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Comparison of Sprinting With and Without Running-Specific Prostheses Using Optimal Control Techniques

Published online by Cambridge University Press:  02 July 2019

Anna Lena Emonds Open the ORCID record for Anna Lena Emonds [Opens in a new window] ,
Johannes Funken ,
Wolfgang Potthast  and
Katja Mombaur
Anna Lena Emonds*
Affiliation:
Optimization, Robotics and Biomechanics, Institute of Computer Engineering, Heidelberg University, Heidelberg, Germany. E-mail: [email protected]
Johannes Funken
Affiliation:
Institute of Biomechanics and Orthopaedics, German Sport University Cologne, Cologne, Germany. E-mails: [email protected], [email protected]
Wolfgang Potthast
Affiliation:
Institute of Biomechanics and Orthopaedics, German Sport University Cologne, Cologne, Germany. E-mails: [email protected], [email protected]
Katja Mombaur
Affiliation:
Optimization, Robotics and Biomechanics, Institute of Computer Engineering, Heidelberg University, Heidelberg, Germany. E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

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The purpose of our study was to get deeper insights into sprinting with and without running-specific prostheses and to perform a comparison of the two by combining analysis of known motion capture data with mathematical modeling and optimal control problem (OCP) findings. We established rigid multi-body system models with 14 bodies and 16 degrees of freedom in the sagittal plane for one unilateral transtibial amputee and three non-amputee sprinters. The internal joints are powered by torque actuators except for the passive prosthetic ankle joint which is equipped with a linear spring–damper system. For each model, the dynamics of one sprinting trial was reconstructed by solving a multiphase least squares OCP with discontinuities and constraints. We compared the motions of the amputee athlete and the non-amputee reference group by computing characteristic criteria such as the contribution of joint torques, the absolute mechanical work, step frequency and length, among others. By comparing the amputee athlete with the non-amputee athletes, we found reduced activity in the joints of the prosthetic limb, but increased torques and absolute mechanical work in the arms. We also compared the recorded motions to synthesized motions using different optimality criteria and found that the recorded motions are still far from the optimal solutions for both amputee and non-amputee sprinting.

Keywords

Dynamics reconstructionAmputee sprintingModelingOptimizationRunning-specific prostheses
Type
Articles
Information
Robotica , Volume 37 , Special Issue 12: Wearable Robotics: Dynamics, Control and Applications , December 2019 , pp. 2176 - 2194
Creative Commons
Creative Common License - CCCreative Common License - BYCreative Common License - NCCreative Common License - SA
This is an Open Access article, distributed under the terms of the Creative Commons Attribution-NonCommercial-ShareAlike licence (http://creativecommons.org/licenses/by-nc-sa/4.0/), which permits non-commercial re-use, distribution, and reproduction in any medium, provided the same Creative Commons licence is included and the original work is properly cited. The written permission of Cambridge University Press must be obtained for commercial re-use.
Copyright
© Cambridge University Press 2019

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