Identification of Gait-Cycle Phases for Prosthesis Control
Abstract
:1. Introduction
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- The vertical force has two peaks of about 120% of the body weight (BW) that occur approximately at the end of the initial double-support period (i.e., 10% of gait-cycle completion (Figure 1)) and earlier than the beginning of the terminal double-support period (i.e., 45–50% of gait-cycle completion (Figure 1)) with a minimum of about 80% BW in the middle (i.e., 30% of gait-cycle completion (Figure 1));
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- The anterior–posterior shear has two peaks with opposite signs of about 20% BW, which approximately occur when the vertical force has two peaks and vanish in the middle of the stance phase (i.e., 30% of gait-cycle completion (Figure 1));
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- The medial–lateral shear is much smaller than the other two components. It has no sharp peaks, and it is comprised in the range [−5, +5]%BW
2. Materials and Methods
2.1. Detection of Gait-Cycle Events
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- A first flexion of the knee starts at the IC event (1st event), which is easily identified by the transition of the GRF vertical component from zero to a positive value, increases with the GRF increase and reaches its maximum a bit earlier than the 1st peak of the GRF vertical component (2nd event). This is because the knee flexion somehow compensates for the shock of the sudden appearance of a non-null GRF and gives a smooth transition from the swing phase to the stance phase.
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- The first knee flexion is followed by a complete knee extension that has its middle configuration at the minimum of the GRF vertical component (3rd event) and approximately terminates when the GRF vertical component reaches its 2nd GRF peak (4th event), which is at the beginning of the second double-support period.
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- A second knee flexion then starts, which accompanies the decrease of the GRF vertical component until the TO event (5th event), easily identified by the transition of the GRF vertical component from a positive value to zero, and continues during the swing phase until the reaching of a maximum flexion angle that occurs nearly at the middle of the swing phase (6th event).
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- The second knee flexion is followed by a second knee extension that terminates at the next IC event (1st event of the next cycle).
2.2. Detection of the Longitudinal Slope
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- In uphill walking, the GRF vertical component still has two peaks, but the 2nd peak is higher than the 1st, and the difference increases with the slope, whereas the knee-flexion angle still has two flexions and two extensions, but the knee flexion at the IC increases with the slope;
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- In downhill walking, the GRF vertical component still has two peaks, but the 1st peak is higher than the 2nd, and the difference increases with the slope, whereas the knee-flexion angle keeps the same IC value, but all the intermediate values are amplified with an amplification factor that increases with the slope;
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- Both in uphill and in downhill walking the minimum value between the two peaks does not change appreciably.
2.3. Effects of Cadence
- (i)
- The “normal” walking cadence of the patient is determined as the one at which the two GRF peaks are about equal;
- (ii)
- The reference peak difference ΔF0, the maximum knee-flexion angle, etc. at each cadence are determined (e.g., through a regression on a finite number of measures on the patient);
- (iii)
- The parameter ΔF that appears in Table 2 for identifying a possible slope is redefined as follows
2.4. Control Algorithm
3. Results
4. Discussion
5. Conclusions
Supplementary Materials
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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1 | According to ([19], p. 632), the reference data for “normal” walking are 1.37 m/s for the walking speed, 1.87 steps/s (110 steps/min) of step rate (cadence), and 0.72 m of step length. |
2 | The first between the IC event and the 1st peak occurrence, the second between the 1st peak occurrence and the central minimum, the third between the central minimum and the 2nd peak occurrence, and the fourth between the 2nd peak occurrence and the next IC event. |
3 | The numbers separated by the hyphens indicate the degrees of the polynomials that compose the spline. |
4 | The first between the IC event and the 1st peak occurrence, the second between the 1st peak occurrence and the central minimum, the third between the central minimum and the 2nd peak occurrence, and the fourth between the 2nd peak occurrence and the TO event. |
Detected Condition (t = Time Instant) | Event (Number/Name) | Gait-Cycle Percentage (%) |
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GRF(t − dt) = 0 & GRF(t) > 0 | 1/IC | 0 |
GRF (t − dt) < GRF(t) > GRF(t + dt) | 2/1st GRF peak | 15 |
GRF(t − dt) > GRF(t) < GRF(t + dt) | 3/heel rise | 32 |
GRF(t − dt) < GRF(t) > GRF(t + dt) | 4/2nd GRF peak | 47 |
GRF(t) > 0 & GRF(t + dt) = 0 | 5/TO | 64 |
Limit Switch Reached | 6/max knee flexion | 78 |
Detected Condition (i = Cycle Index) | Event (Number) | Slope Variation (Sign) |
---|---|---|
ΔFi > ΔFi+1 | 7 | Negative |
ΔFi+1 > ΔFi | 8 | Positive |
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Di Gregorio, R.; Vocenas, L. Identification of Gait-Cycle Phases for Prosthesis Control. Biomimetics 2021, 6, 22. https://doi.org/10.3390/biomimetics6020022
Di Gregorio R, Vocenas L. Identification of Gait-Cycle Phases for Prosthesis Control. Biomimetics. 2021; 6(2):22. https://doi.org/10.3390/biomimetics6020022
Chicago/Turabian StyleDi Gregorio, Raffaele, and Lucas Vocenas. 2021. "Identification of Gait-Cycle Phases for Prosthesis Control" Biomimetics 6, no. 2: 22. https://doi.org/10.3390/biomimetics6020022