The focus of this paper is on the development of a modular AFO (Ankle Foot Orthosis) subsystem for the greater L.A.R.R.E (Legged Anthropomorphic Robotic Rehab Exoskeleton) Exoskeleton. The main role of the AFO device is in the role of medical rehabilitation, by providing passively-powered dorsiexion support to the user's ankle in order to prevent foot drop. It is able to accomplish this role through the use of a torsional spring attached to the ankle joint. Additionally, the AFO must also be able to provide sensory-feedback to the greater L.A.R.R.E system in order to help control walking gait. It can detect the orientation of the ankle through the use of both a potentiometer and IMU attached at the ankle joint, and it can detect which part of the foot is in contact with the ground through a specially-designed tactile sensor embedded within the sole of the AFO. This sensor consists of Force-Sensing Resistor sensors encased within a polyurethane rubber mold to provide protection from wear and tear as well as provide a rough surface to keep the device from slipping. The development of this "Sole-Sensor" was fairly extensive, with multiple iterations of the sensor being developed over the course of the project. It was found that Sole-Sensor works best when the resin geometry is shaped in such a way that it concentrates all forces applied on it directly above the FSRs. The development of a working Sole-Sensor subsystem allowed a proper test of the Right-foot AFO system within a VICON Motion-Capture room to test Foot-position detection and Center-of-Pressure point tracking. Translating the AFO CoP point into the VICON Lab's "World Frame" and comparing it to the independently calculated Force-Plate CoP point shows a maximum position displacement of +/- 3cm along the AFO's X-axis and +/- 5cm along the Y-axis.

Walking is the most common form of mobility in humans. For lower limb mobility impairments, a common treatment is to prescribe an ankle-foot orthosis (AFO) or brace, which is a passive device designed to resist undesired ankle-foot motion. Recent advances in actuator technology have led to the development of active AFOs (AAFOs). However, these devices are generally too bulky for everyday use and are limited to applications such as gait training for rehabilitation. The aim of this research was to investigate the feasibility of developing a novel Active Ankle-Foot Stabilizer (AAFS). The design criteria were mainly based on the strengths and limitations of existing AFOs. The sagittal plane functional requirements were determined using simulated gait data for elderly individuals and drop foot patients; however, it is intended that the device would be suitable for a wider range of disabilities including ankle sprains. A model of the foot was introduced to modify the moment of a deficient ankle where young healthy adult kinematics and kinetics were assumed. A moment deficit analysis was performed for different gait periods resulting in an AAFS model with two components: a linear rotational spring to modify the ankle joint rotational stiffness, and a torque source. The frontal plane functional requirements for the AAFS were modeled as a linear rotational spring which responded to particular gait events. A novel Variable Rotational Stiffness Actuator (VSRA) AFO was also investigated. It consisted of an actuated spring medial and lateral to the ankle to control sagittal plane ankle stiffness and a passive leafspring posterior to the ankle to control frontal plane ankle stiffness. Due to high forces and profile limitations, a spring and rotation actuator that satisfied the design criteria could not be developed, resulting in an infeasible design. Considering the high forces and moments required by the AAFS, a pneumatic approach was adopted. A novel Airbeam AFO, which consisted of a shank cuff and a foot plate to which airbeams were attached proximally and distally to the ankle, was examined. The joint rotational stiffness of the ankle would be controlled by the inflation of these individual cylindrical airbeams. To satisfy the functional requirements, the airbeam diameters and pressures were too large to meet the design criteria and were unrealistic for a portable device. Finally, a Pneumatic Sock AFO, which proved to best satisfy the functional requirements within the design criteria, was examined. The design consisted of an inner sock worn on the ankle, surrounded by anterior, posterior, medial, and lateral bladders which inflate against outer fabric shells. Although promising, the Pneumatic Sock AFO requires further investigation in regards to manufacturing and behaviour characterization before a functional prototype can be developed. Mechanical test methods to characterize the behaviour of the Pneumatic Sock AFO in the sagittal and frontal planes were developed including the control components required, the configuration of a test rig, and test procedures.

Background: Diabetic peripheral neuropathy (DPN) is diagnosed clinically as a loss of sensation in the feet and affects over 2 million people in the UK. One of the functional effects of DPN is a decrease in standing stability giving rise to a risk of falls. In an attempt to stabilise in the mediolateral direction, people with DPN frequently walk with a wider base of support and stand with a larger stance width. This is often seen in the elderly and is not always beneficial for stability contributing to falls risk. Standing balance requires the integration of sensory information from somatosensory, vestibular and visual systems. Alterations in distal sensory input may result in a re-weighting of the effectiveness of remaining sensations in mediating a stabilising postural response; termed sensory re-weighting. Alterations in posture such as adopting a wider stance width and wearing Ankle Foot Orthoses (AFOs) may also affect sensory input as well as altering the mechanics of the ankle and hip joints. The impact of distal sensory loss on the sensory control of balance in people with DPN compared to the healthy population is unknown. Moreover, it is not known whether standing balance or the sensory control of balance is affected by the adoption of an increased stance width and wearing (AFOs) that restrict mediolateral ankle motion. A better understanding of the mechanisms underlying balance dysfunction in diabetic peripheral neuropathy and how it might be manipulated could inform the development of future interventions to improve balance. Aim: To explore the effects of ankle foot orthoses and stance width on standing balance and the sensory control of mediolateral balance in people with DPN and healthy controls. Objectives: To assess how mediolateral postural stability and the sensory control of balance is affected by (a) AFO use and alterations in stance width in healthy participants (study 1) (b) acute distal sensory loss in healthy participants (study 2) (c) chronic sensory loss in people with DPN and how this in turn is modulated by AFO use and alterations in stance width (study 3). Methods: Postural stability and the response to selective muscle vibration that stimulates muscle spindle afferents was measured by 3D motion analysis. Study 1 investigated the effects of stance width and AFOs on postural sway and the response to selective hip proprioception stimulation induced by vibration of the hip abductors in healthy participants. Study 2 investigated the effect of an acute reduction of somatosensory information induced by cooling in healthy participants on the response to ankle evertor and hip abductor vibration. This provided a model of the acute effects of sensory loss. Study 3 compared healthy people with people with chronic DPN. It investigated the impact on stance stability and whether there was a change in the postural response (gain) to ankle evertor and hip abductor vibration. It further explored the effect of altering the stance width and wearing an AFO on stability and the postural response to hip abductor vibration. Results: Study 1: In healthy controls postural sway was significantly reduced when wearing an ankle foot orthoses and when standing at wider stance widths. Whilst this was also seen during balance perturbation, trunk motion increased at larger stance widths. This could be the result of the AFO restricting ankle motion and affecting the interpretation of the hip vibratory input by the postural control system. Study 2: Experimental reduction in distal sensation by cooling resulted in a reduction in postural responses to ankle evertor muscle vibration. Conversely postural responses at the level of the hip, to proximal (hip) muscle vibration, significantly increased. Study 3: Baseline sway velocity was higher in people with DPN compared to healthy controls. Postural strategies were modified in the DPN group, with increased motion at more proximal segments of the shoulder and head. In both groups, AFO and stance width significantly reduced baseline sway velocity, and the size of postural responses (translations) to hip abductor muscle vibration. Conclusion: Alterations in stance width and the use of AFOs can affect postural sway and the response to selective proprioceptive stimulation. Whilst acute reductions in distal sensory loss are associated with sensory re-weighting of distal and proximal proprioceptive information this is not seen in people with chronic DPN, possibly resulting from long term adaptive changes in the multi-sensory control of balance. Novel differences were found in postural strategies between healthy and DPN groups. The increase in head and trunk motion in people with DPN may have a negative impact on visual acuity and therefore a risk factor for falls. In people with diabetic peripheral neuropathy AFOs and increased stance width led to a reduction in postural response size and postural sway. The effect of AFO on sway velocity was more pronounced in those with DPN at smaller stance widths. Clinically this suggests that an AFO could be used in those with diabetic peripheral neuropathy to slow down the velocity of sway and increase stability.

Ankle foot orthosis (AFO) stiffness affects ankle range of motion but can also provide energy storage and return to improve mobility. To perform multiple activities during the day, a person may want to change their AFO stiffness to meet their activity’s demand. Carrying multiple AFO and changing the AFO is inconvenient and could discourage users from engaging in multiple activities. This thesis developed a new quick-release mechanism (QRM) that allows users to easily change posterior strut elements to change AFO stiffness. The QRM attaches to the AFO and requires no tools to operate. The new QRM includes a quick-release key, weight-bearing pin, receptacle anchor, and immobilization pin. A prototype was modelled with SolidWorks and simulated with SolidWorks Simulation. The QRM was designed to have no mechanical failure during intense activities such as downhill walking and running. Unlike a solid screw connection, the QRM needed an additional part to eliminate unsecured motion related to clearance between the quick release key and receptacle anchor. Mechanical test results and measurement data demonstrated no deformation on each part after mechanical testing. User testing revealed that, although the quick release mechanism can be locked or unlocked rapidly, the person’s posture when operating can facilitate strut swapping. A learning effect occurred by repeated practice. The Quick Release AFO (QRAFO) prototype verified the manufacturing feasibility of the QRAFO design. Overall, the novel quick release AFO improved strut swapping time without sacrificing device strength.

Ankle foot orthoses (AFOs) are used to improve walking in some lower extremity conditions but AFOs restrict ankle motion resulting in a trade-off in ankle and hip mechanics. While the use of AFOs have been well documented, there still remain gaps in the literature. The first study compared the differences in sagittal plane ankle and hip kinematics and kinetics across three conditions at two speeds in healthy individuals while the second study compared frontal plane kinetics at the hip and knee and vertical ground reaction forces between two conditions at two speeds in healthy individuals. This was studied by collecting and analyzing three-dimensional joint kinematics and ground reaction forces from twelve healthy adults. Participants walked in three conditions (shod; i.e. athletic shoes only and two reduced push-off conditions using solid ankle foot orthoses (SAFOs); i.e. unilateral brace and bilateral brace conditions) and at two speeds (1.25m/s and 1.5m/s). In the first study, generalized linear models with general estimating equations were used to compare ankle and hip angles, moments and power for the braced and unbraced sides separately in all three conditions. In the second study, frontal plane kinetics and vertical ground reaction forces in the unbraced limb in the unilateral brace condition were compared to the same side during shod walking using paired sample t-tests. From our first study we found that the reduced push-off from the use of SAFOs results in decreased peak plantarflexion angles and power generation at the ankle and increased peak flexion angles, and first and second peak power generation at the hip in the braced limbs in both unilateral (p≤0.05) and bilateral (p≤0.05) brace conditions at both speeds. On the unbraced side in the unilateral brace condition, there were decreased peak power generation at the ankle at 1.25m/s and increased peak extension moments, first and second peak power generation at the hip compared to the shod condition (p<0.05) at both speeds. In the comparison between the unilateral and bilateral brace conditions, the changes in ankle and hip mechanics were similar to the changes between the shod condition and the bilateral brace condition on the unbraced side; in addition, participants also had higher peak extension moments in the unilateral brace condition compared to the bilateral brace condition (p<0.05). On the braced side, participants had lower peak plantarflexion moments at the ankle and lower peak flexion angles at the hip when walking with bilateral SAFOs, compared to walking with unilateral SAFOs (p<0.05). In the second study, we found that peak internal knee and hip abduction moments were 3% and 4% higher, respectively, in the unbraced limb in the unilateral brace condition at 1.25m/s (p≤0.041) compared to the same side in the shod condition. Peak vertical ground reaction force was 3% higher in the unbraced limb in the unilateral brace condition at both speeds (p=0.002). Findings indicate that walking with unilateral ankle foot orthoses presents an increased risk of developing secondary conditions.

No description available.

Background: This study, the first of its kind, originated with the need for a brace (an ankle foot orthosis), to constrain ankle plantarflexion and dorsiflexion within a motion threshold of <5°. A conventional thermoplastic, solid brace failed during a quasi-static loading study, informing the investigation and development of an experimental carbon composite brace, maximizing stiffness and proximity of shank and foot cylindrical shells to provide the required degree of control. Methods: Two experiments were conducted: a quasi-static loading study, using cadaveric limbs (n = 2), and a gait study with healthy subjects (n = 14). Conditions tested were STOP, FREE, and CONTROL. Data for all studies were collected using six motion-capture cameras (Vicon, Oxford, UK; 120 Hz) tracking bone-anchored markers (cadaveric limbs) and skin-anchored markers (subjects). In the quasi-static loading study, loading conditions were congruent with the gait study. Study 1 involved a quasi-static loading analysis using cadaveric limbs, compared motion data from a conventional thermoplastic solid brace and the experimental brace. Study 2 involved quantifying ankle plantarflexion and dorsiflexion in subjects during treadmill walking, in brace STOP, FREE, and CONTROL conditions. Findings: The experimental brace in STOP condition consistently constrained ankle plantarflexion and dorsiflexion below the motion threshold of <5°, across all studies. Interpretation: Collectively, these findings demonstrate (1) that a conventional thermoplastic, solid brace was ineffective for clinical applications that required significant motion control, and (2) that ankle motion control is most effective when considered as a relationship between the brace, the ankle-foot complex, and the external forces that affect them both.

Children with cerebral palsy (CP) have a higher than normal O2 uptake (VO2) during walking. While various interventions are used to improve locomotion, little is known about their effect on the metabolic and cardiopulmonary cost of walking. We therefore assessed the effects of one popular intervention, hinged ankle foot orthoses (AFO), on cardiopulmonary and metabolic variables during 2 min of steady state treadmill walking at three speeds: 3 kph, comfortable walking speed (CWS) and fast walking speed (FWS). We also assessed the effect of these braces on comfortable and maximum ground walking speed and on gross motor abilities using the Gross Motor Function Measure. Ten children with spastic diplegic CP (9.01 years ± 2.10) who habitually used hinged AFO participated. Not all children could walk at all speeds on the treadmill however, and some cardiopulmonary and metabolic data on three children were missing due to equipment failure. We performed an ANOVA on data for children who walked at 3 kph and CWS (n=8 for heart rate (HR); n=9 for pulmonary ventilation and metabolic variables) and a t-test on data at FWS (n=9 for HR, n=8 for pulmonary ventilation and metabolic variables). When children wore AFO, absolute VO2 was reduced by 4.6% at 3 kph and by 4.1% at FWS, and absolute VO2 per metre walked by 4.6% and 4.4% at the same speeds, respectively. Adjusting VO2 for body mass, or for resting VO2 or calculating energy expenditure in kJ, revealed the same pattern. Pulmonary ventilation was lower with AFO on by 7.17%, but only at 3 kph. AFO did not affect gross motor abilities. Nor did it affect HR, or the respiratory exchange ratio at any speed, nor any physiologic variable at CWS. We suggest the lower O2 cost may reflect an increase in stability and a corresponding decrease in coactivation of lower limb antagonistic muscles. / Thesis / Master of Science (MSc)

Individuals with stroke often demonstrate impaired ankle-foot function, commonly termed dropped foot that affects their ability to walk safely at home and within their community. While interventions are available to improve gait function, they have inconsistency demonstrated positive effects due to the lack of evidence-based practice guidelines and a limited understanding of the mechanisms leading to dropped foot. The aim of this dissertation was to 1) determine the relationship between dropped foot gait deviations and impaired sensorimotor control, 2) compare gait biomechanics between stroke survivors with and without dropped foot impairment, and 3) evaluate the immediate effects of an ankle-foot orthotic (AFO) and functional electrical stimulation (FES) device among stroke survivors with dropped foot impairment. Our evaluation combined standardized clinical measures of ankle-foot function (i.e. sensorimotor control, strength, spasticity and range of motion) and gait analysis using advanced laboratory techniques (i.e. electromyography and electrical goniometers) to quantify mechanisms of dropped foot impairment. Fifty-five stroke survivors completed the assessment prior to discharge from inpatient rehabilitation. Individuals with poor generation of isometric dorsiflexor force and reduced passive ankle range of motion were likely to demonstrate greater plantarflexion in swing and limited stance phase ankle joint excursion, respectively. Results from the gait analysis revealed a delayed onset and reduced activation time of the ankle dorsiflexors, and decreased co-activation time in the stance phase as possible mechanisms leading to dropped foot. A detailed case series was performed with four stroke survivors with dropped foot currently using an AFO. Application of an AFO immediately improved peak dorsiflexion in the swing phase and limited ankle range of motion during stance. When walking with the FES device, individuals with moderate dorsiflexor muscle weakness improved their ankle position at initial contact and increased peak dorsiflexion during stance, while no significant changes were observed among individuals with greater impairment. Overall, the results highlighted individual differences in response to interventions aimed at improving dropped foot gait deviations. These findings contribute to a greater understanding of gait dysfunction post stroke, and may lead to the development of a more effective clinical assessment and intervention strategies to improve dropped foot impairment.

The aim of this thesis was to determine the biomechanical adaptations made by active unilateral trans-tibial amputees when they used a prosthesis incorporating a hydraulically-damped, articulating ankle-foot device compared to non-hydraulically attached devices. Kinematic and kinetic data were recorded while participants ambulated over a flat and level surface at their customary walking speeds and at speeds they perceived to be faster and slower using the hydraulic device and their habitual foot. Use of the hydraulic device resulted in increases in self-selected walking speeds with a simultaneous reduction in intact-limb work per meter travelled. Use of the device also attenuated inappropriate fluctuations in the centre-of-pressure trajectory beneath the prosthetic foot and facilitated increased residual-knee loading-response flexion and prosthetic-limb load bearing during stance. These changes occurred despite the hydraulic device absorbing more, and returning less, energy than the participants’ habitual ankle-foot devices. The changes were present across all walking speeds but were greatest at customary walking speeds. The findings suggest that a hydraulic ankle-foot device has mechanical benefits, during overground gait, for active unilateral trans-tibial amputees compared to other attachment methods. The findings also highlight that prosthetic ankle-foot device ‘performance’ can be evaluated using surrogate measures and without modelling an ‘ankle joint’ on the prosthetic limb.