In Vitro Analysis of Foot and Ankle Kinematics: Robotic Gait - - PowerPoint PPT Presentation

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In Vitro Analysis of Foot and Ankle Kinematics: Robotic Gait - - PowerPoint PPT Presentation

Apr 08, 2023 313 likes •507 views

In Vitro Analysis of Foot and Ankle Kinematics: Robotic Gait Simulation William R. Ledoux RR&D Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Departments of Mechanical Engineering and

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

In Vitro Analysis of Foot and Ankle Kinematics:

Robotic Gait Simulation

William R. Ledoux

RR&D Center of Excellence for Limb Loss Prevention and Prosthetic Engineering, VA Puget Sound Departments of Mechanical Engineering and Orthopaedics & Sports Medicine, University of Washington

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Retro-reflective markers

Numerous authors and groups Strengths: dynamic; link foot to rest of the body; capture hindfoot motion Weaknesses: number of markers; rigid body assumption; skin motion artifact

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

High speed video

Not typically published in research studies Strengths: high level of detail Weaknesses: qualitative

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

X-ray stereophotogrammetry

Lundberg A, et al., Foot and Ankle, 9, 1989 Strengths: very accurate and precise; multiple bones Weaknesses: invasive; static; exposure to radiation; cardinal plane motion

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Computer Tomography (CT)

Ledoux WR, et al., J Orthop Research, 24, 2006 Strengths: partially weight bearing; multiple bones; foot type Weaknesses: single static position; exposure to radiation; inertial based cs

pes cavus neutrally aligned pes planus

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Magnetic Resonance Imaging (MRI)

Fassbind MJ, et al., Journal of Biomechanical Engineering, 133, 2011 Siegler S, et al., Journal of Biomechanics, 38, 2005 Strengths: multiple scanning positions; multiple bones; no radiation Weaknesses: not dynamic; time consuming data collection

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Bone pins

Arndt A, et al., Journal of Biomechanics, 40, 2007 Strengths: dynamic; multiple bones; gold standard Weaknesses: invasive; not be used in routine clinical care

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Fluoroscopy systems

De Clercq D, et al., Journal of Biomechanics, 27, 1994 Strengths: dynamic; multiple bones Weaknesses: single plane; exposure to radiation

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Fluoroscopy systems

Yamaguchi S, et al., Foot and Ankle International, 30, 2009 Strengths: dynamic; multiple bones; 3D-2D model registration Weaknesses: slower frequency; hindfoot only; exposure to radiation; 3D-2D

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Fluoroscopy systems

Li G, et al., Journal of Biomechanics, 41, 2008 Caputo A, et al., American Journal of Sports Medicine, 37, 2009 Strengths: dynamic; multiple bones Weaknesses: portion of stance; no oblique images; exposure to radiation

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Summary of existing methods

  • Skin mounted markers, high speed

video, X-ray stereophotogrammetry, CT, MRI, bone pins, fluoroscopy

  • Rigid body assumptions, skin motion

artifact, static only, invasive and/or exposure to radiation, technology not fully developed

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Robotic Gait Simulator (RGS)

  • R2000 parallel robot
  • Force/pressure plate (C)
  • Cadaveric foot (D)
  • Tibia mounting frame (F)
  • Steel frame (A)
  • Tendon actuation (G)

– 9 brushless DC motors – Series load cells

  • 3D motion tracking system (H)

Basic idea: invert tibial kinematics, force plate relative to foot, keep rotations the same, and adjust translations (plate position) and tendon forces to match GRF

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Robotic Gait Simulator (RGS)

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

RGS v5

2010 fast dynamic cadaveric gait simulation (2.7s) R2000 Kistler force plate tendon actuators Vicon motion analysis fuzzy logic controller v2.0 40 marker kinematic foot model Aubin PM, et al., 2012, IEEE Trans on Robotics, RGS with FLC Whittaker EC, et al., 2011, Gait & Posture, Foot bone kinematics

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

RGS v5: GRF

3 learning cycles, 5.6% BW RMS tracking error

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

RGS v5: Tendon forces

RMS tracking error for extrinsic tendons ranged from 2.6N for FDL to 5.6N for TP mean value of 3.9N across all 18 final trials TA and Achilles were adjusted by controller

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

Anatomical coordinate systems constructed using two methods:

  • Direct placement on

bony landmarks

  • (6 bones):

tibia/fibula

  • calcaneus
  • first metatarsal
  • third metatarsal
  • fifth metatarsal
  • proximal phalanx

Arbitrary cluster placement with digitized bony landmarks (4 bones): talus navicular cuboid medial cuneiform

RGS v5: Ten-segment model

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VA RR&D Center for Limb Loss Prevention and Prosthetic Engineering

+Z axis: Lateral for right, Medial for left (sagittal plane) +X axis: Anterior (coronal) +Y axis: Superior (transverse)

x y z

Ten-segment foot model