The effects of alignment of an articulated ankle-foot orthosis on lower limb joint kinematics and kinetics during gait in individuals post-stroke

Advances on mechanical designs for assistive ankle-foot orthoses

Assistive ankle-foot orthoses (AAFOs) are powerful solutions to assist or rehabilitate gait on humans. Existing AAFO technologies include passive, quasi-passive, and active principles to provide assistance to the users, and their mechanical configuration and control depend on the eventual support they aim for within the gait pattern. In this research we analyze the state-of-the-art of AAFO and classify the different approaches into clusters, describing their basis and working principles. Additionally, we reviewed the purpose and experimental validation of the devices, providing the reader with a better view of the technology readiness level. Finally, the reviewed designs, limitations, and future steps in the field are summarized and discussed.

Orthoses for neurological ankles

Patients with weakness or abnormal posture of their lower leg may benefit greatly from appropriate orthoses. This paper describes the sorts of problems that can be helped in neurological practice and the range of devices commonly used, and also highlights some of the factors influencing selection. With greater understanding of their use, clinicians will feel more confident about referring patients for early orthotic assessment.

Effects of Back-Support Exoskeleton Use on Lower Limb Joint Kinematics and Kinetics During Level Walking

We assessed the effects of using a passive back-support exoskeleton (BSE) on lower limb joint kinematics and kinetics during level walking. Twenty young, healthy participants completed level walking trials while wearing a BSE (backX^TM) with three different levels of hip-extension support torque (i.e., no torque, low, and high) and in a control condition (no-BSE). When hip extension torques were required for gait-initial 0-10% and final 75-100% of the gait cycle-the BSE with high supportive torque provided ~ 10 Nm of external hip extension torque at each hip, resulting in beneficial changes in participants' gait patterns. Specifically, there was a ~ 10% reduction in muscle-generated hip extension torque and ~ 15-20% reduction in extensor power. During the stance-swing transition, however, BSE use produced undesirable changes in lower limb kinematics (e.g., 5-20% increase in ankle joint velocity) and kinetics (e.g., ~ 10% increase in hip flexor, knee extensor, and ankle plantarflexor powers). These latter changes likely stemmed from the need to increase mechanical energy for propelling the leg into the swing phase. BSE use may thus increase the metabolic cost of walking. Whether such use also leads to muscle fatigue and/or postural instability in long-distance walking needs to be confirmed in future work.

Comparison between Helical Axis and SARA Approaches for the Estimation of Functional Joint Axes on Multi-Body Modeling Data

Functional methods usually allow for a flexible and accurate representation of joint kinematics and are increasingly implemented both for clinical and biomechanics research purposes. This paper presents a quantitative comparison between two widely adopted methods for functional axis estimation, that is, the helical axis theory and the symmetrical axis of rotation approach (SARA). To this purpose, a multi-body model was developed to simulate the lower limb of a subject. This model was designed to reproduce different motion patterns, that is, by selecting the active degrees of freedom of the simulated ankle joint. Thanks to virtual markers attached to each segment, the multi-body model was used to generate simulated motion capture data that were then analyzed by instantaneous helical axes and SARA algorithms. To achieve a synthetic representation of joint kinematics, a mean helical axis and an average SARA functional axis were estimated, along with dispersion parameters and rms distance data that were used to quantitatively assess the performance of each method. The sensitivity of each algorithm to different combinations of range and speed of motion, scattering of marker clusters, sampling rate, and additive noise on markers’ trajectories, was finally evaluated.

Design and Initial Validation of a Multiple Degree-of-Freedom Joint for an Ankle-Foot Orthosis

This paper presents the novel design of a Multi-Degree-Of-Freedom joint (M-DOF) for an Ankle-Foot Orthosis (AFO) that aims to improve upon the commercially available Double Action Joint (DAJ). The M-DOF is designed to maintain the functionality of the DAJ, while increasing dorsiflexion stiffness and introducing inversion/eversion. This increase in range of motion is designed to produce greater engagement from lower limb muscles during gait. The M-DOF was experimentally validated with one able-bodied and one stroke subject. Across walking speeds, the M-DOF AFO minimally affected the able-bodied subject's joint kinematics. The stroke subject's ankle dorsiflexion/plantarflexion and knee flexion were not heavily altered when wearing the M-DOF AFO, compared to the DAJ AFO. The new DOF allowed by the M-DOF AFO increased the inversion/eversion of the ankle by ~3°, without introducing any new compensations compared to their gait with the DAJ AFO.

A Clinical Practice Guideline for the Use of Ankle-Foot Orthoses and Functional Electrical Stimulation Post-Stroke

BACKGROUND

Level of ambulation following stroke is a long-term predictor of participation and disability. Decreased lower extremity motor control can impact ambulation and overall mobility. The purpose of this clinical practice guideline (CPG) is to provide evidence to guide clinical decision-making for the use of either ankle-foot orthosis (AFO) or functional electrical stimulation (FES) as an intervention to improve body function and structure, activity, and participation as defined by the International Classification of Functioning, Disability and Health (ICF) for individuals with poststroke hemiplegia with decreased lower extremity motor control.

METHODS

A review of literature published through November 2019 was performed across 7 databases for all studies involving stroke and AFO or FES. Data extracted included time post-stroke, participant characteristics, device types, outcomes assessed, and intervention parameters. Outcomes were examined upon initial application and after training. Recommendations were determined on the basis of the strength of the evidence and the potential benefits, harm, risks, or costs of providing AFO or FES.

RESULTS/DISCUSSION

One-hundred twenty-two meta-analyses, systematic reviews, randomized controlled trials, and cohort studies were included. Strong evidence exists that AFO and FES can each increase gait speed, mobility, and dynamic balance. Moderate evidence exists that AFO and FES increase quality of life, walking endurance, and muscle activation, and weak evidence exists for improving gait kinematics. AFO or FES should not be used to decrease plantarflexor spasticity. Studies that directly compare AFO and FES do not indicate overall superiority of one over the other. But evidence suggests that AFO may lead to more compensatory effects while FES may lead to more therapeutic effects. Due to the potential for gains at any phase post-stroke, the most appropriate device for an individual may change, and reassessments should be completed to ensure the device is meeting the individual's needs.

LIMITATIONS

This CPG cannot address the effects of one type of AFO over another for the majority of outcomes, as studies used a variety of AFO types and rarely differentiated effects. The recommendations also do not address the severity of hemiparesis, and most studies included participants with varied baseline ambulation ability.

SUMMARY

This CPG suggests that AFO and FES both lead to improvements post-stroke. Future studies should examine timing of provision, device types, intervention duration and delivery, longer term follow-up, responders versus nonresponders, and individuals with greater impairments.

DISCLAIMER

These recommendations are intended as a guide for clinicians to optimize rehabilitation outcomes for people with poststroke hemiplegia who have decreased lower extremity motor control that impacts ambulation and overall mobility.A Video Abstract is available as supplemental digital content from the authors (available at: http://links.lww.com/JNPT/A335).

A methodology for the customization of hinged ankle-foot orthoses based on in vivo helical axis calculation with 3D printed rigid shells

This study aims to develop techniques for ankle joint kinematics analysis using motion capture based on stereophotogrammetry. The scope is to design marker attachments on the skin for a most reliable identification of the instantaneous helical axis, to be targeted for the fabrication of customized hinged ankle-foot orthoses. These attachments should limit the effects of the experimental artifacts, in particular the soft-tissue motion artifact, which affect largely the accuracy of any in vivo ankle kinematics analysis. Motion analyses were carried out on two healthy subjects wearing customized rigid shells that were designed through 3D scans of the subjects' lower limbs and fabricated by additive manufacturing. Starting from stereophotogrammetry data collected during walking and dorsi-plantarflexion motor tasks, the instantaneous and mean helical axes of ankle joint were calculated. The customized shells matched accurately the anatomy of the subjects and allowed for the definition of rigid marker clusters that improved the accuracy of in vivo kinematic analyses. The proposed methodology was able to differentiate between subjects and between the motor tasks analyzed. The observed position and dispersion of the axes were consistent with those reported in the literature. This methodology represents an effective tool for supporting the customization of hinged ankle-foot orthoses or other devices interacting with human joints functionality.

EFFECTS OF SINGLE CROUCH WALKING GAITS ON FATIGUE DAMAGES OF LOWER EXTREMITY MAIN MUSCLES

Single crouch walking gait (SCWG) is one of the main walking gaits when one of the legs is injured. However, the research on movement biomechanical characteristics (MBC) of lower extremity in SCWG has not been reported. So, the aim of this study is to analyze kinematics and main muscle fatigue damages of lower extremity in SCWG. Gaits data were collected with functional assessment biomechanics (FAB) system which applies the real-time wireless gait phase detection system, the movement function relations of joints of lower extremity were obtained by fitting the collected data in normal walking gait (NWG) and SCWG with Fourier series, the fitted movement functions were input to 3D human musculoskeletal model as driving functions for human movement to analyze the differences of MBC between SCWG and NWG. Finally, the muscle contractions were used to evaluate muscle fatigue damage. Compared with NWG, the result shows that the movement range of the joint angles of lower extremity are reduced in SCWG, the change law of hip internal/external rotation angle (IERA) has a significant difference, and the change laws of other joint angles are similarly between SCWG and NWG. The muscle contractions of Gluteus maximum (GMAX) 2, Gluteus meddle (GMED) 1, GMED2, Iliacus (ILI), Rectus femoris (RFEM), Soleus (SOL), Gastrocnemius (GAS) and Vastus lateralis (VLAT) are significantly larger in SCWG than in NWG (except GlutMed2 which is about 20–40% and VLAT which is about 63.8–76.1% of gait cycle), namely, these muscles easily cause muscle damages in SCWG. The contraction change of Adductor magnus (AMAG) is dispersed, so AMAG is prone to muscle fatigue in SCWG. The study results will fill in the gaps in the MBC of lower extremity in SCWG and provide data for Rehabilitation Medical Technology (RMT) and development of rehabilitation equipment of lower extremity.