ArticleAnnual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference2016
Unified Phase Variables of Relative Degree Two for Human Locomotion.
Article in Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
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
11 citing papers in PubMed.
- An Individual Prosthesis Control Method with Human Subjective Choices.Biomimetics (Basel, Switzerland) · 2024Article
- Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization.Frontiers in bioengineering and biotechnology · 2024Article
- A Review of Current State-of-the-Art Control Methods for Lower-Limb Powered Prostheses.Annual reviews in control · 2023Article
- Seamless and intuitive control of a powered prosthetic leg using deep neural network for transfemoral amputees.Wearable technologies · 2022Article
- Control Framework for Sloped Walking With a Powered Transfemoral Prosthesis.Frontiers in neurorobotics · 2021Article
- A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2018Article
- Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2018Article
- Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2018Article
- Piecewise and unified phase variables in the control of a powered prosthetic leg.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2017Article
- A Robust Parameterization of Human Gait Patterns Across Phase-Shifting Perturbations.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2017Article
- Preliminary Experiments with a Unified Controller for a Powered Knee-Ankle Prosthetic Leg Across Walking Speeds.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2016Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
2 authors.
Funding
Abstract
A starting point to achieve stable locomotion is synchronizing the leg joint kinematics during the gait cycle. Some biped robots parameterize a nonlinear controller (e.g., input-output feedback linearization) whose main objective is to track specific kinematic trajectories as a function of a single mechanical variable (i.e., a phase variable) in order to allow the robot to walk. A phase variable capable of parameterizing the entire gait cycle, the hip phase angle, has been used to control wearable robots and was recently shown to provide a robust representation of the phase of human gait. However, this unified phase variable relies on hip velocity, which is difficult to measure in real-time and prevents the use of derivative corrections in phase-based controllers for wearable robots. One derivative of this phase variable yields accelerations (i.e., the equations of motion), so the system is said to be relative degree-one. This means that there are states of the system that cannot be controlled. The goal of this paper is to offer relative degree-two alternatives to the hip phase angle and examine their robustness for parameterizing human gait.
Indexed as
Identifiers
What OpenQuestion holds
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.