Controlling Propulsive Forces in Gait Initiation in Transfemoral Amputees

2008 ◽  
Vol 130 (1) ◽  
Author(s):  
Helco G. van Keeken ◽  
Aline H. Vrieling ◽  
At L. Hof ◽  
Jan P. K. Halbertsma ◽  
Tanneke Schoppen ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Force Measurement ◽  
Center Of Mass ◽  
Reaction Force ◽  
Force Plate ◽  
Measurement Data ◽  
Gait Initiation ◽  
Postural Adjustment ◽  
Applied Forces ◽  
Ankle Function

During prosthetic gait initiation, transfemoral (TF) amputees control the spatial and temporal parameters that modulate the propulsive forces, the positions of the center of pressure (CoP), and the center of mass (CoM). Whether their sound leg or the prosthetic leg is leading, the TF amputees reach the same end velocity. We wondered how the CoM velocity build up is influenced by the differences in propulsive components in the legs and how the trajectory of the CoP differs from the CoP trajectory in able bodied (AB) subjects. Seven TF subjects and eight AB subjects were tested on a force plate and on an 8m long walkway. On the force plate, they initiated gait two times with their sound leg and two times with their prosthetic leg. Force measurement data were used to calculate the CoM velocity curves in horizontal and vertical directions. Gait initiated on the walkway was used to determine the leg preference. We hypothesized that because of the differences in propulsive components, the motions of the CoP and the CoM have to be different, as ankle muscles are used to help generate horizontal ground reaction force components. Also, due to the absence of an active ankle function in the prosthetic leg, the vertical CoM velocity during gait initiation may be different when leading with the prosthetic leg compared to when leading with the sound leg. The data showed that whether the TF subjects initiated a gait with their prosthetic leg or with their sound leg, their horizontal end velocity was equal. The subjects compensated the loss of propulsive force under the prosthesis with the sound leg, both when the prosthetic leg was leading and when the sound leg was leading. In the vertical CoM velocity, a tendency for differences between the two conditions was found. When initiating gait with the sound leg, the downward vertical CoM velocity at the end of the gait initiation was higher compared to when leading with the prosthetic leg. Our subjects used a gait initiation strategy that depended mainly on the active ankle function of the sound leg; therefore, they changed the relative durations of the gait initiation anticipatory postural adjustment phase and the step execution phase. Both legs were controlled in one single system of gait propulsion. The shape of the CoP trajectories, the applied forces, and the CoM velocity curves are described in this paper.

scholarly journals The effect of anteroposterior perturbations on the control of the center of mass during treadmill walking

2019 ◽  
Author(s):  
Maud van den Bogaart ◽  
Sjoerd M. Bruijn ◽  
Jaap H. van Dieën ◽  
Pieter Meyns
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Force Plate ◽  
Gait Pattern ◽  
Therapeutic Interventions ◽  
Heel Strike ◽  
Foot Placement ◽  
Relative Contribution ◽  
Counter Rotation

AbstractShifts of the center of pressure (CoP) through modulation of foot placement and ankle moments (CoP-mechanism) cause accelerations of the center of mass (CoM) that can be used to stabilize gait. An additional mechanism that can be used to stabilize gait, is the counter-rotation mechanism, i.e., changing the angular momentum of segments around the CoM to change the direction of the ground reaction force. The relative contribution of these mechanisms to the control of the CoM is unknown. Therefore, we aimed to determine the relative contribution of these mechanisms to control the CoM in the anteroposterior (AP) direction during a normal step and the first recovery step after perturbation in healthy adults. Nineteen healthy subjects walked on a split-belt treadmill and received unexpected belt acceleration perturbations of various magnitudes applied immediately after right heel-strike. Full-body kinematic and force plate data were obtained to calculate the contributions of the CoP-mechanism and the counter-rotation mechanism to control the CoM. We found that the CoP-mechanism contributed to corrections of the CoM acceleration after the AP perturbations, while the counter-rotation mechanism actually contributed to CoM acceleration in the direction of the perturbation, but only in the initial phases of the first step after the perturbation. The counter-rotation mechanism appeared to prevent interference with the gait pattern, rather than using it to control the CoM after the perturbation. Understanding the mechanisms used to stabilize gait may have implications for the design of therapeutic interventions that aim to decrease fall incidence.Summary statementUnderstanding the mechanisms used to stabilize gait during unperturbed and perturbed walking may have implications for the design of therapeutic interventions that aim to decrease fall incidence.

scholarly journals The effect of constraining mediolateral ankle moments and foot placement on the use of the counter-rotation mechanism during walking

2021 ◽  
Author(s):  
Maud van den Bogaart ◽  
Sjoerd M. Bruijn ◽  
Joke Spildooren ◽  
Jaap H. van Dieën ◽  
Pieter Meyns
Keyword(s):  
Steady State ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Force Plate ◽  
Gait Pattern ◽  
Task Constraints ◽  
Foot Placement ◽  
Counter Rotation ◽  
Body Kinematic

Stability during walking can be maintained by shifts of the Center of Pressure through modulation of foot placement and ankle moments (CoP-mechanism). An additional mechanism to stabilize gait, is the counter-rotation mechanism i.e. changing the angular momentum of segments around the Center of Mass (CoM) to change the direction of the ground reaction force. It is unknown if and how humans use the counter-rotation mechanism to control the CoM during walking and how this interacts with the CoP-mechanism. Thirteen healthy adults walked on a treadmill, while full-body kinematic and force plate data were obtained. The contributions of the CoP and the counter-rotation mechanisms to control the CoM were calculated during steady-state walking, walking on LesSchuh, i.e. constraining mediolateral CoP shifts underneath the stance foot and walking on LesSchuh at 50% of normal step width, constraining both foot placement and ankle mechanisms (LesSchuh50%). A decreased magnitude of within-stride control by the CoP-mechanism was compensated for by an increased magnitude of within-stride control by the counter-rotation mechanism during LesSchuh50% compared to steady-state walking. This suggests that the counter-rotation mechanism is used to stabilize gait when needed. However, the mean contribution of the counter-rotation mechanism over strides did not increase during LesSchuh50% compared to steady-state walking. The CoP-mechanism was the main contributor to the total CoM acceleration. The use of the counter-rotation mechanism may be limited because angular accelerations ultimately need to be reversed and because of interference with other task constraints, such as head stabilization and preventing interference with the gait pattern.

scholarly journals Active foot placement control ensures stable gait: Effect of constraints on foot placement and ankle moments

PLoS ONE ◽  
2020 ◽  
Vol 15 (12) ◽  
pp. e0242215
Author(s):  
A. M. van Leeuwen ◽  
J. H. van Dieën ◽  
A. Daffertshofer ◽  
S. M. Bruijn
Keyword(s):  
Steady State ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Stride Frequency ◽  
Tight Control ◽  
Foot Placement ◽  
Ankle Moment ◽  
Reaction Forces ◽  
Moment Control

Step-by-step foot placement control, relative to the center of mass (CoM) kinematic state, is generally considered a dominant mechanism for maintenance of gait stability. By adequate (mediolateral) positioning of the center of pressure with respect to the CoM, the ground reaction force generates a moment that prevents falling. In healthy individuals, foot placement is complemented mainly by ankle moment control ensuring stability. To evaluate possible compensatory relationships between step-by-step foot placement and complementary ankle moments, we investigated the degree of (active) foot placement control during steady-state walking, and under either foot placement-, or ankle moment constraints. Thirty healthy participants walked on a treadmill, while full-body kinematics, ground reaction forces and EMG activities were recorded. As a replication of earlier findings, we first showed step-by-step foot placement is associated with preceding CoM state and hip ab-/adductor activity during steady-state walking. Tight control of foot placement appears to be important at normal walking speed because there was a limited change in the degree of foot placement control despite the presence of a foot placement constraint. At slow speed, the degree of foot placement control decreased substantially, suggesting that tight control of foot placement is less essential when walking slowly. Step-by-step foot placement control was not tightened to compensate for constrained ankle moments. Instead compensation was achieved through increases in step width and stride frequency.

scholarly journals Effects of additional load at different heights on gait initiation: A statistical parametric mapping of center of pressure and center of mass behavior

PLoS ONE ◽  
2021 ◽  
Vol 16 (6) ◽  
pp. e0242892
Author(s):  
Marcus Fraga Vieira ◽  
Fábio Barbosa Rodrigues ◽  
Alfredo de Oliveira Assis ◽  
Eduardo de Mendonça Mesquita ◽  
Thiago Santana Lemes ◽  
...  
Keyword(s):  
Time Series ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Statistical Parametric Mapping ◽  
Gait Initiation ◽  
Experimental Conditions ◽  
Distributed Load ◽  
Uniformly Distributed Load ◽  
Reaction Forces ◽  
Controlled Object

The purpose of this study was to investigate the effects of different vertical positions of an asymmetrical load on the anticipatory postural adjustments phase of gait initiation. Sixty-eight college students (32 males, 36 females; age: 23.65 ± 3.21 years old; weight: 69.98 ± 8.15 kg; height: 1.74 ± 0.08 m) were enrolled in the study. Ground reaction forces and moments were collected using two force platforms. The participants completed three trials under each of the following random conditions: no-load (NL), waist uniformly distributed load (WUD), shoulder uniformly distributed load (SUD), waist stance foot load (WST), shoulder stance foot load (SST), waist swing foot load (WSW), and shoulder swing foot load (SSW). The paired Hotelling’s T-square test was used to compare the experimental conditions. The center of pressure (COP) time series were significantly different for the SUD vs. NL, SST vs. NL, WST vs. NL, and WSW vs. NL comparisons. Significant differences in COP time series were observed for all comparisons between waist vs. shoulder conditions. Overall, these differences were greater when the load was positioned at the shoulders. For the center of mass (COM) time series, significant differences were found for the WUD vs. NL and WSW vs. NL conditions. However, no differences were observed with the load positioned at the shoulders. In conclusion, only asymmetrical loading at the waist produced significant differences, and the higher the extra load, the greater the effects on COP behavior. By contrast, only minor changes were observed in COM behavior, suggesting that the changes in COP (the controller) behavior are adjustments to maintain the COM (controlled object) unaltered.

scholarly journals Dynamic Balancing Responses in Unilateral Transtibial Amputees Following Outward-Directed Perturbations During Slow Treadmill Walking Differ Considerably for Amputated and Non-Amputated Side

2021 ◽  
Author(s):  
Andrej Olenšek ◽  
Matjaž Zadravec ◽  
Helena Burger ◽  
Zlatko Matjačić
Keyword(s):  
Stance Phase ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Dynamic Balancing ◽  
Transtibial Amputation ◽  
Control Subjects ◽  
Foot Strike ◽  
Transtibial Amputees ◽  
Proprioceptive Function

Abstract BackgroundDue to disrupted motor and proprioceptive function lower limb amputation imposes considerable challenges associated with balance and greatly increases risk of falling in case of perturbations during walking. The aim of this study was to investigate dynamic balancing responses in unilateral transtibial amputees when they were subjected to perturbing pushes to the pelvis in outward direction at the time of foot strike on non-amputated and amputated side during slow walking.MethodsFourteen subjects with unilateral transtibial amputation and nine control subjects participated in the study. They were subjected to perturbations that were delivered to the pelvis at the time of foot strike of either the left or right leg. We recorded trajectories of center of pressure and center of mass, durations of in-stance and stepping periods as well as ground reaction forces. Statistical analysis was performed to determine significant differences in dynamic balancing responses between control subjects and subjects with amputation when subjected to outward-directed perturbation upon entering stance phases with non-amputated or amputated side.ResultsWhen outward-directed perturbations were delivered at the time of foot strike of the non-amputated leg, subjects with amputation were able to modulate center of pressure and ground reaction force similarly as control subjects which indicates application of in-stance balancing strategies. On the other hand, there was a complete lack of in-stance response when perturbations were delivered when the amputated leg entered the stance phase. Subjects with amputations instead used the stepping strategy and adjusted placement of the non-amputated leg in the ensuing stance phase to make a cross-step. Such response resulted in significantly higher displacement of center of mass. ConclusionsResults of this study suggest that due to the absence of the COP modulation mechanism, which is normally supplied by ankle motor function, people with unilateral transtibial amputation are compelled to choose the stepping strategy over in-stance strategy when they are subjected to outward-directed perturbation on the amputated side. However, the stepping response is less efficient than in-stance response. To improve their balancing responses to unexpected balance perturbation people fitted with passive transtibial prostheses should undergo perturbation-based balance training during clinical rehabilitation.

scholarly journals Development of a Bendable Outsole Biaxial Ground Reaction Force Measurement System

Sensors ◽  
2019 ◽  
Vol 19 (11) ◽  
pp. 2641 ◽  
Author(s):  
Junghoon Park ◽  
Sangjoon Kim ◽  
Youngjin Na ◽  
Yeongjin Kim ◽  
Jung Kim
Keyword(s):  
Measurement System ◽  
Ground Reaction Force ◽  
Force Measurement ◽  
Reaction Force ◽  
Force Plate ◽  
Force Sensors ◽  
Measurement Systems ◽  
Cantilever Structure ◽  
Force Measurement System ◽  
Anterior Posterior

Wearable ground reaction force (GRF) measurement systems make it possible to measure the GRF in any environment, unlike a commercial force plate. When performing kinetic analysis with the GRF, measurement of multiaxial GRF is important for evaluating forward and lateral motion during natural gait. In this paper, we propose a bendable GRF measurement system that can measure biaxial (vertical and anterior-posterior) GRF without interrupting the natural gait. Eight custom small biaxial force sensors based on an optical sensing mechanism were installed in the proposed system. The interference between two axes on the custom sensor was minimized by the independent application of a cantilever structure for the two axes, and the hysteresis and repeatability of the custom sensor were investigated. After developing the system by the installation of force sensors, we found that the degree of flexibility of the developed system was comparable to that of regular shoes by investigating the forefoot bending stiffness. Finally, we compared vertical GRF (vGRF) and anterior-posterior GRF (apGRF) measured from the developed system and force plate at the same time when the six subjects walked, ran, and jumped on the force plate to evaluate the performance of the GRF measurement system.

scholarly journals Comparison of Center of Pressure and Center of Mass of Gait Initiation between Children with Typical Development and Children with Diplegia

2011 ◽  
Vol 23 (3) ◽  
pp. 469-475 ◽  
Author(s):  
Soontharee Taweetanalarp ◽  
Saipin Prasertsukdee ◽  
Roongtiwa Vachalathiti ◽  
Jaranit Kaewkungwal
Keyword(s):  
Center Of Pressure ◽  
Center Of Mass ◽  
Gait Initiation ◽  
Typical Development

scholarly journals The Effect of Teeth Clenching on Dynamic Balance at Jump-Landing: A Pilot Study

2017 ◽  
Vol 33 (3) ◽  
pp. 211-215
Author(s):  
Tomomasa Nakamura ◽  
Yuriko Yoshida ◽  
Hiroshi Churei ◽  
Junya Aizawa ◽  
Kenji Hirohata ◽  
...  
Keyword(s):  
Muscle Activity ◽  
Masseter Muscle ◽  
Center Of Pressure ◽  
Dynamic Balance ◽  
Reaction Force ◽  
Force Plate ◽  
Vertical Ground Reaction Force ◽  
Jump Landing ◽  
Teeth Clenching ◽  
Vertical Ground

The aim of this study was to analyze the effect of teeth clenching on dynamic balance at jump landing. Twenty-five healthy subjects performed jump-landing tasks with or without teeth clenching. The first 3 trials were performed with no instruction; subsequently, subjects were ordered to clench at the time of landing in the following 3 trials. We collected the data of masseter muscle activity by electromyogram, the maximum vertical ground reaction force (vGRFmax) and center of pressure (CoP) parameters by force plate during jump-landing. According to the clenching status of control jump-landing, all participants were categorized into a spontaneous clenching group and no clenching group, and the CoP data were compared. The masseter muscle activity was correlated with vGRFmax during anterior jump-landing, while it was not correlated with CoP. In comparisons between the spontaneous clenching and the no clenching group during anterior jump-landing, the spontaneous clenching group showed harder landing and the CoP area became larger than the no clenching group. There were no significant differences between pre- and postintervention in both spontaneous clenching and no clenching groups. The effect of teeth clenching on dynamic balance during jump-landing was limited.

scholarly journals Active foot placement control ensures stable gait: Effect of constraints on foot placement and ankle moments

2020 ◽  
Author(s):  
A.M. van Leeuwen ◽  
J.H. van Dieën ◽  
A. Daffertshofer ◽  
S.M. Bruijn
Keyword(s):  
Steady State ◽  
Center Of Pressure ◽  
Center Of Mass ◽  
Reaction Force ◽  
Stride Frequency ◽  
Tight Control ◽  
Foot Placement ◽  
Ankle Moment ◽  
Reaction Forces ◽  
Moment Control

AbstractStep-by-step foot placement control, relative to the center of mass (CoM) kinematic state, is generally considered a dominant mechanism for maintenance of gait stability. By adequate (mediolateral) positioning of the center of pressure with respect to the CoM, the ground reaction force generates a moment that prevents falling. In healthy individuals, foot placement is complemented mainly by ankle moment control ensuring stability. To evaluate possible compensatory relationships between step-by-step foot placement and complementary ankle moments, we investigated the degree of (active) foot placement control during steady-state walking, and under either foot placement-, or ankle moment constraints. Thirty healthy participants walked on a treadmill, while full-body kinematics, ground reaction forces and EMG activities were recorded. As a replication of earlier findings, we first showed step-by-step foot placement is associated with preceding CoM state and hip ab-/adductor activity during steady-state walking. Tight control of foot placement appears to be important at normal walking speed because there was a limited change in the degree of foot placement control despite the presence of a foot placement constraint. At slow speed, the degree of foot placement control decreased substantially, suggesting that tight control of foot placement is less essential when walking slowly. Step-by-step foot placement control was not tightened to compensate for constrained ankle moments. Instead compensation was achieved through increases in step width and stride frequency.

A Comparison of Bilateral and Unilateral Drop Jumping Tasks in the Assessment of Vertical Stiffness

2018 ◽  
Vol 34 (3) ◽  
pp. 199-204
Author(s):  
Sean J. Maloney ◽  
Joanna Richards ◽  
Iain M. Fletcher
Keyword(s):  
Coefficient Of Variation ◽  
Center Of Mass ◽  
Reaction Force ◽  
Force Plate ◽  
Drop Height ◽  
Vertical Stiffness ◽  
Drop Jumps ◽  
Left And Right ◽  
Plate System ◽  
Healthy Males

This study sought to compare vertical stiffness during bilateral and unilateral drop jumping. Specifically, the intersession reliabilities and force-deformation profiles associated with each task were to be examined. On 3 occasions, following familiarization, 14 healthy males (age: 22 [2] y; height: 1.77 [0.08] m; and body mass: 73.5 [8.0] kg) performed 3 bilateral, left leg and right leg drop jumps. All jumps were performed from a drop height of 0.18 m on to a dual force plate system. Vertical stiffness was calculated as the ratio of peak ground reaction force (GRF) to the peak center of mass (COM) displacement. Unilateral drop jumping was associated with higher GRF and greater COM displacement (both Ps < .001), but vertical stiffness was not different between tasks when considering individual limbs (P = .98). A coefficient of variation of 14.6% was observed for bilateral vertical stiffness during bilateral drop jumping; values of 6.7% and 7.6% were observed for left and right limb vertical stiffness during unilateral drop jumping. These findings suggest that unilateral drop jumps may exhibit greater reliability than bilateral drop jumps while eliciting similar vertical stiffness. It is also apparent that higher GRFs during unilateral drop jumping are mitigated by increased COM displacement.

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