ArticleScientific reports2016
Robotic lower limb prosthesis design through simultaneous computer optimizations of human and prosthesis costs.
Article in Scientific reports, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 21 papers.
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Who cites it
21 citing papers in PubMed, 83 citations in OpenAlex.
- Modeling the biomechanical features affecting the metabolic rate of walking with a powered ankle-foot prosthesis.Frontiers in robotics and AI · 2025Article
- Exploration-based learning of a stabilizing controller predicts locomotor adaptation.Nature communications · 2024Article
- Transfemoral limb loss modestly increases the metabolic cost of optimal control simulations of walking.PeerJ · 2024Article
- Walking speeds are lower for short distance and turning locomotion: Experiments and modeling in low-cost prosthesis users.PloS one · 2024Article
- Minimum effort simulations of split-belt treadmill walking exploit asymmetry to reduce metabolic energy expenditure.Journal of neurophysiology · 2023Article
- Acquisition of bipedal locomotion in a neuromusculoskeletal model with unilateral transtibial amputation.Frontiers in bioengineering and biotechnology · 2023Article
- A reduced-order closed-loop hybrid dynamic model for design and development of lower limb prostheses.Wearable technologies · 2023Article
- Elastic energy savings and active energy cost in a simple model of running.PLoS computational biology · 2021Article
- A unified energy-optimality criterion predicts human navigation paths and speeds.Proceedings of the National Academy of Sciences of the United States of America · 2021Article
- Shortcomings of human-in-the-loop optimization of an ankle-foot prosthesis emulator: a case series.Royal Society open science · 2021Article
- Perspective on musculoskeletal modelling and predictive simulations of human movement to assess the neuromechanics of gait.Proceedings. Biological sciences · 2021Review
- Using asymmetry to your advantage: learning to acquire and accept external assistance during prolonged split-belt walking.Journal of neurophysiology · 2021Article
- Article
- Performance of the CYBERLEGs motorized lower limb prosthetic device during simulated daily activities.Wearable technologies · 2021Article
- OpenSim Moco: Musculoskeletal optimal control.PLoS computational biology · 2020Article
- Wearer-Prosthesis Interaction for Symmetrical Gait: A Study Enabled by Reinforcement Learning Prosthesis Control.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2020Article
- Predicting gait adaptations due to ankle plantarflexor muscle weakness and contracture using physics-based musculoskeletal simulations.PLoS computational biology · 2019Article
- The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis.Frontiers in neurorobotics · 2018Article
- Maintenance of muscle strength retains a normal metabolic cost in simulated walking after transtibial limb loss.PloS one · 2018Article
- Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power.Journal of neuroengineering and rehabilitation · 2017Article
Corrections and comments
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Authors and funding
2 authors at 1 institution in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Robotic lower limb prostheses can improve the quality of life for amputees. Development of such devices, currently dominated by long prototyping periods, could be sped up by predictive simulations. In contrast to some amputee simulations which track experimentally determined non-amputee walking kinematics, here, we explicitly model the human-prosthesis interaction to produce a prediction of the user's walking kinematics. We obtain simulations of an amputee using an ankle-foot prosthesis by simultaneously optimizing human movements and prosthesis actuation, minimizing a weighted sum of human metabolic and prosthesis costs. The resulting Pareto optimal solutions predict that increasing prosthesis energy cost, decreasing prosthesis mass, and allowing asymmetric gaits all decrease human metabolic rate for a given speed and alter human kinematics. The metabolic rates increase monotonically with speed. Remarkably, by performing an analogous optimization for a non-amputee human, we predict that an amputee walking with an appropriately optimized robotic prosthesis can have a lower metabolic cost--even lower than assuming that the non-amputee's ankle torques are cost-free.
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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.