ArticleIEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society2016
Variable Cadence Walking and Ground Adaptive Standing With a Powered Ankle Prosthesis.
Article in IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 20 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
20 citing papers in PubMed.
- Lower-limb prosthetic mechanisms: recent progress, control innovations and barriers to real-world adoption.Biomedical engineering online · 2026Review
- Real-time Adaptation of Deep Learning Walking Speed Estimators Enables Biomimetic Assistance Modulation in an Open-Source Bionic Leg.IEEE transactions on medical robotics and bionics · 2025Article
- Unified Control of a Powered Knee-Ankle Prosthesis Enables Walking, Stairs, Transitions, and Other Daily Ambulation Activities.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Continuous neural control of a bionic limb restores biomimetic gait after amputation.Nature medicine · 2024Article
- Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- A Scientometric Analysis and Visualization of Prosthetic Foot Research Work: 2000 to 2022.Bioengineering (Basel, Switzerland) · 2023Review
- Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- Gait Alteration in Individual with Limb Loss: The Role of Inertial Sensors.Sensors (Basel, Switzerland) · 2023Review
- Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2020Article
- Accuracy and repeatability of smartphone sensors for measuring shank-to-vertical angle.Prosthetics and orthotics international · 2020Article
- A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design.IEEE robotics & automation magazine · 2020Article
- On-board Training Strategy for IMU-Based Real-Time Locomotion Recognition of Transtibial Amputees With Robotic Prostheses.Frontiers in neurorobotics · 2020Article
- Design and Validation of a Semi-Active Variable Stiffness Foot Prosthesis.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2018Article
- Effect of toe joint stiffness and toe shape on walking biomechanics.Bioinspiration & biomimetics · 2018Article
- Article
- A Prototype of a Neural, Powered, Transtibial Prosthesis for the Cat: Benchtop Characterization.Frontiers in neuroscience · 2018Article
- Impact of Powered Knee-Ankle Prosthesis on Low Back Muscle Mechanics in Transfemoral Amputees: A Case Series.Frontiers in neuroscience · 2018Article
- Standing on slopes - how current microprocessor-controlled prosthetic feet support transtibial and transfemoral amputees in an everyday task.Journal of neuroengineering and rehabilitation · 2017Article
- Predictive control of intersegmental tarsal movements in an insect.Journal of computational neuroscience · 2017Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
Abstract
This paper describes a control approach that provides walking and standing functionality for a powered ankle prosthesis, and demonstrates the efficacy of the approach in experiments with a unilateral transtibial amputee subject. Both controllers incorporate a finite-state structure that emulates healthy ankle joint behavior via a series of piecewise passive impedance functions. The walking controller additionally modifies impedance parameters based on estimated cadence, while the standing controller modulates the ankle equilibrium angle in order to adapt to the ground slope and user posture, and the supervisory controller selects between the walking and standing controllers. The system is shown to reproduce several essential biomechanical features of the healthy joint during walking, particularly relative to a passive prosthesis, and is shown to adapt to various cadences. The system is also shown to adapt to slopes over a range of ±15°, providing support to the user, as validated by quasi-static stiffness measurements recorded by the prosthesis. The subject is shown to place more weight on the powered prosthesis than on his passive prosthesis when standing on sloped surfaces, particularly at angles of 10° or greater. The authors also demonstrated that the prosthesis typically began providing support within 1 s of initial ground contact. Further, the supervisory controller was shown to effectively switch between walking and standing, as well as determine ground slope just prior to the transition from the standing controller to the walking controller, where the estimated ground slope was accurate to within 1.25° for all trials.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.