ArticleIEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society2017
A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations.
Article in IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 48 papers, 1 of them a synthesis that pooled it.
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Who cites it
48 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Wearable Sensor-Based Real-Time Gait Detection: A Systematic Review.Sensors (Basel, Switzerland) · 2021Pooled it
- An Underactuated Hip Exoskeleton to Assist Hip Joints Driven by a Single-Series Elastic Actuator.Biomimetics (Basel, Switzerland) · 2026Article
- Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Continuous Gait Phase Estimation for Multi-Locomotion Tasks Using Ground Reaction Force Data.Sensors (Basel, Switzerland) · 2024Article
- Transfer Learning for Efficient Intent Prediction in Lower-Limb Prosthetics: A Strategy for Limited Datasets.IEEE robotics and automation letters · 2024Article
- Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles.IEEE transactions on bio-medical engineering · 2024Article
- Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots.IEEE robotics and automation letters · 2024Article
- Quantifying changes in individual-specific template-based representations of center-of-mass dynamics during walking with ankle exoskeletons using Hybrid-SINDy.Scientific reports · 2024Article
- Controlling Powered Prosthesis Kinematics Over Continuous Inter-Leg Transitions Between Walking and Stair Ascent/Descent.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2024Article
- Walking-Speed-Adaptive Gait Phase Estimation for Wearable Robots.Sensors (Basel, Switzerland) · 2023Article
- Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses.Annual reviews in control · 2023Article
- Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2023Article
- Ground-Reaction-Force-Based Gait Analysis and Its Application to Gait Disorder Assessment: New Indices for Quantifying Walking Behavior.Sensors (Basel, Switzerland) · 2022Article
- Deep-Learning to Map a Benchmark Dataset of Non-amputee Ambulation for Controlling an Open Source Bionic Leg.IEEE robotics and automation letters · 2022Article
- Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2022Article
- Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations.IEEE robotics and automation letters · 2022Article
- Adaptive estimation of continuous gait phase based on capacitive sensors.Wearable technologies · 2022Article
- Seamless and intuitive control of a powered prosthetic leg using deep neural network for transfemoral amputees.Wearable technologies · 2022Article
- Estimation of Walking Speed and Its Spatiotemporal Determinants Using a Single Inertial Sensor Worn on the Thigh: From Healthy to Hemiparetic Walking.Sensors (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
The phase of human gait is difficult to quantify accurately in the presence of disturbances. In contrast, recent bipedal robots use time-independent controllers relying on a mechanical phase variable to synchronize joint patterns through the gait cycle. This concept has inspired studies to determine if human joint patterns can also be parameterized by a mechanical variable. Although many phase variable candidates have been proposed, it remains unclear which, if any, provide a robust representation of phase for human gait analysis or control. In this paper we analytically derive an ideal phase variable (the hip phase angle) that is provably monotonic and bounded throughout the gait cycle. To examine the robustness of this phase variable, ten able-bodied human subjects walked over a platform that randomly applied phase-shifting perturbations to the stance leg. A statistical analysis found the correlations between nominal and perturbed joint trajectories to be significantly greater when parameterized by the hip phase angle (0.95+) than by time or a different phase variable. The hip phase angle also best parameterized the transient errors about the nominal periodic orbit. Finally, interlimb phasing was best explained by local (ipsilateral) hip phase angles that are synchronized during the double-support period.
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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.