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To solve the problem of limited tactile sensing in humanoid robotics as well as provide for future planned mechanical prostheses, an innovative tactile sensor system was created and embedded into two realistic-looking artificial skin gloves. These artificial skin tactile sensors used small piezoelectric ceramic disks to measure applied force at multiple points on each glove. The gloves were created using silicone rubber to simulate both the texture and look of human skin, while maintaining both flexibility and durability. The sensor outputs were buffered by high-impedance voltage-following operational amplifiers, and then read sequentially using a multiplexing scheme by a microcontroller. Sensor data were sent via USB to a computer, where a graphical user display was created to show the tactile information in real time. These prototypes successfully demonstrated the viability of small piezoelectric elements embedded in silicone rubber for use in creating flexible and elastic tactile sensors.

Yes / Background: Individuals with lower-limb amputation can use running specific prostheses (RSP) that store and then return elastic energy during stance. However, it is unclear whether varying the stiffness category of the same RSP affects spring-mass behaviour during self-selected, submaximal speed running in individuals with unilateral transtibial amputation. Research question: The current study investigates how varying RSP stiffness affects limb stiffness, running performance, and associated joint kinetics in individuals with a unilateral transtibial amputation. Methods: Kinematic and ground reaction force data were collected from eight males with unilateral transtibial amputation who ran at self-selected submaximal speeds along a 15 m runway in three RSP stiffness conditions; recommended habitual stiffness (HAB) and, following 10-minutes of familiarisation, stiffness categories above (+1) and below (-1) the HAB. Stance-phase centre of mass velocity, contact time, limb stiffness’ and joint/RSP work were computed for each limb across RSP stiffness conditions. Results: With increased RSP stiffness, prosthetic limb stiffness increased, whilst intact limb stiffness decreased slightly (p

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Background: Lower limb amputees face many challenges, and most of them prefer to use prosthetics for daily tasks and activities. The prosthesis is usually a combination of connected prosthetic components, and their spatial orientation is called the prosthetic alignment. Proper alignment is essential, as it substantially affects the quality and comfort of a prosthesis.   Objective: The aim of this study was to create a method that could accurately and effectively quantify the alignment of a transtibial and transfemoral prostheses using Vicon optical motion capture system.   Methods: Two experimental series were conducted. The first one was to test the repeatability of the measurement. Three analysts placed retroreflective markers on the prostheses three times, and five measurements were recorded each time. Alignment parameters were calculated in Vicon ProCalc for each measurement, and a standard error of measurement was found for each alignment parameter. The standard error of measurement was calculated from three variance components, between-analyst, within-analyst, and between-trial variability. The second experimental series was conducted to understand the relationship between alignment adjustments and the outcome parameters. The socket height, internal rotation, flexion, adduction, and translation were modified and measured. The socket translation was calculated in three coordinate systems to study how they affect the outcome.   Results: For the first experimental series, the standard error of measurement for every alignment parameter was below 3° and 6 mm. The between-analyst variability was the most prominent, and the parameters calculated in the sagittal plane were more reliable than those calculated in the frontal and transverse plane. In the second experimental series, there was a linear relationship between the modifications and the measured outcome. When a connection between two prosthetic components was changed by turning the screws one round, the average change in angle between them was 2°, and the average translation change was 4.4 mm. Of the three coordinate systems, the translation calculated in ankle coordinates was more reliable than in global coordinates and describe the translation more effectively than in socket coordinates.   Conclusion: The reliability of the measurements was considered good. The standard error of measurement was low, and the main variability resulted from differences in marker placement between the analysts. The results from the measured alignment changes were as expected. All the parameters could be effectively interpreted, and the ankle coordinates were considered advantageous in describing the socket translation.

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Relative motion between residual limb and prosthetic socket is an indication of poor fit. Both the fabrication and fitting processes are highly subjective and a favorable result depends upon the technician's expertise. Although numerous methods exist to measure the relative motion, all have limitations and are not well suited for clinical use. A measurement system using optical sensors has been proposed by students at the Technische Universität Darmstadt and evaluations of a functional model have yielded promising results. In this thesis, the existing functional model is improved and expanded to use an array of sensors. A new microcontroller is selected and incorporated into the system. The software and data communication are optimized for fast, reliable performance and the system is then evaluated on a test rig to determine favorable calibration settings and quantify performance. System frequencies up to 1299 Hz are achieved. It is found that the surface microstructure has a dominant effect over short measurement distances; calibrations performed over longer distances are to be preferred. For the chosen calibration factors, the greatest relative errors over a 40 mm distance are found to be 0.90% ± 0.51% in the X direction and -4.76% ± 1.61% in the Y-direction. A systematic drift is also identified. The final system accommodates up to eight sensors and is controlled from a feature-rich MATLAB GUI. / Master of Science / In lower limb prosthetics, the amount of relative motion between the prosthesis and residual limb is considered an indicator of the quality of fit. As existing methods for measuring this motion are generally difficult to use, a simpler system is desired. The task for this master's thesis is to develop an existing functional model into a measurement system with multiple sensors and validate its performance. The first step is to upgrade the microcontroller responsible for reading the sensor data and transmitting it to the PC. The original codes for both the microcontroller and PC-side Graphical User Interface (GUI) are then examined and optimized for maximum speed. The system is expanded to accommodate multiple sensors and its performance evaluated using a test-rig. Finally, the completed system is prepared for use in a future study by creating the appropriate component housings, wiring, and software functionalities.

Yes / Background Disruptions to the progress of the centre-of-pressure trajectory beneath prosthetic feet have been reported previously. These disruptions reflect how body weight is transferred over the prosthetic limb and are governed by the compliance of the prosthetic foot device and its ability to simulate ankle function. This study investigated whether using an articulating hydraulic ankle attachment attenuates centre-of-pressure trajectory fluctuations under the prosthetic foot compared to a fixed attachment. Methods Twenty active unilateral trans-tibial amputees completed walking trials at their freely-selected, comfortable walking speed using both their habitual foot with either a rigid or elastic articulating attachment and a foot with a hydraulic ankle attachment. Centre-of-pressure displacement and velocity fluctuations beneath the prosthetic foot, prosthetic shank angular velocity during stance, and walking speed were compared between foot conditions. Findings Use of the hydraulic device eliminated or reduced the magnitude of posteriorly directed centre-of-pressure displacements, reduced centre-of-pressure velocity variability across single-support, increased mean forward angular velocity of the shank during early stance, and increased freely chosen comfortable walking speed (P ≤ 0.002). Interpretation The attenuation of centre-of-pressure trajectory fluctuations when using the hydraulic device indicated bodyweight was transferred onto the prosthetic limb in a smoother, less faltering manner which allowed the centre of mass to translate more quickly over the foot.

No / The ability to successfully negotiate stairs and steps is an important factor for functional independence. While work has been undertaken to understand the biomechanics of gait in lower-limb amputees, little is known about how amputees negotiate stairs and steps. This study aimed to determine the mechanics of landing in unilateral lower-limb amputees when stepping down to a new level. A secondary aim was to assess the effects of using a shank-mounted shock-absorbing device (Tele-Torsion Pylon) on the mechanics of landing. Methods Ten unilateral amputees (five transfemoral and five transtibial) and eight able-bodied controls performed single steps down to a new level (73 and 219 mm). Trials were repeated in amputees with the Tele-Torsion Pylon active and inactive. The mechanics of landing were evaluated by analysing peak limb longitudinal force, maximal limb shortening, lower extremity stiffness, and knee joint angular displacement during the initial contact period, and limb and ankle angle at the instant of ground-contact. Data were collected using a Vicon 3D motion analysis system and two force platforms. Findings Amputees landed on a straightened and near vertical limb. This limb position was maintained in transfemoral amputees, whereas in transtibial amputees knee flexion occurred. As a result lower extremity stiffness was significantly greater in transfemoral amputees compared to transtibial amputees and able-bodied controls (P < 0.001). The Tele-Torsion Pylon had little effect on the mechanics of landing in transtibial amputees, but brought about a reduction in lower extremity stiffness in transfemoral amputees (P < 0.05). Interpretation Amputees used a stepping strategy that ensured the direction of the ground reaction force vector was kept anterior of the knee joint centre. Using a Tele-Torsion Pylon may improve the mechanics of landing during downward stepping in transfemoral amputees.

O objetivo deste estudo foi analisar a força de retenção de dois cimentos resinosos utilizados na técnica de cimentação passiva para implantes osseointegráveis, Panavia F e RelyX U100, avaliando essa propriedade na sua aplicação em espécimes de três tipos de diferentes metais, NiCr (Verabond 2, Aalba Dental), NiCrTi (Tilite Ômega, Talladium) e Titânio (Ti c.p., grau 2, Realum), submetidos ou não à termociclagem. Noventa e seis cilindros calcináveis (Conexão Sistemas de Próteses) foram encerados de forma padronizada, fundidos (32 cilindros em cada tipo de liga) e cimentados sobre cilindros de titânio (Conexão Sistemas de Próteses). Os corpos-de-prova foram distribuídos em 12 grupos (n = 8) de acordo com o tipo de liga, cimento e ciclagem térmica. Todos os espécimes foram submetidos a imersão em água destilada a 37º C por 24 horas, entretanto apenas metade deles a um ensaio de termociclagem em uma máquina de simulação de ciclos térmicos MSCT-3 por 5000 ciclos durante 30 dias. Todos os corpos-de-prova foram submetidos a ensaios de tração em uma máquina de ensaios mecânicos EMIC-DL2000 (velocidade = 5mm / min e célula de carga = 500 Kgf ). A análise estatística evidenciou resistência de união à tração do cimento RelyX U100 superior ao cimento Panavia F, independente do tipo de metal utilizado, com médias de até 71,18 Kgf e 55,08 Kgf respectivamente. O ensaio de termociclagem não exibiu interferência na resistência de união de ambos cimentos. / The aim of this study was to analyze the bond strength of two resin cements used in the passive cementation technique for osseointegrated implants, Panavia F and RelyX U100, evaluating this property on its application in specimens of three different metal types, NiCr (Verabond 2, Dental Aalba), NiCrTi (Tilite Omega, Talladium) and Titanium (Ti c.p., degree 2, Realum), submitted or not to termocycling assay. Ninety six calcined cylinders (Conexão Sistemas de Próteses) had been waxed of standardized form, casted (32 in each type of league) and cemented on titanium cylinders (Conexão Sistemas de Próteses). The specimens were distributed enter 12 groups (n = 8) in accordance with the type of metal, cement and thermocycling. All specimens were submitted to an immersion in distilled water at 37ºC for 24 hours, however only half of them to a termocycling assay in a simulation thermal cycles machine MSCT-3 for 5000 cycles during 30 days. All specimens were submitted to a tensile test in a mechanical test machine EMIC-DL2000 (speed = 5mm/min and cell load = 500Kgf). The statistics analysis evidenced tensile strength of the RelyX U100 cement greater than Panavia F cement independent of the metal league type used with averages until 71,18 Kgf and 55,08 Kgf respectively. The termocycling assay did not show interference in the tensile strength of both cements.