Gait Adaptation Strategies of K2 and K3 Transfemoral Amputees Across Walking Speeds
Mohseni O, Wang Y, Mahmoudi Khomami A, Seyfarth A (2026)
Publication Type: Conference contribution
Publication year: 2026
Publisher: IEEE Computer Society
Pages Range: 161-167
Conference Proceedings Title: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Event location: Edmonton, AB, CAN
ISBN: 9798331548131
DOI: 10.1109/BioRob66782.2026.11681075
Abstract
Walking speed adaptability is a fundamental requirement for community ambulation but remains restricted following transfemoral amputation. While functional classification systems distinguish between limited (K2) and variablecadence (K3) ambulators, robotic design targets heavily favor K3 cohorts, leaving K2 speed-adaptive mechanisms poorly characterized. Leveraging an open-access biomechanical dataset, this study quantified speed-dependent adaptations of 18 transfemoral amputees (9 K2, 9 K3) compared to 8 able-bodied controls. K3 users successfully modulated gait dynamics to maintain symmetry across speeds, primarily via excessive latestance hip flexion moments to compensate for passive ankle limitations. Conversely, K2 users failed to modulate joint kinetics, exhibiting speed-dependent asymmetry increases and a 'stiff-legged' swing phase. These findings suggest that active devices for K3 users must prioritize speed-adaptive power injection to mitigate hip compensation, whereas K2 controllers must prioritize stability assurance and active swing clearance to encourage limb loading. Implementing these cohort-specific control laws is vital for moving beyond generic templates to effectively restore community independence across varying mobility levels.
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Germany (DE)How to cite
APA:
Mohseni, O., Wang, Y., Mahmoudi Khomami, A., & Seyfarth, A. (2026). Gait Adaptation Strategies of K2 and K3 Transfemoral Amputees Across Walking Speeds. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 161-167). Edmonton, AB, CAN: IEEE Computer Society.
MLA:
Mohseni, Omid, et al. "Gait Adaptation Strategies of K2 and K3 Transfemoral Amputees Across Walking Speeds." Proceedings of the 11th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2026, Edmonton, AB, CAN IEEE Computer Society, 2026. 161-167.
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