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A novel powered ankle–foot prosthesis is designed. The effect of wearing the novel prosthesis and an energy-storage-and-return (ESAR) foot on lower-limb biomechanics is investigated to preliminarily evaluate the design. With necessary auxiliary materials, a non-amputated subject (a rookie at using prostheses) is recruited to walk on level ground with an ESAR and the novel powered prostheses separately. The results of the stride characteristics, the ground reaction force (GRF) components, kinematics, and kinetics in the sagittal plane are compared. Wearing the powered prosthesis has less prolongation of the gait cycle on the unaffected side than wearing the ESAR foot. Wearing ESAR or proposed powered prostheses influences the GRF, kinematics, and kinetics on the affected and unaffected sides to some extent. Thereinto, the knee moment on the affected side is influenced most. Regarding normal walking as the reference, among the total of 15 indexes, the influences of wearing the proposed powered prosthesis on six indexes on the affected side (ankle's/knee's/hip's angles, hip's moment, and Z- and X-axis GRF components) and five indexes on the unaffected side (ankle's/knee's/hip's angles and ankle's/hip's moments) are slighter than those of wearing the ESAR foot. The influences of wearing the powered prosthesis on two indexes on the unaffected side (knee's moment and X-axis GRF component) are similar to those of wearing the ESAR foot. The greatest improvement of wearing the powered prosthesis is to provide further plantarflexion after reaching the origin of the ankle joint before toe-off, which means that the designed powered device can provide further propulsive power for the lifting of the human body's centre of gravity during walking on level ground. The results demonstrate that wearing the novel powered ankle–foot prosthesis benefits the rookie in recovering the normal gait more than wearing the ESAR foot. [ABSTRACT FROM AUTHOR]

3D printing is the most suitable method to manufacture the frame parts of powered ankle-foot prostheses but the compressive strength of the 3D-printed part needs to be ensured. According to the compression test standard ASTM D695, the effect of infill pattern and density, which is transferred to the mass of the standard specimen, on the compressive strength is investigated with a carbon fiber-reinforced nylon material. With the same infill pattern, specimens with more mass have a higher compressive strength. With the same mass, specimens with triangular fill have a higher compressive strength than those with rectangular and gyroid fills. Compared with specimens with a solid fill, specimens with a triangular fill can also provide more compressive strength in a unit mass. According to the results of standard specimens, following the requirement of strength and lightweight, 41% triangular fill is selected to manufacture the supporting part of a powered ankle-foot prosthesis. Under a compressive load of 1225 N, the strain of the assembly of the standard adaptor and the 3D-printed part is 1.32 ± 0.04%, which can meet the requirement of the design. This study can provide evidence for other 3D-printed applications with the requirement of compressive strength. [ABSTRACT FROM AUTHOR]

Service is assumed important in table tennis because an effective service may allow the serving player to control over the game; hence, the aim of this study was to determine the contribution of arm segment rotations towards ball impact during forehand service. Sixteen shake-hand grip collegiate table tennis athletes had participated in the study. It was revealed that by increasing the radial deviation angular velocity will increase the ball and racket velocities during drop shot service. Furthermore, it was revealed that increasing the wrist palmar flexion and radial deviation will enhance the racket velocity at impact during long shot service. However, it was recommended to the players not to concern on racket speed and arm segment rotations during contact phase as it could not accelerate the ball at impact during long shot service. Although it was the same forehand service, different length of flight ball lead to different contributions of arm segment rotations towards ball impact. The present findings highlight several better postures to increase racket and ball speed at impact during forehand long shot and drop shot services among advanced and intermediate players. Other ranked players may find this study useful as a fundamental understanding on kinematics serving arm. [ABSTRACT FROM AUTHOR]

A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of high reduction ratio and efficiency, the harmonic drive cannot be back-driven. Therefore, the harmonic drive is not an optimal solution for prosthetic systems with direct and indirect contact with the environment. In this paper, we outline an initial design of robotic knee prosthesis. The proposed robotic knee prosthesis consists of BLDC motor, cycloidal gear with reduction ratio 13:1, four-bar mechanism, and timing belt transmission with 4:1 reduction ratio. To optimize the torque transmission and range of motion (RoM), a multiobjective optimization problem must be undertaken. The end-effector motion depends on each bar length in the four-bar mechanism. The four-bar mechanism was optimized using particle swarm optimization (PSO). To complete the optimization, a set of 50 steps was collected using wearable sensors. Then, the data of sagittal plan were processed to identify the target profile for PSO. The prototype's computer-aided manufacturing (CAM) was completed using a MarkTwo 3D printer with carbon fiber composite. The overall design can achieve a maximum torque of 84 N.m. However, the current design lacks the elastic component (no spring is added on the actuator output), which is necessary for a functional prosthesis; this limitation will be addressed in future study. [ABSTRACT FROM AUTHOR]

Many studies have shown that medical compression products produce different levels of interface pressure during the usage of the products. However, limited studies have explored the pattern of interface pressure exerted by orthotic garments. This case study aimed to investigate the pattern of interface pressure exerted by two types of orthotic garments on a child with cerebral palsy. A 13-year-old child diagnosed with ataxic spastic diplegia cerebral palsy has difficulty to perform sit-to-stand motion even with a walking frame due to his truncal ataxia. A TheraTogsTM orthosis and a Dynamic Lycra® Fabric Orthosis (DLFO) were prepared for the child. The child's sit-to-stand ability without and with the usage of orthoses was recorded using five sit-to-stand tests. The garments' interface pressure was measured using F-scan (9811E) and F-scan 6.5.1 version software. The pressure was recorded when the child was in sitting position and performing sit-to-stand-to-sit motion. Overall, the child completed the five sit-to-stand test duration within 2.53 ± 0.04 s and 2.51 ± 0.09 s with the usage of TheraTogsTM orthosis and DLFO, respectively. Higher pressure was exerted by Dynamic Lycra Fabric Orthosis (axillary = 122 mmHg) in contrast to TheraTogsTM orthosis (77 mmHg) when the child was in a sitting position. Lower pressure was exerted by DLFO (7 mmHg), over xiphoid level and for TheraTogsTM orthosis is 1.2 mmHg over axillary level when the child was performing sit-to-stand motion. The largest range of pressure was exerted by TheraTogsTM orthosis with a minimum pressure of 5 mmHg and a maximum pressure of 155 mmHg during sit-to-stand motion. Overall, the DLFO exerted higher mean interface pressure on the child in comparison to TheraTogsTM orthosis when the child's body was in a sitting position wearing both upper garment and pants. Both TheraTogsTM orthosis and DLFO presented a different range of interface pressure over different body segments and activities. [ABSTRACT FROM AUTHOR]

Gait detection is crucial especially in active prosthetic leg control mechanism. Vision system, floor sensors, and wearable sensors are the popular methods proposed to collect data for gait detection. However, in active prosthetic leg control, a tool that is practical in its implementation and is able to provide rich gait information is important for effective manipulation of the prosthetic leg. This paper aims to ascertain the feasibility of the piezoelectric-based in-socket sensory system that is hypothesized to be practical in implementation and provide sufficient information as a wearable gait detection tool for transfemoral prosthetic users. Fifteen sensors were instrumented to the anterior and posterior internal wall of a quadrilateral socket. One transfemoral amputee subject donned the instrumented socket and performed two walking routines; single stride and continuous walking. The sensors’ responses from both routines were analyzed with respect to the gait phases. The results suggested that the sensors output signal corresponds to the force components behavior of the stump while performing gait. All sensors were seen active during the first double support period (DS1). The anterior sensors were prominent during the initial swing (Sw), while posterior sensors were active during terminal Sw. These findings correspond with the muscle activity during the respective phases. Besides, the sensors also show significant pattern during single support and the second double support (DS2) phase. Thus, it can be deduced that the proposed sensory system is feasible to be used as a gait phase identification tool. [ABSTRACT FROM AUTHOR]

This paper presents a fiber Bragg grating (FBG)-instrumented prosthetic silicone liner that provides cushioning for the residual limb and can successfully measure interface pressures inside prosthetic sockets of lower-limb amputees in a simple and practical means of sensing. The liner is made of two silicone layers between which 12 FBG sensors were embedded at locations of clinical interest. The sensors were then calibrated using a custom calibration platform that mimics a real-life situation. Afterward, a custom gait simulating machine was built to test the liner performance during an amputee's simulated gait. To validate the findings, the results were compared to those obtained by the commonly used F-socket mats. As the statistical findings reveal, both pressure mapping methods measured the interface pressure in a consistent way, with no significant difference (P-values ≥ 0.05). This pressure mapping technique in the form of a prosthetic liner will allow prosthetics professionals to quickly and accurately create an overall picture of the interface pressure distribution inside sockets in research and clinical settings, thereby improving the socket fit and amputee's satisfaction. [ABSTRACT FROM AUTHOR]

Since humidity sensors have been widely used in many sectors, a suitable humidity sensing material with improved sensitivity, faster response and recovery times, better stability and low hysteresis is necessary to be developed. Here, we fabricate a uniformly porous humidity sensor using Ca, Ti substituted Mg ferrites with chemical formula of CaMgFe1.33Ti3O12 as humidity sensing materials by solid-sate step-sintering technique. This synthesis technique is useful to control the grain size with increased porosity to enhance the hydrophilic characteristics of the CaMgFe1.33Ti3O12 nanoceramic based sintered electro-ceramic nanocomposites. The highest porosity, lowest density and excellent surface-hydrophilicity properties were obtained at 1050 °C sintered ceramic. The performance of this impedance type humidity sensor was evaluated by electrical characterizations using alternating current (AC) in the 33%-95% relative humidity (RH) range at 25 °C. Compared with existing conventional resistive humidity sensors, the present sintered electro-ceramic nanocomposite based humidity sensor showed faster response time (20 s) and recovery time (40 s). This newly developed sensor showed extremely high sensitivity (%S) and small hysteresis of <3.4%. Long-term stability of the sensor had been determined by testing for 30 consecutive days. Therefore, the high performance sensing behavior of the present electro-ceramic nanocomposites would be suitable for a potential use in advanced humidity sensors. [ABSTRACT FROM AUTHOR]

This paper presents the design and evaluation of an in-socket sensory system for a transfemoral prosthetic leg using a set of piezoelectric sensors. The design process includes identifying the optimal mounting configuration of the sensors and determining their best placement. Two experiments were performed separately to address each objective. Results of the experiment suggested that cushion-all with fit size cantilever with elastic foundation should be adopted to mount the sensors on the socket's wall. As for the placement of the sensors, the result suggested that the sensors should be positioned in zig-zag orientation from top to bottom, which can cover all of the most active area on the quadriceps and hamstring muscle groups. With the identified design, the socket was fabricated and instrumented for a transfemoral amputee and the performance of the in-socket sensory system was evaluated. The amputee performed level walking at normal speed on a 5-m straight pathway multiple times while the output voltage signal from each sensor was recorded. The output signals consistency was assessed by calculating the cross correlation, r , within five trials. In order to measure the strength of the correlation matrix of each sensor, the Frobenius norm, \vert \vert A\vert \vert F was calculated. The high norm value for all sensors pattern (\vert \vert A\vert \vert F > 4.5) for quadriceps implies that the mounting and placement of the sensors is most suitable for a consistent and reliable signal. For Hamstring, results inferred that except for the two sensors located on the top most position and the most bottom sensor, the other sensors showed good performance (\vert \vert A\vert \vert F > 4.4 ). Thus, the proposed design of the in-socket sensory system using piezo sensors was proven to be effective for a transfemoral prosthetic leg. [ABSTRACT FROM PUBLISHER]

Armalcolite, a rare ceramic mineral and normally found in the lunar earth, was synthesized by solid-state step-sintering. The in situ phase-changed novel ceramic nanocrystals of Ca-Mg-Ti-Fe based oxide (CMTFOx), their chemical reactions and bonding with polydimethylsiloxane (PDMS) were determined by X-ray diffraction, infrared spectroscopy, and microscopy. Water absorption of all the CMTFOx was high. The lower dielectric loss tangent value (0.155 at 1 MHz) was obtained for the ceramic sintered at 1050 °C (S1050) and it became lowest for the S1050/PDMS nanocomposite (0.002 at 1 MHz) film, which was made by spin coating at 3000 rpm. The excellent flexibility (static modulus ≈ 0.27 MPa and elongation > 90%), viscoelastic property (tanδ = E"/E': 0.225) and glass transition temperature (Tg: ―58.5 °C) were obtained for S1050/PDMS film. Parallel-plate capacitive and flexible resistive humidity sensors have been developed successfully. The best sensing performance of the present S1050 (3000%) and its flexible S1050/PDMS composite film (306%) based humidity sensors was found to be at 100 Hz, better than conventional materials. [ABSTRACT FROM AUTHOR]

One of the major challenges in developing powered lower limb prostheses is emulating the behavior of an intact lower limb with different walking speeds over diverse terrains. Numerous studies have been conducted on control algorithms in the field of rehabilitation robotics to achieve this overarching goal. Recent studies on powered prostheses have frequently used a hierarchical control scheme consisting of three control levels. Most control structures have at least one element of discrete transition properties that requires numerous sensors to improve classification accuracy, consequently increasing computational load and costs. In this study, we proposed a user-independent and free-mode method for eliminating the need to switch among different controllers. We constructed a database by using four OPAL wearable devices (Mobility Lab, APDM Inc., USA) for seven able-bodied subjects. We recorded the gait of each subject at three ambulation speeds during ground-level walking to train a nonlinear autoregressive network with an exogenous input recurrent neural network (NARX RNN) to estimate foot orientation (angular position) in the sagittal plane using shank angular velocity as external input. The trained NARX RNN estimated the foot orientation of all the subjects at different walking speeds over flat terrain with an average root-mean-square error (RMSE) of 2.1° ± 1.7°. The minimum correlation between the estimated and measured values was 86%. Moreover, a t-test showed that the error was normally distributed with a high certainty level (0.88 minimum p -value).

A transfemoral prosthesis is required to assist amputees to perform the activity of daily living (ADL). The passive prosthesis has some drawbacks such as utilization of high metabolic energy. In contrast, the active prosthesis consumes less metabolic energy and offers better performance. However, the recent active prosthesis uses surface electromyography as its sensory system which has weak signals with microvolt-level intensity and requires a lot of computation to extract features. This paper focuses on recognizing different phases of sitting and standing of a transfemoral amputee using in-socket piezoelectric-based sensors. 15 piezoelectric film sensors were embedded in the inner socket wall adjacent to the most active regions of the agonist and antagonist knee extensor and flexor muscles, i. e. region with the highest level of muscle contractions of the quadriceps and hamstring. A male transfemoral amputee wore the instrumented socket and was instructed to perform several sitting and standing phases using an armless chair. Data was collected from the 15 embedded sensors and went through signal conditioning circuits. The overlapping analysis window technique was used to segment the data using different window lengths. Fifteen time-domain and frequency-domain features were extracted and new feature sets were obtained based on the feature performance. Eight of the common pattern recognition multiclass classifiers were evaluated and compared. Regression analysis was used to investigate the impact of the number of features and the window lengths on the classifiers' accuracies, and Analysis of Variance (ANOVA) was used to test significant differences in the classifiers' performances. The classification accuracy was calculated using k-fold cross-validation method, and 20% of the data set was held out for testing the optimal classifier. The results showed that the feature set (FS-5) consisting of the root mean square (RMS) and the number of peaks (NP) achieved the highest classification accuracy in five classifiers. Support vector machine (SVM) with cubic kernel proved to be the optimal classifier, and it achieved a classification accuracy of 98.33 % using the test data set. Obtaining high classification accuracy using only two time-domain features would significantly reduce the processing time of controlling a prosthesis and eliminate substantial delay. The proposed in-socket sensors used to detect sit-to-stand and stand-to-sit movements could be further integrated with an active knee joint actuation system to produce powered assistance during energy-demanding activities such as sit-to-stand and stair climbing. In future, the system could also be used to accurately predict the intended movement based on their residual limb's muscle and mechanical behaviour as detected by the in-socket sensory system.

Since humidity sensors have been widely used in many sectors, a suitable humidity sensing material with improved sensitivity, faster response and recovery times, better stability and low hysteresis is necessary to be developed. Here, we fabricate a uniformly porous humidity sensor using Ca, Ti substituted Mg ferrites with chemical formula of CaMgFe 1.33 Ti₃O 12 as humidity sensing materials by solid-sate step-sintering technique. This synthesis technique is useful to control the grain size with increased porosity to enhance the hydrophilic characteristics of the CaMgFe 1.33 Ti₃O 12 nanoceramic based sintered electro-ceramic nanocomposites. The highest porosity, lowest density and excellent surface-hydrophilicity properties were obtained at 1050 °C sintered ceramic. The performance of this impedance type humidity sensor was evaluated by electrical characterizations using alternating current (AC) in the 33%-95% relative humidity (RH) range at 25 °C. Compared with existing conventional resistive humidity sensors, the present sintered electro-ceramic nanocomposite based humidity sensor showed faster response time (20 s) and recovery time (40 s). This newly developed sensor showed extremely high sensitivity (%S) and small hysteresis of <3.4%. Long-term stability of the sensor had been determined by testing for 30 consecutive days. Therefore, the high performance sensing behavior of the present electro-ceramic nanocomposites would be suitable for a potential use in advanced humidity sensors., Competing Interests: The authors declare no conflict of interest.