This thesis deals with the current state of development of active lower limb prostheses and focuses mainly on own design of active prostheses. The introduction deals with the anatomy of lower limb and briefly describes the walk cycle. In other chapters are summarized amputation techniques in the lower limb, followed by a description of the allocation of prostheses according to the level of amputation, which were described in earlier chapters. The thesis also deals with the division of prostheses according to the patient's activity level and briefly describes the structural differences in these individual cases. Chapter describing the actual development in the field of active prostheses initiates part dealing with the detailed description of the part of the prosthesis. The following chapters deal with the design and implementation of a prototype of active transfemoral prosthesis. The penultimate chapter deals with the software description of all parts of the prosthesis. This chapter is followed by an evaluation of the achieved results.

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This bachelor's thesis was a collaboration with Lindhe Xtend AB and covered up to find asubstitute material for the prosthetic socket. It was a concept of design on how to evenlydistribute force/pressure around the residual limb on the socket. The project employed amethodical material selection process using Granta EduPack, which involved translatingrequirements, screening, ranking materials, and deepening the investigation through simulationand physical testing. Polylactic Acid (PLA) infused with 30% mineral content emerged as themost suitable material due to its mechanical properties, cost-efficiency, and lowerenvironmental impact. Finite Element Analysis (FEA) and compression tests confirmed thematerial's strength, durability, and comfort under various loads. The results demonstrated thatthe PLA-based material is suitable for practical prosthetic applications. Additionally, the projecthighlighted the benefits of 3D printing technology in improving the accessibility andsustainability of prosthetic devices.

Although dynamic prosthetic alignment is an important process for the rehabilitation of transtibial amputees, such alignment technique is subjective and inconsistent. Using biomechanical variables and questionnaire assessments, this study compared an instrument-assisted dynamic alignment technique using the Compas™ system and conventional alignment techniques on nine adults with unilateral transtibial amputation. A focus group discussion was conducted with six prosthetists to understand clinical practice of dynamic alignment and their perception of the Compas™ system. Results found that Compas™ produced more anterior weight line displacement and greater varus moment on the prosthesis than conventional alignment techniques. Alignment changes did not affect pelvic acceleration, and the instrument-assisted alignment technique produced certain biomechanical changes but not necessarily better alignments. Although the current version of the Compas™ system is not clinically feasible, it can be used as a teaching/justification tool. Further investigation with larger sample size and ankle alignment or moment measures is needed.

Although dynamic prosthetic alignment is an important process for the rehabilitation of transtibial amputees, such alignment technique is subjective and inconsistent. Using biomechanical variables and questionnaire assessments, this study compared an instrument-assisted dynamic alignment technique using the Compas™ system and conventional alignment techniques on nine adults with unilateral transtibial amputation. A focus group discussion was conducted with six prosthetists to understand clinical practice of dynamic alignment and their perception of the Compas™ system. Results found that Compas™ produced more anterior weight line displacement and greater varus moment on the prosthesis than conventional alignment techniques. Alignment changes did not affect pelvic acceleration, and the instrument-assisted alignment technique produced certain biomechanical changes but not necessarily better alignments. Although the current version of the Compas™ system is not clinically feasible, it can be used as a teaching/justification tool. Further investigation with larger sample size and ankle alignment or moment measures is needed.

L’objectif de ce travail de thèse est de caractériser, chez les amputés unilatéraux du membre inférieur, les modalités posturales qui interviennent dans la régulation de l’équilibre orthostatique et d’étudier l’impact de l’amputation sur la production de force à la cheville physiologique. Une première étude a révélé la présence de trois modalités posturales afin de réguler le contrôle postural : les amputés transfémoraux adoptent une modalité posturale basée sur les paramètres de stabilité, les amputés transtibiaux optent pour une modalité posturale mixte et les non amputés se réfèrent aux paramètres de l’attitude posturale. Etant donné que l’articulation de la cheville joue un rôle essentiel dans la régulation de l’équilibre postural, il était alors pertinent d’investiguer la production de force à la cheville physiologique. Toutefois, les ergomètres permettant d’étudier l’articulation de la cheville présentent des biais de mesure majeurs. Dans ce cadre, une deuxième étude a été menée afin de développer et valider un nouvel ergomètre pour cheville : le B.O.T.T.E. Parallèlement, la mise en place d’une méthode de mesure basée sur le retour visuel permettant une quantification fiable du couple de force a fait l’objet d’une troisième étude. Ensuite, une quatrième étude visait à utiliser le B.O.T.T.E. pour investiguer l’impact de l’amputation sur la production de force à la cheville physiologique. Les résultats de cette étude confirment la présence d’un déficit au niveau du couple de force généré en flexion plantaire (conditions maximale et sous maximale) chez les amputés transfémoraux. Enfin, ce travail de thèse vise à aider les rééducateurs et les cliniciens à optimiser la prise en charge des patients amputés. / This Ph.D. thesis aims to evaluate the standing posture modalities and the ankle joint torque in the intact limb in unilateral lower limb amputees. A first study shows the presence of three posture modalities: the non-amputee group relied on standing erect, the transfemoral amputees’ stance depended on balance control and the transtibial amputees exhibited a mixed modality of simultaneously maintaining an upright stance and standing balance. Since the ankle muscles have a functional importance in standing posture modalities, it is imperative to investigate the ankle joint torque in the intact limb. However, the current devices used to assess the ankle joint present substantial limitations for the measurement. Thus, a second study was designed to develop and to validate a new ankle ergometer B.O.T.T.E. Moreover, a third study was achieved in order to estimate the effect of visual feedback on enhancing isometric maximal voluntary contractions. A fourth study was realized to investigate the ankle joint torque in the intact leg of unilateral lower limb amputees. The results show that transfemoral amputees produce less torque and are less steady compared to transtibial amputees and able-bodied individuals. Overall, the present findings of this Ph.D. thesis could have implications for clinical practice and for rehabilitation of patients with a lower limb amputation.