3D printing is the most suitable method to manufacture the frame parts of powered ankle-foot prostheses but the compressive strength of the 3D-printed part needs to be ensured. According to the compression test standard ASTM D695, the effect of infill pattern and density, which is transferred to the mass of the standard specimen, on the compressive strength is investigated with a carbon fiber-reinforced nylon material. With the same infill pattern, specimens with more mass have a higher compressive strength. With the same mass, specimens with triangular fill have a higher compressive strength than those with rectangular and gyroid fills. Compared with specimens with a solid fill, specimens with a triangular fill can also provide more compressive strength in a unit mass. According to the results of standard specimens, following the requirement of strength and lightweight, 41% triangular fill is selected to manufacture the supporting part of a powered ankle-foot prosthesis. Under a compressive load of 1225 N, the strain of the assembly of the standard adaptor and the 3D-printed part is 1.32 ± 0.04%, which can meet the requirement of the design. This study can provide evidence for other 3D-printed applications with the requirement of compressive strength.

In this paper, we analyze the phenomena of concentration and cavitation and the formation of delta-shocks and vacuum states in the limit of Riemann solutions to the Aw-Rascle model with a two-parameter flux approximation including pressure. It is proved that the limit of solutions tends to a special delta-shock rather than the classical one to the transport equations. In order to further study this problem, we consider a perturbed flux approximation system and proceed to investigate the limits of solutions. We rigorously proved that, as the flux approximation vanishes, any Riemann solution containing two shock waves tends to a delta-shock to the transport equations; any Riemann solution containing two rarefaction waves tends to a two-contact-discontinuity solution to the transport equations and the nonvacuum intermediate state in between tends to a vacuum state. Moreover, some representative numerical simulations are exhibited to confirm the theoretical analysis.

A systematic review of the mechanical design of powered ankle–foot prostheses developed from 2000 to 2019 was conducted through database and manual searches. A total of ten English and two Chinese databases were searched using the same keywords. Moreover, information on commercialized prostheses was collected through a manual search. A total of 8729 publications were obtained from the database search, and 83 supplementary publications and 49 online product introductions were accumulated through the manual search. A total of 91 powered ankle–foot prostheses were extracted from 159 publications and online information after exclusion. The mechanical design characteristics of the prostheses were described briefly and compared after they were categorized into 11 subclassifications. This review revealed that a considerable number of powered ankle–foot prostheses were developed in the last 20 years. The development of such prostheses was characterized by alternative modes, that is, from pneumatic or hydraulic drivers to motorized drivers and from rigid transmissions to elastic actuators. This review contributes to the comprehensive understanding of current designs, which can benefit the combination of the advantages of and redundancy avoidance in future powered ankle–foot prostheses.

One of the major challenges in developing powered lower limb prostheses is emulating the behavior of an intact lower limb with different walking speeds over diverse terrains. Numerous studies have been conducted on control algorithms in the field of rehabilitation robotics to achieve this overarching goal. Recent studies on powered prostheses have frequently used a hierarchical control scheme consisting of three control levels. Most control structures have at least one element of discrete transition properties that requires numerous sensors to improve classification accuracy, consequently increasing computational load and costs. In this study, we proposed a user-independent and free-mode method for eliminating the need to switch among different controllers. We constructed a database by using four OPAL wearable devices (Mobility Lab, APDM Inc., USA) for seven able-bodied subjects. We recorded the gait of each subject at three ambulation speeds during ground-level walking to train a nonlinear autoregressive network with an exogenous input recurrent neural network (NARX RNN) to estimate foot orientation (angular position) in the sagittal plane using shank angular velocity as external input. The trained NARX RNN estimated the foot orientation of all the subjects at different walking speeds over flat terrain with an average root-mean-square error (RMSE) of 2.1° ± 1.7°. The minimum correlation between the estimated and measured values was 86%. Moreover, a t-test showed that the error was normally distributed with a high certainty level (0.88 minimum p-value).

Natural abundance of the stable isotope (δ¹³C and δ¹⁵N) in plants is widely used to indicate water use efficiency (WUE). However, soil water and texture properties may affect this relationship, which remains largely elusive. Therefore, the purpose of this study was to evaluate δ¹³C as affected by different combinations of alternate wetting and drying irrigation (AWD) with varied soil clay contents in different organs and whole plant and assess the feasibility of using δ¹³C and δ¹⁵N as a physiological indicator of whole-plant water use efficiency (WUE_whole-plant). Three AWD regimes, I₁₀₀ (30 mm flooded when soil reached 100% saturation), I₉₀ (30 mm flooded when reached 90% saturation) and I₇₀ (30 mm flooded when reached 70% saturation) and three soil clay contents, 40% (S₄₀), 50% (S₅₀), and 60% (S₆₀), were included. Observed variations in WUE_whole-plant did not conform to theoretical expectations of the organs δ¹³C (δ¹³C_organs) of plant biomass based on pooled data from all treatments. However, a positive relationship between δ¹³C_leaf and WUE_ET (dry biomass/evapotranspiration) was observed under I₉₀ regime, whereas there were no significant relationships between δ¹³C_organs and WUE_ET under I₁₀₀ or I₇₀ regimes. Under I₁₀₀, weak relationships between δ¹³C_organs and WUE_ET could be explained by (i) variation in C allocation patterns under different clay content, and (ii) relatively higher rate of panicle water loss, which was independent of stomatal regulation and photosynthesis. Under I₇₀, weak relationships between δ¹³C_organs and WUE_ET could be ascribed to (i) bigger cracks induced by water-limited irrigation regime and high clay content soil, and (ii) damage caused by severe drought. In addition, a negative relationship was observed between WUE_whole-plant and shoot δ¹⁵N (δ¹⁵N_shoot) across the three irrigation treatments, indicating that WUE_whole-plant is tightly associated with N metabolism and N isotope discrimination in rice. Therefore, δ¹³C should be used cautiously as an indicator of rice WUE_whole-plant at different AWD regimes with high clay content, whereas δ¹⁵N could be considered an effective indicator of WUE_whole-plant.