ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2016
Preliminary Experiments with a Unified Controller for a Powered Knee-Ankle Prosthetic Leg Across Walking Speeds.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 29 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
29 citing papers in PubMed, 85 citations in OpenAlex.
- State of the art of lower limb prosthesis simulators: A literature review.Wearable technologies · 2026Review
- Evaluation of a Portable Bionic Ankle Prosthesis Under Direct Continuous Electromyography Control for Quiet Standing Tasks.Journal of prosthetics and orthotics : JPO · 2025Article
- Walking Ankle Biomechanics of Individuals With Transtibial Amputations Using a Prescribed Prosthesis and a Portable Bionic Prosthesis Under Myoelectric Control.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2024Article
- Can a powered knee-ankle prosthesis improve weight-bearing symmetry during stand-to-sit transitions in individuals with above-knee amputations?Journal of neuroengineering and rehabilitation · 2023Article
- Opportunities and challenges in the development of exoskeletons for locomotor assistance.Nature biomedical engineering · 2023Review
- Powered knee and ankle prosthesis use with a K2 level ambulator: a case report.Frontiers in rehabilitation sciences · 2023Article
- Seamless and intuitive control of a powered prosthetic leg using deep neural network for transfemoral amputees.Wearable technologies · 2022Article
- Textile-based Pressure Sensors for Monitoring Prosthetic-Socket Interfaces.IEEE sensors journal · 2021Article
- 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
- Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs.IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society · 2020Article
- Feasibility of Training a Random Forest Model With Incomplete User-Specific Data for Devising a Control Strategy for Active Biomimetic Ankle.Frontiers in bioengineering and biotechnology · 2020Article
- Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.Journal of computational and nonlinear dynamics · 2019Article
- Robust Optimal Design of Energy Efficient Series Elastic Actuators: Application to a Powered Prosthetic Ankle.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2019Article
- A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis.IEEE access : practical innovations, open solutions · 2019Article
- HUMAN-INSPIRED ALGEBRAIC CURVES FOR WEARABLE ROBOT CONTROL.Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference · 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
- Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic control.Journal of neuroengineering and rehabilitation · 2018Article
- Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2018Article
- Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study.IEEE journal of translational engineering in health and medicine · 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
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 at 1 institution in 1 country.
Funding
Abstract
This paper presents the experimental validation of a novel control strategy that unifies the entire gait cycle of a powered knee-ankle prosthetic leg without the need to switch between controllers for different periods of gait. Current control methods divide the gait cycle into several sequential periods each with independent controllers, resulting in many patient-specific control parameters and switching rules that must be tuned for a specific walking speed. The single controller presented is speed-invariant with a minimal number of control parameters to be tuned. A single, periodic virtual constraint is derived that exactly characterizes the desired actuated joint motion as a function of a mechanical phase variable across walking cycles. A single sensor was used to compute a phase variable related to the residual thigh angle's phase plane, which was recently shown to robustly represent the phase of non-steady human gait. This phase variable allows the prosthesis to synchronize naturally with the human user for intuitive, biomimetic behavior. A custom powered knee-ankle prosthesis was designed and built to implement the control strategy and validate its performance. A human subject experiment was conducted across multiple walking speeds (1 to 3 miles/hour) in a continuous sequence with the single phase-based controller, demonstrating its adaptability to the user's intended speed.
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.