Abstract
Let us come back to the prosthesis development chart (Fig. 1.19). We will begin with gait analysis in normal subjects and will use the model of ballistic synergy as a filter for selecting the key characteristics from the overwhelming amount of available data. We will consider the contribution of the lower limb segments to the generation of the body’s propulsion. From that analysis, we will derive recommendations for the prosthetic foot and knee that aim to better compensate for the anatomical segments lost in amputation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Design Simulation Technologies, Inc.Canton, MI 48187, USA.
References
Abe D, Yanagawa K, Niihata S (2004) Effects of load carriage, load position, and walking speed on energy cost of walking. Appl Ergon 35(4):329–335
Barr AE, Siegel KL, Danoff JV, McGarvey CL 3rd, Tomasko A, Sable I, Stanhope SJ (1992) Biomechanical comparison of the energy-storing capabilities of SACH and Carbon Copy II prosthetic feet during the stance phase of gait in a person with below-knee amputation. Phys Ther 72(5):344–354
Bernstein N (1967) The co-ordination and regulation of movements. Pergamon, Oxford
Boltyansky VG (1969) Mathematical methods of control. Moscow
Breakey J (1976) Gait of unilateral below-knee amputees. Orth Prosth 30(4):17–24
Cavagna GA (1970) Elastic bounce of the body. J Appl Physiol 29(3):279–282
Collins S, Ruina A, Tedrake R, Wisse M (2005) Efficient bipedal robots based on passive-dynamic walkers. Science 307(5712):1082–1085
Crenna P, Cuong DM, Breniere Y (2001) Motor programmes for the termination of gait in humans: organisation and velocity-dependent adaptation. J Physiol 537(Pt 3):1059–1072
Crenna P, Frigo C (1991) A motor programme for the initiation of forward-oriented movements in humans. J Physiol 437:635–653
Czerniecki JM (1996) Rehabilitation in limb deficiency. 1. Gait and motion analysis. Arch Phys Med Rehabil 77(3 Suppl):S3–S8
Dankowicz H, Adolfsson J, Nordmark A (2001) Repetitive gait of passive bipedal mechanisms in a three-dimensional environment. J Biomech Eng 123(1):40–46
Detrembleur C, Vanmarsenille JM, De Cuyper F, Dierick F (2005) Relationship between energy cost, gait speed, vertical displacement of centre of body mass and efficiency of pendulum-like mechanism in unilateral amputee gait. Gait Posture 21(3):333–340
Dierick F, Penta M, Renaut D, Detrembleur C (2004) A force measuring treadmill in clinical gait analysis. Gait Posture 20(3):299–303
Dillingham TR, Lehmann JF, Price R (1992) Effect of lower limb on body propulsion. Arch Phys Med Rehabil 73(7):647–651
Dreeben O (2006) Introduction to physical therapy for physical therapist assistants. Jones and Bartlett, Sudbury
Elftman H (1939) Forces and energy changes in the leg during walking. Am J Physiol 125(2):339–356
Fitzpatrick RC, Taylor JL, McCloskey DI (1992) Ankle stiffness of standing humans in response to imperceptible perturbation: reflex and task-dependent components. J Physiol 454:533–547
Gage J (1990) An overview of normal walking. Instructional course lectures, American Academy of Orthopaedic Surgeons 39:291–303
Goswami A, Espiau B, Keramane A (1996) Limit cycles and their stability in a passive bipedal gait. IEEE Int Conf Robot Autom 1:246–251
Han TR, Chung SG, Shin HI (2003) Gait patterns of transtibial amputee patients walking indoors barefoot. Am J Phys Med Rehabil 82(2):96–100
Hermodsson Y, Ekdahl C, Persson BM, Roxendal G (1994) Standing balance in trans-tibial amputees following vascular disease or trauma: a comparative study with healthy subjects. Prosthet Orthot Int 18(3):150–158
Hof AL, Geelen BA, Van den Berg J (1983) Calf muscle moment, work and efficiency in level walking; role of series elasticity. J Biomech 16(7):523–537
Horn RA, Johnson CR (1985) Matrix Algebra. Cambridge University, Cambridge, UK
Kadaba MP, Ramakrishnan HK, Wootten ME, Gainey J, Gorton G, Cochran GV (1989) Repeatability of kinematic, kinetic, and electromyographic data in normal adult gait. J Orthop Res 7(6):849–860
Kepple TM, Siegel KL, Holdena JP, Stanhope SJ (1997) Relative contributions of the lower extremity joint moments to forward progression and support during gait. Gait Posture 6(1):1–8
Kirtley C (2005) Clinical gait analysis : theory and practice. Elsevier, Edinburgh
Laaksonen MS, Kyrolainen H, Kalliokoski KK, Nuutila P, Knuuti J (2006) The association between muscle EMG and perfusion in knee extensor muscles. Clin Physiol Funct Imaging 26(2):99–105
Lehmann JF, Price R, Boswell-Bessette S, Dralle A, Questad K (1993) Comprehensive analysis of dynamic elastic response feet: seattle ankle/lite foot versus SACH foot. Arch Phys Med Rehabil 74(8):853–861
Loram ID, Lakie M (2002) Direct measurement of human ankle stiffness during quiet standing: the intrinsic mechanical stiffness is insufficient for stability. J Physiol 545(Pt 3):1041–1053
Mann RA, Moran GT, Dougherty SE (1986) Comparative electromyography of the lower extremity in jogging, running, and sprinting. Am J Sports Med 14(6):501–510
May DR, Davis B (1974) Gait and the lower-limb amputee. Physiotherapy 60(6):166–171
McCronville J, Churchill T, Kaleps I, Clauser C, Cuzzi J (1980) Anthropometric relationships of body and body segments moments of inertia. Anthropology Research Project, Yellow Springs, OH
McGeer T (1990) Passive dynamic walking. Int J Robot Res 9(2):62–82
Meinders M, Gitter A, Czerniecki JM (1998) The role of ankle plantar flexor muscle work during walking. Scand J Rehabil Med 30(1):39–46
Miura H, Shimoyama I (1984) Dynamic walk of a biped. Int J Robot Res 3(2):60–74
Mochon S, McMahon T (1979) Ballistic walking. An improved model. Math Biosci 52:241–260
Murray MP, Guten GN, Sepic SB, Gardner GM, Baldwin JM (1978) Function of the triceps surae during gait. Compensatory mechanisms for unilateral loss. J Bone Joint Surg Am 60(4):473–476
Oberg T, Karsznia A, Oberg K (1993) Basic gait parameters: reference data for normal subjects, 10–79 years of age. J Rehabil Res Dev 30(2):210–223
Pedotti A, Crenna P, Deat A, Frigo C, Massion J (1989) Postural synergies in axial movements: short and long-term adaptation. Exp Brain Res 74(1):3–10
Perry J (1992) Gait Analysis: normal and pathological function. Slack, Thorofare, NJ
Pitkin M (1970) Mathematical modeling of one-leg balance. St. Petersburg University, St. Petersburg, Russia, p 35
Pitkin M (1975) Kinematic and dynamic analysis of human gait (Rus). Proceedings of the first all-union conference in biomechanics. RNIITO, Riga, Latvia, pp 279–283
Pitkin M (1975b) Mechanics of the mobility of the human foot. Mech Solids 10(6):31–36
Pitkin M (1975) Model of the foot with osseomorphic connection of its elements. Prostheses and Prosthetics. Moscow 35, pp 83–89
Pitkin M (1977) Human foot as a propulsor in gait. Prostheses and Prosthetics. Moscow 42, pp 34–39
Pitkin M (1984) Simulation of a foot contribution in ballistic knee extension. Prostheses and Prosthetics. Moscow 70, pp 98–102
Pitkin M (1994) Artificial foot and ankle. Patent No. 5,376,139. Washington, D.C.: U.S. Patent and Trademark Office
Pitkin M (1995) Artificial knee having dual flexion action during locomotion. U.S. Patent No. 5,405,408. Washington, D.C.: U.S. Patent and Trademark Office
Pitkin M (1995b) Mechanical outcome of a rolling joint prosthetic foot, and its performance in dorsiflexion phase of the trans-tibial amputee gait. J Prosthet Orthot 7(4):114–123
Pitkin M (1997a) Characteristics of Prosthetic Gait Synergy and their dependence on parameters of prosthetic joints. XXXII International Congress of Physiological Sciences. St. Petersburg, Russia
Pitkin M (1997b) Effects of design variants in lower limb prostheses on gait synergy. J Prosthet Orthot 9(3):113–122
Pitkin M (1997) Pain preventive gait synergy hypothesis in leg amputees. Proceedings of XVIth Congress of the ISB. Tokyo, Japan
Pitkin M (2006) Biomechanics of the joints’ moments in design of the lower limb prostheses. Bull Russian Guild Prosthet Orthot 11(1(23)):27–33
Pitkin M (2006) Propulsion function of the foot as a component of ballistic synergy of gait. Bull Russian Guild Prosthet Orthot 11(3–4/25–26):38–43
Pitkin M (2009) Regular and intentional generation of propulsion in normal gait as prototype for prosthetic design. IEEE Eurocon 2009 International Conference. St. Petersburg, Russia, pp 18–23
Pitkin M, Colvin J, Hayes J (1999) Gait analysis of twenty unilateral transtibial amputees. Report NIH/NIAMS/NCMRR Grant 3R44AR4 3290-03. Mt. Sterling, OH, Ohio Willow Wood Co
Pitkin MR (1996) Synthesis of a cycloidal mechanism of the prosthetic ankle. Prosthet Orthot Int 20(3):159–171
Rab GT (1994) Muscle. Human walking. Williams and Wilkins, Baltimore, MD
Riley PO, Della Croce U, Kerrigan DC (2001) Propulsive adaptation to changing gait speed. J Biomech 34(2):197–202
Rose J, Gamble JG (eds) (1994) Human walking. Williams and Wilkins, Baltimore, MD
Rosenberg RM (1991) Analytical dynamics of discrete systems. Plenum, New York
Rossi SA, Doyle W, Skinner HB (1995) Gait initiation of persons with below-knee amputation: the characterization and comparison of force profiles. J Rehabil Res Dev 32(2):120–127
Saunders JB, Inman VT, Eberhart HD (1953) The major determinants in normal and pathological gait. J Bone Joint Surg Am 35-A(3):543–558
Scott SH, Winter DA (1991) Talocrural and talocalcaneal joint kinematics and kinetics during the stance phase of walking. J Biomech 24(8):743–752
Sienko-Thomas S, Buckon CE, Helper D, Turner N, Moor M, Krajbich JI (2000) Comparison of the seattle lite foot and genesis II prosthetic foot during walking and running. J Prosthet Orthot 12(1):9–14
Sinkjaer T, Toft E, Andreassen S, Hornemann BC (1988) Muscle stiffness in human ankle dorsiflexors: intrinsic and reflex components. J Neurophysiol 60(3):1110–1121
Skinner HB, Effeney DJ (1985) Gait analysis in amputees. Am J Phys Med 64(2):82–89
Smidt GL (1990) Gait in rehabilitation. Churchill Livingstone, New York
Sontag ED (1998) Mathematical control theory: deterministic finite dimensional systems, 2nd edn. Springer, New York
Sutherland DH (1966) An electromyographic study of the plantar flexors of the ankle in normal walking on the level. J Bone Joint Surg Am 48(1):66–71
Sutherland DH, Cooper L, Daniel D (1980a) The role of the ankle plantar flexors in normal walking. J Bone Joint Surg Am 62(3):354–363
Sutherland DH, Olshen R, Cooper L, Woo SL (1980b) The development of mature gait. J Bone Joint Surg Am 62(3):336–353
Torburn L, Perry J, Ayyappa E, Shanfield SL (1990) Below-knee amputee gait with dynamic elastic response prosthetic feet: a pilot study. J Rehabil Res Dev 27(4):369–384
Tseng SC, Liu W, Finley M, McQuade K (2006) Muscle activation profiles about the knee during Tai-Chi stepping movement compared to the normal gait step. J Electromyogr Kinesiol 17(3):372–380
Van Velzen JM, Houdijk H, Polomski W, Van Bennekom CA (2005) Usability of gait analysis in the alignment of trans-tibial prostheses: a clinical study. Prosthet Orthot Int 29(3):255–267
Velikson V, Pitkin M, Mendelevich I (1973) Problem of Joint Moments Simulation. Biophysica, Academy of Sciences of the USSR. Moscow 18, pp 122–125
Weber WE, Weber E (1991) Mechanics of the human walking apparatus. Springer, Berlin [translation from 1836 edition of Die Mechanik Der Menschlichen Gerverzeuge]
Winter DA (1979) Biomechanics of human movement. John Willey and Sons, New York
Winter DA (1983) Energy generation and absorption at the ankle and knee during fast, natural, and slow cadence. Clin Orthop Relat Res (175):147–154
Winter DA, Sienko SE (1988) Biomechanics of below-knee amputee gait. J Biomech 21(5):361–367
Yamaguchi J, Kinoshita N, Takanishi A, Kato I (1996) Development of a dynamic biped walking system for humanoid – development of a bipedwalking robot adapting to the humans’ living floor. IEEE International Conference on Robotics and Automation. pp 232–239
Богданов ВА, Гурфинкель ВС (1976) Биомеханика локомоций человека. – В кн.: Физиология движений. Л., Наука
Морейнис, И. Ш., Г. П. Гриценко, С. Г. Левит (1971) Биомеханический анализ ходьбы в норме и на протезах. Протезирование и протезостроение, сб. трудов, вып. ХХVI, М., ЦНИИПП: 7–16
Питкин МР (1975) Модель стопы с остеоморфным соединением элементов. Протезирование и протезостроение, сб. трудов вып. 35, М., ЦНИИПП: 83–89
Питкин МР (1977) Стопа человека как движитель при ходьбе. Протезирование и протезостроение, сб. трудов вып. 42, М., ЦНИИПП: 34–39
Питкин МР (1980) Математическое моделирование ходьбы. Клиническая биомеханика // Под ред. В.И. Филатова. – Л.: Медицина: 74–82
Питкин МР (1985) Кинематические и динамические характеристики ходьбы в зависимости от фрикционных свойств опорной поверхности. Протезирование и протезостроение, сб. трудов вып. 73, М., ЦНИИПП: 98–102
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Pitkin, M.R. (2010). Theory of Ballistic Gait in Prosthetics. In: Biomechanics of Lower Limb Prosthetics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03016-1_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-03016-1_3
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03015-4
Online ISBN: 978-3-642-03016-1
eBook Packages: MedicineMedicine (R0)