atchou G, Schena F, et al. (1994) Pygmy locomotion. European Journal of Applied Physiology and Occupational Physiology 68: 285-290.
62. Cavagna G, Franzetti P, Fuchimoto T, (1983) The mechanics of walking in children. Journal of Physiology 343: 323-339.
63. Minetti AE, (2001) Invariant aspects of human locomotion in different gravitational environments. Acta Astronautica 49: 191-198.
64. Picard RR, Cook RD, (1984) Cross-validation of regression-models. Journal of the American Statistical Association 79: 575-583.
65. Geladi P, Kowalski BR, (1986) Partial least-squares regression: a tutorial. Analytica Chimica Acta 185: 1-17.
66. Hoskuldsson A, (2005) PLS Regression Methods. Journal of Chemometrics 2: 211-228.
67. Au S, Weber J, Herr H, (2009) Powered ankle-foot prosthesis improves walking metabolic economy. IEEE Transactions on Robotics 25: 51-66.
68. Sup F, Varol HA, Mitchell J, Withrow T, Goldfarb M (2008) Design and control of an active electrical knee and ankle prosthesis. IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob), 523-528.
69. Rose J, Gamble JG (2006) Human walking. Lippincott Williams & Wilkins, Philadelphia.