{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,28]],"date-time":"2026-10-28T04:58:09Z","timestamp":1793163489194,"version":"4.5.0"},"reference-count":47,"publisher":"ASME International","issue":"12","funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1122374"],"award-info":[{"award-number":["1122374"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2016,12,1]]},"abstract":"<jats:p>Our research aims to design low-cost, high-performance, passive prosthetic knees for developing countries. In this study, we determine optimal stiffness, damping, and engagement parameters for a low-cost, passive prosthetic knee that consists of simple mechanical elements and may enable users to walk with the normative kinematics of able-bodied humans. Knee joint power was analyzed to divide gait into energy-based phases and select mechanical components for each phase. The behavior of each component was described with a polynomial function, and the coefficients and polynomial order of each function were optimized to reproduce the knee moments required for normative kinematics of able-bodied humans. Sensitivity of coefficients to prosthesis mass was also investigated. The knee moments required for prosthesis users to walk with able-bodied normative kinematics were accurately reproduced with a mechanical system consisting of a linear spring, two constant-friction dampers, and three clutches (R2=0.90 for a typical prosthetic leg). Alterations in upper leg, lower leg, and foot mass had a large influence on optimal coefficients, changing damping coefficients by up to 180%. Critical results are reported through parametric illustrations that can be used by designers of prostheses to select optimal components for a prosthetic knee based on the inertial properties of the amputee and his or her prosthetic leg.<\/jats:p>","DOI":"10.1115\/1.4034168","type":"journal-article","created":{"date-parts":[[2016,7,18]],"date-time":"2016-07-18T12:31:59Z","timestamp":1468845119000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":15,"title":["The Effects of the Inertial Properties of Above-Knee Prostheses on Optimal Stiffness, Damping, and Engagement Parameters of Passive Prosthetic Knees"],"prefix":"10.1115","volume":"138","author":[{"given":"Yashraj S.","family":"Narang","sequence":"first","affiliation":[{"name":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138 e-mail:"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"V. N.","family":"Murthy Arelekatti","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 e-mail:"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"suffix":"V","given":"Amos G.","family":"Winter","sequence":"additional","affiliation":[{"name":"Mem. ASME Assistant Professor Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139 e-mail:"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"33","published-online":{"date-parts":[[2016,11,3]]},"reference":[{"key":"2019100316582436200_bib1","article-title":"Guidelines for Training Personnel in Developing Countries for Prosthetics and Orthotics Services","volume-title":"Technical Report No. 9241592672","author":"World Health Organization","year":"2005"},{"key":"2019100316582436200_bib2","article-title":"World Report on Disability","volume-title":"Technical Report No. 9789241564182","author":"World Health Organization","year":"2011"},{"issue":"9","key":"2019100316582436200_bib3","doi-asserted-by":"publisher","first-page":"1851","DOI":"10.1007\/s10439-013-0792-8","article-title":"Designing for Scale: Development of the ReMotion Knee for Global Emerging Markets","volume":"41","year":"2013","journal-title":"Ann. Biomed. Eng."},{"issue":"1","key":"2019100316582436200_bib4","doi-asserted-by":"publisher","first-page":"10","DOI":"10.3109\/03093648209167732","article-title":"Retrospective Study of 14,400 Civilian Disabled Treated Over 25 Years at an Artificial Limb Center","volume":"6","year":"1982","journal-title":"Prosthet. Orthotics Int."},{"key":"2019100316582436200_bib5","article-title":"The CIA World Factbook 2014","volume-title":"Technical Report No. 9781626360730","author":"Central Intelligence Agency","year":"2013"},{"issue":"1","key":"2019100316582436200_bib6","first-page":"16","article-title":"A Report on Amputees in India","volume":"40","year":"1986","journal-title":"Orthotics Prosthet."},{"issue":"2","key":"2019100316582436200_bib7","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1080\/03093640408726699","article-title":"Clinical Field Testing of Transfemoral Prosthetic Technologies: Resin-Wood and ICRC-Polypropylene","volume":"28","year":"2004","journal-title":"Prosthet. Orthotics Int."},{"key":"2019100316582436200_bib8","article-title":"What We Do: Above Knee Prosthesis","author":"Bhagwan Mahaveer Viklang Sahayata Samiti","year":"2014"},{"key":"2019100316582436200_bib9","article-title":"Identification of Design Requirements for a High-Performance, Low-Cost, Passive Prosthetic Knee Through User Analysis and Dynamic Simulation","volume-title":"Master's thesis","year":"2013"},{"issue":"2","key":"2019100316582436200_bib10","doi-asserted-by":"publisher","first-page":"157","DOI":"10.2522\/ptj.20090125","article-title":"Dynamic Principles of Gait and Their Clinical Implications","volume":"90","year":"2010","journal-title":"Phys. Ther."},{"issue":"2","key":"2019100316582436200_bib11","doi-asserted-by":"publisher","first-page":"263","DOI":"10.1177\/0278364907084588","article-title":"Design and Control of a Powered Transfemoral Prosthesis","volume":"27","year":"2008","journal-title":"Int. J. Rob. Res."},{"issue":"3","key":"2019100316582436200_bib12","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1682\/JRRD.2008.09.0131","article-title":"Agonist\u2013Antagonist Active Knee Prosthesis: A Preliminary Study in Level-Ground Walking","volume":"46","year":"2009","journal-title":"J. Rehabil. Res. Dev."},{"issue":"1","key":"2019100316582436200_bib13","doi-asserted-by":"publisher","first-page":"91","DOI":"10.1016\/j.pmr.2005.10.006","article-title":"Microprocessor Prosthetic Knees","volume":"17","year":"2006","journal-title":"Phys. Med. Rehabil. Clin. North Am."},{"key":"2019100316582436200_bib14","volume-title":"Atlas of Amputations and Limb Deficiencies: Surgical, Prosthetic, and Rehabilitation Principles","year":"2004"},{"issue":"4","key":"2019100316582436200_bib15","doi-asserted-by":"publisher","first-page":"378","DOI":"10.3109\/03093646.2010.520060","article-title":"Lower-Limb Prosthetic Technologies in the Developing World: A Review of Literature From 1994\u20132010","volume":"34","year":"2010","journal-title":"Prosthet. Orthotics Int."},{"issue":"2","key":"2019100316582436200_bib16","doi-asserted-by":"publisher","first-page":"163","DOI":"10.1177\/0309364611408495","article-title":"Mobility Function of a Prosthetic Knee Joint With an Automatic Stance Phase Lock","volume":"35","year":"2011","journal-title":"Prosthet. Orthotics Int."},{"issue":"3","key":"2019100316582436200_bib17","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/1050-6411(96)00030-2","article-title":"Moment-Angle Relationship at Lower Limb Joints During Human Walking at Different Velocities","volume":"6","year":"1996","journal-title":"J. Electromyogr. Kinesiology"},{"key":"2019100316582436200_bib18","doi-asserted-by":"crossref","unstructured":"Shamaei, K., and Dollar, A. M., 2011, \u201cOn the Mechanics of the Knee During the Stance Phase of the Gait,\u201d 2011 IEEEInternational Conference on Rehabilitation Robotics, June 28\u2013July 1.10.1109\/ICORR.2011.5975478","DOI":"10.1109\/ICORR.2011.5975478"},{"issue":"3","key":"2019100316582436200_bib19","doi-asserted-by":"publisher","first-page":"e59993","DOI":"10.1371\/journal.pone.0059993","article-title":"Estimation of Quasi-Stiffness of the Human Knee in the Stance Phase of Walking","volume":"8","year":"2013","journal-title":"PLoS One"},{"issue":"5","key":"2019100316582436200_bib20","doi-asserted-by":"publisher","first-page":"348","DOI":"10.1097\/00002060-199409000-00008","article-title":"Effect of Alterations in Prosthetic Shank Mass on the Metabolic Costs of Ambulation in Above-Knee Amputees","volume":"73","year":"1994","journal-title":"Am. J. Phys. Med. Rehabil."},{"issue":"7","key":"2019100316582436200_bib21","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1109\/TNSRE.2015.2455054","article-title":"The Effects of Prosthesis Inertial Properties on Prosthetic Knee Moment and Hip Energetics Required to Achieve Able-Bodied Kinematics","volume":"24","year":"2015","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"2019100316582436200_bib22","volume-title":"The Biomechanics and Motor Control of Human Gait: Normal, Elderly, and Pathological","year":"1991","edition":"2nd ed."},{"key":"2019100316582436200_bib23","doi-asserted-by":"publisher","DOI":"10.1002\/9780470549148","volume-title":"Biomechanics and Motor Control of Human Movement","year":"2009","edition":"4th ed."},{"issue":"4","key":"2019100316582436200_bib24","doi-asserted-by":"publisher","first-page":"407","DOI":"10.1016\/j.clinbiomech.2003.12.001","article-title":"Roll-Over Shapes of Human Locomotor Systems: Effects of Walking Speed","volume":"19","year":"2004","journal-title":"Clin. Biomech."},{"issue":"8","key":"2019100316582436200_bib25","doi-asserted-by":"publisher","first-page":"563","DOI":"10.1097\/01.phm.0000174665.74933.0b","article-title":"A Clinical Comparison of Variable-Damping and Mechanically Passive Prosthetic Knee Devices","volume":"84","year":"2005","journal-title":"Am. J. Phys. Med. Rehabil."},{"key":"2019100316582436200_bib26","first-page":"147","article-title":"Energy Generation and Absorption at the Ankle and Knee During Fast, Natural, and Slow Cadences","volume":"175","year":"1983","journal-title":"Clin. Orthop. Relat. Res."},{"key":"2019100316582436200_bib27","article-title":"Characterizing Ankle Function During Stair Ascent, Descent, and Level Walking for Ankle Prosthesis and Orthosis Design","year":"2004"},{"issue":"4","key":"2019100316582436200_bib28","doi-asserted-by":"publisher","first-page":"302","DOI":"10.1080\/00222895.1983.10735302","article-title":"Biomechanical Motor Patterns in Normal Walking","volume":"15","year":"1983","journal-title":"J. Mot. Behav."},{"issue":"1","key":"2019100316582436200_bib29","first-page":"161","article-title":"A Robotic Model of Transfemoral Amputee Locomotion for Design Optimization of Knee Controllers","volume":"10","year":"2013","journal-title":"Int. J. Adv. Rob. Syst."},{"key":"2019100316582436200_bib30","doi-asserted-by":"crossref","unstructured":"Arelekatti, V. N. M., and Winter, A. G., 2015, \u201cDesign of a Fully Passive Prosthetic Knee Mechanism for Transfemoral Amputees in India,\u201d IEEE International Conference on Rehabilitation Robotics (ICORR), Singapore, Aug. 11\u201314, pp. 350\u2013356.10.1109\/ICORR.2015.7281224","DOI":"10.1109\/ICORR.2015.7281224"},{"key":"2019100316582436200_bib31","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2015-47385","article-title":"Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India","volume-title":"ASME","year":"2015"},{"key":"2019100316582436200_bib32","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1097\/00003086-199904000-00006","article-title":"Modern Prosthetic Knee Mechanisms","volume":"361","year":"1999","journal-title":"Clin. Orthop. Relat. Res."},{"key":"2019100316582436200_bib33","article-title":"Body Segment Parameters","year":"1966"},{"key":"2019100316582436200_bib34","volume-title":"The Biomechanics of Sport: A Research Approach","year":"1973"},{"key":"2019100316582436200_bib35","volume-title":"Patterns of Human Motion: A Cinematographic Analysis","year":"1971"},{"issue":"7","key":"2019100316582436200_bib36","doi-asserted-by":"publisher","first-page":"857","DOI":"10.1682\/JRRD.2005.09.0147","article-title":"Kinematic and Kinetic Comparisons of Transfemoral Amputee Gait Using C-Leg and Mauch SNS Prosthetic Knees","volume":"43","year":"2006","journal-title":"J. Rehabil. Res. Dev."},{"issue":"1","key":"2019100316582436200_bib37","doi-asserted-by":"publisher","first-page":"245","DOI":"10.1146\/annurev.bioeng.3.1.245","article-title":"Computer Modeling and Simulation of Human Movement","volume":"3","year":"2001","journal-title":"Annu. Rev. Biomed. Eng."},{"key":"2019100316582436200_bib38","article-title":"Enhanced Analysis of Human Locomotion","year":"1991"},{"issue":"4","key":"2019100316582436200_bib39","doi-asserted-by":"publisher","first-page":"654","DOI":"10.1016\/j.neunet.2008.03.006","article-title":"Powered Ankle-Foot Prosthesis to Assist Level-Ground and Stair-Descent Gaits","volume":"21","year":"2008","journal-title":"Neural Networks"},{"key":"2019100316582436200_bib40","article-title":"Biom T2 System","author":"BiOM","year":"2014"},{"issue":"4","key":"2019100316582436200_bib41","doi-asserted-by":"publisher","first-page":"S5","DOI":"10.1097\/00008526-200510001-00004","article-title":"Clinical Prescription and Use of Prosthetic Foot and Ankle Mechanisms: A Review of the Literature","volume":"17","year":"2005","journal-title":"JPO: J. Prosthet. Orthotics"},{"issue":"1","key":"2019100316582436200_bib42","first-page":"1","article-title":"Transtibial Energy-Storage-and-Return Prosthetic Devices: A Review of Energy Concepts and a Proposed Nomenclature","volume":"39","year":"2002","journal-title":"J. Rehabil. Res. Dev."},{"issue":"5","key":"2019100316582436200_bib43","doi-asserted-by":"publisher","first-page":"325","DOI":"10.1016\/S0268-0033(02)00020-7","article-title":"Energy Storage and Return Prostheses: Does Patient Perception Correlate With Biomechanical Analysis?","volume":"17","year":"2002","journal-title":"Clin. Biomech."},{"key":"2019100316582436200_bib44","doi-asserted-by":"crossref","unstructured":"Unal, R., Klijnstra, F., Burkink, B., Behrens, S., Hekman, E., Stramigioli, S., Koopman, H., and Carloni, R., 2013, \u201cModeling of Walkmech: A Fully-Passive Energy-Efficient Transfemoral Prosthesis Prototype,\u201d 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), Seattle, WA, June 24\u201326.10.1109\/ICORR.2013.6650406","DOI":"10.1109\/ICORR.2013.6650406"},{"issue":"3","key":"2019100316582436200_bib45","first-page":"595","article-title":"Prosthetic Knees","volume":"11","year":"2000","journal-title":"Phys. Med. Rehab Clin NA"},{"key":"2019100316582436200_bib46","doi-asserted-by":"publisher","DOI":"10.1115\/DETC2014-35065","article-title":"Effects of Prosthesis Mass on Hip Energetics, Prosthetic Knee Torque, and Prosthetic Knee Stiffness and Damping Parameters Required for Transfemoral Amputees to Walk With Normative Kinematics","volume-title":"ASME","year":"2014"},{"key":"2019100316582436200_bib47","article-title":"Using Biomechanical and Human-Centered Analysis to Determine Design Requirements for a Prosthetic Knee for Use in India","year":"2015"}],"container-title":["Journal of Biomechanical Engineering"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/asmedigitalcollection.asme.org\/biomechanical\/article-pdf\/doi\/10.1115\/1.4034168\/5986020\/bio_138_12_121002.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/asmedigitalcollection.asme.org\/biomechanical\/article-pdf\/doi\/10.1115\/1.4034168\/5986020\/bio_138_12_121002.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,3]],"date-time":"2019-10-03T16:59:24Z","timestamp":1570121964000},"score":1,"resource":{"primary":{"URL":"https:\/\/asmedigitalcollection.asme.org\/biomechanical\/article\/doi\/10.1115\/1.4034168\/371239\/The-Effects-of-the-Inertial-Properties-of"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,11,3]]},"references-count":47,"journal-issue":{"issue":"12","published-print":{"date-parts":[[2016,12,1]]}},"URL":"https:\/\/doi.org\/10.1115\/1.4034168","relation":{},"ISSN":["0148-0731","1528-8951"],"issn-type":[{"value":"0148-0731","type":"print"},{"value":"1528-8951","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,11,3]]},"article-number":"121002"}}