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Updated: Jan 21, 2026

Lower-Limb Biomechanical Characteristics Associated with Unplanned Gait Termination Under Different Walking Speeds
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Dynamic optimization of Gait with a Generalized Lower-Limb Prosthesis Model.

Mark A Price, Brian R Umberger, Frank C Sup

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 4, 2019
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    This study introduces a new gait simulation model for transtibial prosthesis design, optimizing dynamics without joint constraints. The novel approach reduces muscle effort and residual limb loading compared to traditional models.

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    Area of Science:

    • Biomechanics
    • Robotics
    • Prosthetics

    Background:

    • Predictive gait simulation is crucial for designing lower limb prostheses.
    • Current models are often limited to existing prosthesis designs.
    • Optimizing prosthesis dynamics can improve user mobility and comfort.

    Purpose of the Study:

    • To develop a novel modeling approach for optimizing prosthesis dynamics in gait simulations.
    • To enable prosthesis design beyond the constraints of specific joint mechanisms.
    • To investigate the trade-offs between muscle effort and residual limb loading.

    Main Methods:

    • Modeled a transtibial prosthesis as resultant forces and moments with 3-DOF planar motion.
    • Integrated the model into a human musculoskeletal model.
    • Performed dynamic optimizations to minimize muscle effort and socket loading.

    Main Results:

    • The proposed model reduced muscle effort and socket loading compared to a revolute joint prosthesis model.
    • Optimal prosthesis dynamics showed large linear displacements, aiding plantarflexion and reducing interface loading.
    • Varied emphasis on muscle effort versus limb loading influenced optimal prosthesis dynamics.

    Conclusions:

    • The developed approach can aid in designing non-biomimetic prostheses.
    • Further experimental validation is needed to confirm modeling assumptions.
    • Increased fidelity in predictive simulation is essential for advancing prosthesis design.