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Recently, it is thought that trans-femoral amputees are needed to regain moving pattern by refined rehabilitation program using joint angle and joint moment as kinematic and kinetic conditions on the prosthetic limb with the artificial knee joint. On the other hand, understanding physical feature quantities applied on the prosthetic limb is important for biomechanical consideration of trans-femoral amputees. However, the proposed evaluation method by using singular value decomposition of each joint moment during trans-femoral prosthetic gait has not yet been considered. Besides, when the proposed evaluation method of each joint moment is applied to trans-femoral prosthetic gait, the gait measurement has been experimented concerning only the constrained unnatural gait by laboratory, practical gait as the activities of daily living has not adequately been experimented. In this paper, analysis of principal rotational motion pattern of lower limb joints concerning joint angles and joint moments during trans-femoral prosthetic gait based on the focus on level, upslopes, downslopes, upstairs and downstairs as daily living environment is aimed to clarify comprehensive spatial coordination patterns of a trans-femoral amputee with the prosthetic limb. Each physical parameter is measured by using mobile force plate and attitude sensor. As a result of the experiments and data analysis, singular value decomposition extracts the principal motion patterns from the physical feature quantities and specific points of accurate differences between gait conditions are elucidated. In the end, the effectiveness of biomechanical evaluation of each trans-femoral prosthetic gait pattern by the proposed method is validated.

In human gait motion analysis, which is one useful method for efficient physical rehabilitation to define various quantitative evaluation indices, joint angles and joint loads are measured during gait. Recently, it is thought that trans-femoral amputees with the prosthetic limb must regain motion pattern by refined rehabilitation program using joint moments as a representative joint loads and understanding them is indispensable for biomechanical consideration. On the other hand, human keeps a high correlation among the motion of all joints during gait. Joint motion analysis of the correlation extracts a few simultaneously activating segmental coordination patterns, and the structure of the intersegmental coordination is attracting attention to an expected relationship with a control strategy. However, when the evaluation method using singular value decomposition has been applied to only joint angles of the lower limb, joint moments related to the rotational motion of the joints have not yet been considered. In this paper, a novel quantitative analysis method concerning rotational motion of lower limb joints by using joint moments as well as joint angles aims to be proposed. Each parameter of the healthy subject and trans-femoral amputee is measured by using mobile force plate and attitude sensor, split-belt treadmill simultaneously and their motion patterns are analyzed by the proposed method. As a result of the experiments, patterns of each evaluation index are obtained as the remarkably different feature quantities between healthy subject and trans-femoral amputee especially pertaining to joint moments. Finally, the effectiveness of the quantitative analysis concerning human motion is validated.

Trans-femoral amputees are needed to regain moving pattern by refined rehabilitation program using load conditions on a prosthetic limb with the artificial knee joint. On the other hand, understanding loads applied on a prosthetic limb is important for biomechanical consideration of trans-femoral amputees. It is thought that inverse dynamics analysis is the most comprehensive method to obtain the joint reaction forces and the joint moments during gait for refining rehabilitation program of trans-femoral amputees. However, this method is highly constrained in respect to modeling of trans-femoral prosthesis and procedure of numerical computation. Alternatively, a multi-axis force/moment sensor can be used to directly measure loads applied on the middle part of trans-femoral prosthesis. In this paper, results of inverse dynamics analysis based on rigid link model and musculoskeletal model of human whole body by using motion capture system are compared with ones of direct measurement of lower thigh concerning trans-femoral prosthetic gait and comprehensive agreement is obtained. In addition, singular value decomposition extracted the pattern of operation with high correlation from joint force and joint moment also in the joint cooperation operation because quantitative evaluation technique of the various physical quantities during gait using principal component analysis has been proposed. Finally, the validity of inverse dynamics analysis and the effectiveness of the developed prosthetic gait training system to analyze comprehensive kinetic phenomena for trans-femoral prosthetic gait are validated. Especially, different specific loading pattern of downstairs walking will be useful to refine the rehabilitation protocol for trans-femoral amputees with a prosthetic limb.

In human gait locomotion analysis, which is one useful method for efficient physical rehabilitation to define various quantitative evaluation indices, ground reaction force, joint angle and joint loads are measured during gait. On the other hand, the analysis of the correlation in the recorded joint motion has extracted a few simultaneously activating segmental coordination patterns in a past study. Moreover, it is thought that the structure of the intersegmental coordination is attracting attention to an expected relationship with a control strategy. However, this procedure has not been applied to trans-femoral prosthetic gait locomotion yet. In this paper, joint angles as kinematic parameters applied on the lower limb of healthy subjects and trans-femoral amputee with a prosthetic limb during their gait locomotion are investigated by performing the experiments of gait measurement. Next, joint angles are analyzed by applying the evaluation method of intersegmental coordination pattern using singular value decomposition to data of joint angles as the experimental results and trajectories of center of gravity are obtained. Then, mutual comparative verification and quantitative evaluation of them as constitutive principle is performed. As a result of the experiments and consideration, the effectiveness of the method using singular value decomposition is validated because it can quantitatively express comprehensive physical phenomena for trans-femoral prosthetic gait. Obtained locomotion patterns may be useful for refining the rehabilitation program of trans-femoral amputee.