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Ankle Joint01:10

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The ankle is formed by the talocrural joint (crural = leg). It consists of the articulations between the talus bone of the foot and the distal ends of the tibia and fibula of the leg. The superior aspect of the talus bone is square-shaped and has three areas of articulation. The top of the talus articulates with the inferior tibia. This is the portion of the ankle joint that carries the body weight between the leg and foot. The sides of the talus are firmly held in position by the articulations...
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The tibia is the main weight-bearing bone of the lower leg. It is larger than the fibula with which it is paired. The tibia is also the second longest bone in the body and is located right below the skin. The proximal end of the tibia forms the medial and the lateral condyle, which articulates with the condyles of the femur to form the knee joint. Between the articulating surfaces is the irregular elevated area known as the intercondylar eminence that serves as the inferior attachment point for...
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The human leg comprises an intricate system of muscles that facilitate the movement of feet and toes. Within this system, the muscles are categorized into the anterior, lateral, and posterior compartments, each with a unique set of muscles carrying out specific functions.
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The femur is the body's longest and strongest bone spanning the thigh region. Its head articulates with the acetabulum of the hip bone to form the hip joint. A minor indentation on the medial side of the femoral head, called the fovea capitis, serves as the site of attachment for the ligament of the head of the femur. This weak ligament spans the femur and acetabulum and supports the hip joint. The narrowed region below the head is the neck of the femur. The inclination angle between the...
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Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
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Gait generation for powered Hip-Ankle-Linkage-Orthosis.

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    This study improved the Hip and Ankle Linked Orthosis (HALO) for paraplegic walking by adding a PI controller for ankle joint control. This resulted in improved walking patterns and reduced energy expenditure for users.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Technology
    • Biomechanics

    Background:

    • The Hip and Ankle Linked Orthosis (HALO) system was previously developed to aid paraplegic walking.
    • The original HALO system featured linked ankle joints to maintain foot-floor parallelism and assist leg swing.
    • Previous tests indicated smoother walking and ease of use with the HALO system.

    Purpose of the Study:

    • To enhance the energy efficiency of paraplegic walking using an improved orthotic system, termed pHALO.
    • To investigate the impact of controlled ankle joint angles during the push-off phase on walking mechanics.
    • To evaluate the effect of a feedback PI controller on the right ankle joint during walking.

    Main Methods:

    • An intermediate step towards the pHALO system was implemented by adding a feedback Proportional-Integral (PI) controller to the existing HALO system.
    • The PI controller was specifically designed to regulate the ankle joint angle of the right foot during the push-off phase.
    • Experiments were conducted to assess the effects of this modified system on walking patterns and energy consumption.

    Main Results:

    • The integration of the PI controller led to a longer stride length.
    • Gait speed was observed to increase with the modified HALO system.
    • A reduction in the variation of the Center of Gravity (CoG) and overall energy consumption was noted.

    Conclusions:

    • The addition of a feedback PI controller to the HALO system significantly improves walking efficiency in paraplegic individuals.
    • Controlled ankle joint movement, particularly in the push-off phase, contributes to enhanced gait parameters and reduced metabolic cost.
    • This approach represents a promising intermediate step towards the development of the advanced pHALO system for improved paraplegic ambulation.