Benefits for Adults with Transfemoral Amputations and Peripheral Artery Disease Using Microprocessor Compared with Nonmicroprocessor Prosthetic Knees

Evaluation of activity and function before and immediately after the provision of a microprocessor knee in individuals with transfemoral amputation

BACKGROUND

In many cases, individuals with lower limb amputation become less active because of impaired balance and stability and increased risk of falling. Microprocessor knees (MPKs) have been shown to reduce the risk of falls, improve balance, and increase function, evaluated with self-reported scales and questionnaires. This study aims at investigating whether the patient-reported improvements are reflected in objective physical activity (PA) parameters estimated from actimetry sensors and assess the short-term provision of an MPK.

STUDY DESIGN

Transfemoral amputee patients (n=29) undertaking an MPK trial at 2 prosthetic centers in the South of England were recruited for this study. Self-reported and functional test outcomes (Activities Balance Confidence, Reintegration of Normal Living Index, Prosthesis Evaluation Questionnaire scores, and 2-min walk test) were obtained before and after (4 weeks) the provision of the MPK. Activity levels were recorded over 7 consecutive days pre- and post-MPK.

RESULTS

Self-reported scores and function test outcomes showed a general improvement in most of the patients after the provision of the MPK, with a statistically significant change (p < 0.05) in Activities Balance Confidence, Reintegration of Normal Living Index, Prosthesis Evaluation Questionnaire scores, and 2-min walk test. By contrast, the activity-based parameters estimated from actimetry showed no statistically significant changes (p > 0.05). Associations between self-reported and functional outcomes and actimetry parameters were limited.

CONCLUSIONS

Perceived and in-clinic outcome measures improved after short-term provision of an MPK for transfemoral amputees. However, PA did not change in this cohort of patients over the study period. More longitudinal studies are needed to characterize the impact of MPK provision on PA and societal participation.

Quantitative methods used to evaluate balance, postural control, and the fear of falling in lower limb prosthesis users: A systematic review

Problems with balance, postural control, and fear of falling are highly prevalent in lower limb prosthesis users, with much research conducted to understand these issues. The variety of tools used to assess these concepts presents a challenge when interpreting research outcomes. This systematic review aimed to provide a synthesis of quantifiable methods used in the evaluation of balance, postural control, and fear of falling in lower limb prosthesis users with an amputation level at or proximal to the ankle joint. A systematic search was conducted in CINAHL, Medline, AMED, Cochrane, AgeLine, Scopus, Web of Science, Proquest, PsycINFO, PsycArticles, and PubPsych databases followed by additional manual searching via reference lists in the reviewed articles databases. Included articles used quantitative measure of balance or postural control as one of the dependent variables, lower limb prosthesis users as a sample group, and were published in a peer-reviewed journal in English. Relevant assessment questions were created by the investigators to rate the assessment methods used in the individual studies. Descriptive and summary statistics are used to synthesize the results. The search yielded (n = 187) articles assessing balance or postural control (n = 5487 persons in total) and (n = 66) articles assessing fear of falling or balance confidence (n = 7325 persons in total). The most used test to measure balance was the Berg Balance Scale and the most used test to measure fear of falling was the Activities-specific Balance Confidence scale. A large number of studies did not present if the chosen methods were valid and reliable for the lower limb prosthesis users. Among study limitations, small sample size was common.

Mechanisms and component design of prosthetic knees: A review from a biomechanical function perspective

Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.

Can microprocessor knees reduce the disparity in trips and falls risks between above and below knee prosthesis users?

While all lower limb prosthesis walkers have a high risk of tripping and/or falling, above knee prosthesis users are reported to fall more frequently. Recognising this, engineers designed microprocessor knees (MPK) to help mitigate these risks, but to what extent these devices reduce this disparity between above and below knee users is unclear. A service review was carried out in a prosthetic limb centre regarding the frequency of trips and falls in the previous four weeks. Data from unilateral, community ambulators were extracted. Ordered logistic regressions were applied to investigate whether MPKs mitigated the increased risk of trips and falls for prosthetic knee users, compared to below knee prosthesis users. Socio-demographics (sex, age), prosthesis (prosthesis type, years of use), health (comorbidities, vision, contralateral limb status, medication), and physical function (use of additional walking aids, activity level) were included as covariates. Of the 315 participants in the analysis, 57.5% reported tripping and 20.3% reported falling. Non-microprocessor prosthetic knee (non-MPK) users were shown to trip significantly more than below knee prosthesis users (OR = 1.96, 95% CI = 1.17–3.28). Other covariates showing a significant association included contralateral limb injuries (OR = 1.91, 95% CI = 1.15–3.18) and using an additional walking aid (OR = 1.99, 95% CI = 1.13–3.50). Non-MPK users were also shown to fall significantly more than below knee prosthesis users (OR = 3.34, 95% CI = 1.73–6.45), with no other covariates showing a significant association. MPK users did not show an increased frequency of trips (OR = 0.74, 95% CI = 0.33–1.64) or falls (OR = 0.34, 95% CI = 0.18–2.62), compared to below knee prosthesis users. Of those who tripped at least once in the previous four weeks, those using a non-MPK (OR = 2.73, 95% CI = 1.30–5.74) presented an increased frequency of falling. These findings provide evidence to suggest that the use of MPKs reduces the difference in falls risk between above knee and below knee prosthesis users, providing justification for their provision.

Degree of Safety Against Falls Provided by 4 Different Prosthetic Knee Types in People With Transfemoral Amputation: A Retrospective Observational Study

OBJECTIVE

People with transfemoral amputation have balance and mobility problems and are at high risk of falling. An adequate prosthetic prescription is essential to maximize their functional levels and enhance their quality of life. This study aimed to evaluate the degree of safety against falls offered by different prosthetic knees.

METHODS

A retrospective study was conducted using data from a center for prosthetic fitting and rehabilitation. Eligible individuals were adults with unilateral transfemoral amputation or knee disarticulation. The prosthetic knee models were grouped into 4 categories: locked knees, articulating mechanical knees (AMKs), fluid-controlled knees (FK), and microprocessor-controlled knees (MPK). The outcome was the number of falls experienced during inpatient rehabilitation while wearing the prosthesis. Association analyses were performed with mixed-effect Poisson models. Propensity score weighting was used to adjust causal estimates for participant confounding factors.

RESULTS

Data on 1486 hospitalizations of 815 individuals were analyzed. Most hospitalizations (77.4%) were related to individuals with amputation due to trauma. After propensity score weighting, the knee category was significantly associated with falls. People with FK had the highest rate of falling (incidence rate = 2.81 falls per 1000 patient days, 95% CI = 1.96 to 4.02). FK significantly increased the risk of falling compared with MPK (incidence rate ratio [IRRFK-MPK] = 2.44, 95% CI = 1.20 to 4.96). No other comparison among knee categories was significant.

CONCLUSIONS

Fluid-controlled prosthetic knees expose inpatients with transfemoral amputation to higher incidence of falling than MPK during rehabilitation training.

IMPACT

These findings can guide clinicians in the selection of safe prostheses and reduction of falls in people with transfemoral amputation during inpatient rehabilitation.

Microprocessor knee technology reduces odds of incurring an injurious fall for individuals with diabetic/dysvascular amputation

Individuals with lower limb amputation have a high incidence of falls. An above-the-knee amputation and diabetes/vascular disease are both risk factors for falls. Microprocessor knee (MPK) technology may reduce falls in this population. The objective was to determine the association of MPKs and reduced injurious falls. A retrospective analysis of injurious falls within a large, national outcomes database was conducted. Inclusion was limited to adult K3 ambulators with unilateral, transfemoral or knee disarticulation amputation due to diabetes/vascular disease. There were 744 out of 881 individuals that did not receive an MPK. Results showed that 16.3% of non-MPK users experienced an injurious fall compared to 7.3% of MPK users (p=0.007). Not having an MPK resulted in significantly increased odds (unadjusted: OR: 2.47, 95% CI: 1.26 - 4.83, p=0.009; adjusted for confounders: OR: 2.52, 95% CI: 1.28 - 4.94, p=0.007) of incurring an injurious fall over a 6-month period. In conclusion, the current study found use of an MPK strongly associated with reduced injurious falls in a population of patients with amputation due to diabetes/vascular disease. The findings strongly support the use of MPK technology to mitigate fall risk, and in particular injurious falls requiring medical intervention.

Comparison of patient-reported and functional outcomes following transition from mechanical to microprocessor knee in the low-activity user with a unilateral transfemoral amputation

BACKGROUND

The Scottish Specialist Prosthetics Service has provided microprocessor knees (MPKs) through the National Health Service since 2014, predominantly to high-activity transfemoral amputations (TFAs). Benefits of MPKs to the lower-activity TFA are less established in the literature.

OBJECTIVES

This study aimed to compare patient-reported and functional measures in low-activity TFAs transitioning from a mechanical knee to a MPK.

STUDY DESIGN

This is a retrospective cohort analysis of low-activity individuals with a unilateral TFA provided with an MPK.

METHODS

Patient-reported measures were recorded in routine clinical care before and 6 months after MPK provision. These included HR-QoL (EQ-5D-5L Health Index), Activities Balance Confidence score, Prosthetic Limb User Survey of Mobility, falls frequency, use of walking aids, and Socket Comfort Score. Functional measures included the two-minute walk test (2MWT), L-test, and Amputee Mobility Predictor score, and three-dimensional gait analysis was used to generate a Gait Profile Score (GPS). The primary outcomes were HR-QoL and GPS.

RESULTS

Forty-five participants fulfilled the inclusion criteria. Thirty-one had pre-MPK and post-MPK measures, of which 15 had three-dimensional gait analysis. The mean age (n = 31) was 60 years (SD 11), and 68% were male. HR-QoL and GPS did not significantly improve with MPK provision (p = 0.014 and p = 0.019); Amputee Mobility Predictor score, L-Test, 2MWT, falls, and Activities Balance Confidence score showed a significant improvement with MPK provision (p < 0.001).

CONCLUSIONS

Although no statistically significant change in the primary outcomes was measured, there were sufficient data to support MPK provision in low-activity prosthetic users with participants demonstrating improvements in balance, 2MWT, falls frequency, and confidence.

Current and Emerging Trends in the Management of Fall Risk in People with Lower Limb Amputation

Purpose of Review

People living with lower limb amputation are at an increased risk of falling compared with the healthy geriatric population. Factors of increased age and increased number of comorbidities could compound the already increased risk. The purpose of this article is to highlight recent research associated with fall risk in amputees and provide the reader with evidence to help guide clinical interventions.

Recent Findings

Though research on the topic of falls in people with amputation is becoming more common, there is still a dearth of evidence regarding what contributes to increased fall risk and how to address it in this population. There are recent studies that have examined therapy and prosthetic interventions that could mitigate fall risk in people with amputation, yet there is not enough evidence to develop a consensus on the topic. More research is required to determine what contributes to increased fall rates in people with amputation, and what detriments to an amputee's function or psyche may result after incurring a fall.

Summary

Borrowing from what is known about geriatric fall risk and combining the information with novel and existing approaches to fall mitigation in amputees can offer clinicians the opportunity to develop evidence-based programs to address fall risk in their patients with lower limb amputation.

Cost-effectiveness and budget impact of the microprocessor-controlled knee C-Leg in transfemoral amputees with and without diabetes mellitus

BACKGROUND

The safe use of a prosthesis in activities of daily living is key for transfemoral amputees. However, the number of falls varies significantly between different prosthetic device types. This study aims to compare medical and economic consequences of falls in transfemoral amputees who use the microprocessor-controlled knee joint C-Leg with patients who use non-microprocessor-controlled (mechanical) knee joints (NMPK). The main objectives of the analysis are to investigate the cost-effectiveness and budget impact of C-Legs in transfemoral amputees with diabetes mellitus (DM) and without DM in Germany.

METHODS

A decision-analytic model was developed that took into account the effects of prosthesis type on the risk of falling and fall-related medical events. Cost-effectiveness and budget impact analyses were performed separately for transfemoral amputees with and without DM. The study took the perspective of the statutory health insurance (SHI). Input parameters were derived from the published literature. Univariate and probabilistic sensitivity analyses (PSA) were performed to investigate the impact of changes in individual input parameter values on model outcomes and to explore parameter uncertainty.

RESULTS

C-Legs reduced the rate of fall-related hospitalizations from 134 to 20 per 1000 person years (PY) in amputees without DM and from 146 to 23 per 1000 PY in amputees with DM. In addition, the C-Leg prevented 15 or 14 fall-related death per 1000 PY. Over a time horizon of 25 years, the incremental cost-effectiveness ratio (ICER) was 16,123 Euro per quality-adjusted life years gained (QALY) for amputees without DM and 20,332 Euro per QALY gained for amputees with DM. For the period of 2020-2024, the model predicted an increase in SHI expenditures of 98 Mio Euro (53 Mio Euro in prosthesis users without DM and 45 Mio Euro in prosthesis users with DM) when all new prosthesis users received C-Legs instead of NMPKs and 50% of NMPK user whose prosthesis wore out switched to C-Legs. Results of the PSA showed moderate uncertainty and a probability of 97-99% that C-Legs are cost-effective at an ICER threshold of 40,000 Euro (≈ German GDP per capita in 2018) per QALY gained.

CONCLUSION

Results of the study suggest that the C-Leg provides substantial additional health benefits compared with NMPKs and is likely to be cost-effective in transfemoral amputees with DM as well as in amputees without DM at an ICER threshold of 40,000 Euro per QALY gained.

OASIS 1: Retrospective analysis of four different microprocessor knee types

INTRODUCTION

Microprocessor knee analyses to date have been primarily limited to microprocessor knees as a category rather than comparisons across different models. The purpose of the current analysis was to compare outcomes from four common knee models.

METHODS

A retrospective analysis of clinical outcomes was performed. Outcomes for functional mobility, quality of life, satisfaction with amputee status, and injurious falls were compared. Specific knee types represented were C-Leg (Ottobock), Orion (Blatchford), Plié (Freedom Innovations), and Rheo (Össur).

RESULTS

Outcomes from 602 individuals were included. No significant differences were noted for functional mobility (H = 2.91, p = 0.406) or satisfaction (H = 4.43, p = 0.219). For quality of life, differences existed for C-Leg versus Plié (p = 0.010). For injurious falls, C-Leg (χ2 (1,137) = 10.99, p < 0.001) and Orion (χ2 (1,119) = 4.34, p = 0.037) resulted in significantly reduced injurious falls compared to non-microprocessor knee users. C-Leg (H = 19.63, p < 0.001) and Plié (H = 14.04, p = 0.003) users saw declines with advanced aging.

CONCLUSIONS

Our data indicate relative parity among the 4 microprocessor knees with regard to functional mobility and satisfaction. In contrast to mobility, neither satisfaction nor quality of life values reflected declines with aging. Finally, when compared to non-microprocessor knees, significant differences were observed across the microprocessor knee types in relation to the reduction of injurious falls.Keywords: MPK, mobility, quality of life, falls, amputee, outcomes.

Motorized Biomechatronic Upper and Lower Limb Prostheses-Clinically Relevant Outcomes

People with major limb amputations are severely impaired when it comes to activity, body structure and function, as well as participation. Demographic statistics predict a dramatic increase of this population and additional challenges with their increasing age and higher levels of amputation. Prosthetic use has been shown to have a positive impact on mobility and depression, thereby affecting the quality of life. Biomechatronic prostheses are at the forefront of prosthetic development. Actively powered designs are now regularly used for upper limb prosthetic fittings, whereas for lower limbs the clinical use of actively powered prostheses has been limited to a very low number of applications. Actively powered prostheses enhance restoration of the lost physical functions of an amputee but are yet to allow intuitive user control. This paper provides a review of the status of biomechatronic developments in upper and lower limb prostheses in the context of the various challenges of amputation and the clinically relevant outcomes. Whereas most of the evidence regarding lower limb prostheses addresses biomechanical issues, the evidence for upper limb prostheses relates to activities of daily living (ADL) and instrumental ADL through diverse outcome measures and tools.

Comparative biomechanical evaluation of two technologically different microprocessor-controlled prosthetic knee joints in safety-relevant daily-life situations

Safety-relevant gait situations (walking on stairs and slopes, walking backwards, walking with small steps, simulated perturbations of swing phase extension) were investigated in a motion analysis laboratory with six unilateral transfemoral amputees using two different microprocessor-controlled prosthetic knee joints (Rheo Knee XC, C-Leg). A randomized crossover design was chosen. The study results imply that the performance and safety potential of a microprocessor-controlled knee joint can be associated with the individual control algorithms and the technological concepts that are implemented to generate motion resistances for controlling flexion and extension movements. When walking with small steps, advantages of the "default swing" concept used in the Rheo Knee XC were identified due to a highly reproducible swing phase release. However, when walking backwards, this concept may lead to an uncontrolled knee flexion which partly resulted in falls. When walking down stairs, walking on slopes or while recovering from a stumble after perturbations of the swing phase extension, the C-Leg demonstrated a reliable prosthetic side load-bearing capacity resulting in reduced loading on the residual body. In contrast, the Rheo Knee XC required increased compensatory movements of the remaining locomotor system in order to compensate for reduced load-bearing and safety reserves.

Functional assessment and satisfaction of transfemoral amputees with low mobility (FASTK2): A clinical trial of microprocessor-controlled vs. non-microprocessor-controlled knees

BACKGROUND

The benefits of a microprocessor-controlled knee are well documented in transfemoral amputees who are unlimited community ambulators. There have been suggestions that transfemoral amputees with limited community ambulation will also benefit from a microprocessor-controlled knee. Current medical policy restricts microprocessor-controlled knees to unlimited community ambulators and, thereby, potentially limits function. This clinical trial was performed to determine if limited community ambulators would benefit from a microprocessor-controlled knee.

METHODS

50 unilateral transfemoral amputees, mean age 69, were tested using their current non-microprocessor-controlled knee, fit with a microprocessor-controlled knee and allowed 10 weeks of acclimation before being tested, and then retested with their original mechanical knee after 4 weeks of re-acclimation. Patient function was assessed in the free-living environment using tri-axial accelerometers. Patient satisfaction and safety were also measured.

FINDINGS

The subjects demonstrated improved outcomes when using the microprocessor-controlled knee. Subjects had a significant reduction in falls, spent less time sitting, and increased their activity level. Subjects also reported significantly better ambulation, improved appearance, and greater utility.

INTERPRETATION

This clinical trial demonstrated that transfemoral amputees with limited mobility clearly benefit from a microprocessor-controlled knee. Notably, a reduction in falls occurred while the subjects engaged in more physical activity, which resulted in increased subject satisfaction. The increased activity resulted in a greater exposure to fall risk, but that risk was moderated by the advanced technology. ClinicalTrials.gov No: NCT02240186.

Economic benefits of microprocessor controlled prosthetic knees: a modeling study

BACKGROUND

Advanced prosthetic knees allow for more dynamic movements and improved quality of life, but payers have recently started questioning their value. To answer this question, the differential clinical outcomes and cost of microprocessor-controlled knees (MPK) compared to non-microprocessor controlled knees (NMPK) were assessed.

METHODS

We conducted a literature review of the clinical and economic impacts of prosthetic knees, convened technical expert panel meetings, and implemented a simulation model over a 10-year time period for unilateral transfemoral Medicare amputees with a Medicare Functional Classification Level of 3 and 4 using estimates from the published literature and expert input. The results are summarized as an incremental cost effectiveness ratio (ICER) from a societal perspective, i.e., the incremental cost of MPK compared to NMPK for each quality-adjusted life-year gained. All costs were adjusted to 2016 U.S. dollars and discounted using a 3% rate to the present time.

RESULTS

The results demonstrated that compared to NMPK over a 10-year time period: for every 100 persons, MPK results in 82 fewer major injurious falls, 62 fewer minor injurious falls, 16 fewer incidences of osteoarthritis, and 11 lives saved; on a per person per year basis, MPK reduces direct healthcare cost by $3676 and indirect cost by $909, but increases device acquisition and repair cost by $6287 and total cost by $1702; on a per person basis, MPK is associated with an incremental total cost of $10,604 and increases the number of life years by 0.11 and quality adjusted life years by 0.91. MPK has an ICER ratio of $11,606 per quality adjusted life year, and the economic benefits of MPK are robust in various sensitivity analyses.

CONCLUSIONS

Advanced prosthetics for transfemoral amputees, specifically MPKs, are associated with improved clinical benefits compared to non-MPKs. The economic benefits of MPKs are similar to or even greater than those of other medical technologies currently reimbursed by U.S. payers.

Electroencephalogram-Based Brain-Computer Interface and Lower-Limb Prosthesis Control: A Case Study

Objective

The purpose of this study was to establish the feasibility of manipulating a prosthetic knee directly by using a brain-computer interface (BCI) system in a transfemoral amputee. Although the other forms of control could be more reliable and quick (e.g., electromyography control), the electroencephalography (EEG)-based BCI may provide amputees an alternative way to control a prosthesis directly from brain.

Methods

A transfemoral amputee subject was trained to activate a knee-unlocking switch through motor imagery of the movement of his lower extremity. Surface scalp electrodes transmitted brain wave data to a software program that was keyed to activate the switch when the event-related desynchronization in EEG reached a certain threshold. After achieving more than 90% reliability for switch activation by EEG rhythm-feedback training, the subject then progressed to activating the knee-unlocking switch on a prosthesis that turned on a motor and unlocked a prosthetic knee. The project took place in the prosthetic department of a Veterans Administration medical center. The subject walked back and forth in the parallel bars and unlocked the knee for swing phase and for sitting down. The success of knee unlocking through this system was measured. Additionally, the subject filled out a questionnaire on his experiences.

Results

The success of unlocking the prosthetic knee mechanism ranged from 50 to 100% in eight test segments.

Conclusion

The performance of the subject supports the feasibility for BCI control of a lower extremity prosthesis using surface scalp EEG electrodes. Investigating direct brain control in different types of patients is important to promote real-world BCI applications.

When to biomechanically examine a lower-limb amputee: A systematic review of accommodation times

BACKGROUND

Hundreds of investigations examining biomechanical outcomes of various prostheses have been completed, but one question remains unanswered: how much time should an amputee be given to accommodate to a new prosthesis prior to biomechanical testing?

OBJECTIVE

To examine the literature for accommodation time given during biomechanical investigations to determine whether consensus exists.

STUDY DESIGN

Systematic review.

METHODS

A systematic search was completed on 7 January 2016 using PubMed and Scopus.

RESULTS

The search resulted in 156 investigations. Twenty-eight studies did not provide an accommodation or were unclear (e.g. provided a "break in period"), 5 studies tested their participants more than once, 25 tested only once and on the same day participants received a new prosthesis (median (range): above-knee: 60 (10-300) min; below-knee: 18 (5-300) min), and 98 tested once and gave a minimum of 1 day for accommodation (hip: 77 (60-180) days; above-knee: 42 (1-540) days; below-knee: 21 (1-475) days).

CONCLUSION

The lack of research specifically examining accommodation and the high variability in this review's results indicates that it remains undecided how much accommodation is necessary. There is a need for longitudinal biomechanical investigations to determine how outcomes change as amputees accommodate to a new prosthesis. Clinical relevance The results of this review indicate that little research has been done regarding lower-limb amputees accommodating to a new prosthesis. Improper accommodation could lead to increased variability in results, results that are not reflective of long-term use, and could cause clinicians to make inappropriate decisions regarding a prosthesis.

An ecologically-controlled exoskeleton can improve balance recovery after slippage

The evolution to bipedalism forced humans to develop suitable strategies for dynamically controlling their balance, ensuring stability, and preventing falling. The natural aging process and traumatic events such as lower-limb loss can alter the human ability to control stability significantly increasing the risk of fall and reducing the overall autonomy. Accordingly, there is an urgent need, from both end-users and society, for novel solutions that can counteract the lack of balance, thus preventing falls among older and fragile citizens. In this study, we show a novel ecological approach relying on a wearable robotic device (the Active Pelvis Orthosis, APO) aimed at facilitating balance recovery after unexpected slippages. Specifically, if the APO detects signs of balance loss, then it supplies counteracting torques at the hips to assist balance recovery. Experimental tests conducted on eight elderly persons and two transfemoral amputees revealed that stability against falls improved due to the “assisting when needed” behavior of the APO. Interestingly, our approach required a very limited personalization for each subject, and this makes it promising for real-life applications. Our findings demonstrate the potential of closed-loop controlled wearable robots to assist elderly and disabled subjects and to improve their quality of life.