1;Biomechanics of Lower Limb Prosthetics;1 1.1;Lower Limb Prosthesis;15 1.1.1;1.1 A Need for Better Functionality of Lower Limb Prostheses;15 1.1.2;1.2 Normalization of Prosthetic Gait Parameters as a Way for Increasing the Prosthesis' Functionality;18 1.1.2.1;1.2.1 Biomechanics and Prosthetics;18 1.1.2.1.1;1.2.1.1 Why is Self-Analysis of Gait Difficult to Conduct?;18 1.1.2.1.2;1.2.1.2 A Sound Leg Does not Feel the Body's Weight;18 1.1.2.1.3;1.2.1.3 How Does the Anatomical Leg Flex and Extend During Gait?;21 1.1.2.2;1.2.2 Anthropomorphicity of Lower Limb Prostheses;21 1.1.2.3;1.2.3 Influence of Moment in Prosthetic Ankle Joint on the User's Comfort;26 1.1.2.4;1.2.4 Influence of a Moment in Prosthetic Ankle Joint on the Existing Knee Joint of the Involved Leg;32 1.1.2.5;1.2.5 Measurements of the Pressures on the Residuum from the Socket;34 1.1.3;1.3 Structure of Study Design for Development of Lower Limb Prosthesis;38 1.2;References;39 1.3;Biomechanical Investigations of Sound and Prosthetic Gait;42 1.3.1;2.1 Kinematic and Dynamic Analysis of Motion;42 1.3.2;2.2 Modeling the Human Body for Motion Analysis;45 1.3.3;2.3 Equipment for Motion Analysis;45 1.3.4;2.4 Architecture of Computerized Gait Analysis;47 1.3.5;2.5 Interpretation of Gait Analysis Results;49 1.4;References;50 1.5;Theory of Ballistic Gait in Prosthetics;52 1.5.1;3.1 .Ballistic Synergy in Normal Gait;52 1.5.1.1;3.1.1 .Generation of the Propulsive "Push-Off";53 1.5.1.2;3.1.2 .Regular and Intentional Push-Off;54 1.5.1.2.1;3.1.2.1 .Regular Push-Off;55 1.5.1.2.2;3.1.2.2 .Intentional Push-Off;56 1.5.1.3;3.1.3 .Computer Simulation of Regular and Intentional Gait;57 1.5.1.3.1;3.1.3.1 .Simulation of the Propulsion in Regular Gait;58 1.5.1.3.1.1;Simulation of the Propulsion in Static Stage;59 1.5.1.3.1.2;Simulation of the Intentional Propulsion;59 1.5.1.4;3.1.4 ."Angle-Moment" Dependency in Ankle During Normal Gait;60 1.5.1.5;3.1.5 .Contribution of the Knee to Ballistic Synergy;61 1.5.1.6;3.1.6 .Implications for Prosthetics;65 1.5.2;3.2 .Active and Passive Moments in Joints;65 1.5.3;3.3 .Model of a One-Step Cycle: Passive Phase;66 1.5.3.1;3.3.1 .Phase "A" of a Step Cycle;67 1.5.3.2;3.3.2 .Phase "M" of a Step Cycle;68 1.5.3.3;3.3.3 .Working Model Simulation of the Balancing;69 1.5.4;3.4 .A Model of a One-Step Cycle;71 1.5.4.1;3.4.1 .Active Phase "MAHA.2.";71 1.5.5;3.5 .Generation of Propulsion in Norm and Disruption of Ballistic Synergy in Prosthetic Gait;73 1.5.6;3.6 .Modeling of One-Leg Standing;77 1.5.7;3.7 .Implication for Prosthetic Design;79 1.6;References;80 1.7;Theory of Designing the Anthropomorphic Lower Limb Prostheses;84 1.7.1;4.1 Synthesis of a Mechanism for Prosthetic Joint;84 1.7.1.1;4.1.1 Anatomical Prototype for Modeling a Moment;84 1.7.1.2;4.1.2 Trochoidal Model of the Spring Function of the Anatomical Foot;85 1.7.1.3;4.1.3 Synthesis of a Mechanism for Prosthetic Ankle;92 1.7.2;4.2 Development and Testing of the Rolling Joint Foot and Ankle;97 1.7.2.1;4.2.1 Development of the Rolling Joint Foot and Ankle;97 1.7.2.1.1;4.2.1.1 Tuning Features;99 1.7.2.1.2;4.2.1.2 Self-Tuning to Walking Speed;100 1.7.2.2;4.2.2 Mechanics Tests of the Rolling Joint Foot and Ankle;100 1.7.2.2.1;4.2.2.1 Additional Components of Safety of the Prosthesis's Use;101 1.7.2.2.2;4.2.2.2 Flexural Tests;101 1.7.2.2.2.1;Calculation of the Moment of Resistance Using Raw Data;103 1.7.2.2.2.2;Inversion/Eversion;103 1.7.2.2.3;4.2.2.3 Rotational Stiffness;104 1.7.2.2.4;4.2.2.4 Mechanical Tests of Rolling Joint Foot and Ankle: Conclusion;105 1.7.3;4.3 Development and Evaluation of the Rolling Joint Knee;106 1.7.3.1;4.3.1 Design Approach;106 1.7.3.2;4.3.2 RJ Knee Mechanism;108 1.7.3.2.1;Stance Phase;108 1.7.3.2.2;Swing Phase;109 1.7.3.3;4.3.3 Mechanical Testing of the Rolling Joint Knee Unit;110 1.7.3.4;4.3.4 Moment of Resistance to Knee Flexion;111 1.7.3.5;4.3.5 Moment of Resistance to the Knee Adduction/Abduction;112 1.7.3.6;4.3.6 Mechanical Tests of RJ Knee: Conclusion;113 1.8;References;113 1