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III. RESULTS
The simulated ground reaction force followed the same
pattern as the experimental ground reaction force data,
reaching a peak vertical reaction force of approximately
1700N at t = 0.077s or at 52% of stance phase (Figure 3). The
experimental ground reaction force presented an oscillating
response during initial contact to mid-stance; the quasi-static
simulation was not able to mimic these results. From mi-
stance onwards, the simulated vertical reaction force showed
good agreement with the experimental results. The
longitudinal reaction force, which presents primarily as Figure 4. Von mises stress during mid-stance at t = 0.02s.
friction between the ground and the shoe, changed from
TABLE I. RMSE OF SIMULATED MARKER DISPLACEMENTS
posterior to anterior 0.018s or 12% later in the simulation in
comparison to the experiment. During late stance, the RMSE (mm) x-axis y-axis z-axis Mean
simulated longitudinal reaction force reached a peak that was RPL1 0.00 0.12 0.08 0.07
110N lower than the experimental value. The lateral ground RPL4 2.47 6.51 2.81 3.93
reaction force was over-predicted by approximately 60N RPL5 5.57 6.32 3.60 5.16
RPL6 5.27 8.58 4.59 6.15
during the simulation. The elastic strain energy peaked at 80J RPL7 5.13 8.51 3.29 5.64
at mid-stance, and followed a similar trajectory to the vertical RANK 3.96 6.49 3.25 4.57
reaction force (Figure 3). The peak stress occurred in the RHEE 5.13 4.33 4.93 4.80
prosthesis at the sharpest radii (Figure 4), and reached a RTOE 0.12 7.33 2.09 3.18
maximum of 3.83×102 MPa at t = 0.077s. The femur, tibia Mean 3.46 6.02 3.08 4.19
and socket showed zero stress due to their rigid nature. The
simulated marker displacements showed good agreement which is a reasonable value in comparison to previously
with the experimental data (Figure 5), with a RMSE less than calculated values for walking self-selected and fast paces
the validation criteria of 10mm for all markers and an overall where the peak strain energy were 15J and 18J respectively
RMSE of 4.19mm (Table I). [16]. Stored strain energy is an important characteristic as
prosthesis overall efficiency is defined by the ratio of this
IV. DISCUSSION stored strain energy to dissipated energy. The model
therefore presents an improvement on the current practice of
A concurrent multibody and FE model of the femur, tibia, calculating energy storage from in vitro mechanical testing
socket and prosthetic foot of a transtibial amputee sprinter only, as this type of testing has been shown to be in variance
was simulated using experimental spatial data. This to the true in vivo behavior [9]. Additionally, combining FE
preliminary study is the first to conduct FE analysis of an with a multibody model of the skeletal elements provided a
ESAR prosthesis during the stance phase of running. The simulation more indicative of the true experimental behavior
numerical analysis allowed calculation of variables not in comparison to traditional direct dynamics FE methods,
available using conventional gait analysis alone, such as the during which the experimental ground reaction forces is
strain energy stored in the prosthesis. In this study, the stored applied as a boundary condition to the FE model [17]. This
strain energy peaked during mid-stance with a value of 80J,
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500
Axis Title
-100 0 0.04 0.08 0.12
200 200 200
Time (s)
100 100 100
0 0 0
0 20 40 60 80 100 0 20 40 60 80 100 0 20 40 60 80 100
-100 -100 -100
Stance Phase (%) Stance Phase (%) Stance Phase (%)
FEA RPL1 FEA RPL4 FEA RANK FEA RHEE FEA RTOE
Exp RPL1 Exp RPL4 Exp RANK Exp RHEE Exp RTOE
Figure 5. Experimental and simulated marker displacement in the laboratory (a) lateral or x-axis, (b) longitudinal or y-axis, and (c) vertical or z-axis.
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