ArticleIEEE ... International Conference on Rehabilitation Robotics : [proceedings]2017
Piecewise and unified phase variables in the control of a powered prosthetic leg.
Article in IEEE ... International Conference on Rehabilitation Robotics : [proceedings], 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed, 32 citations in OpenAlex.
- A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- 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
- Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots.IEEE robotics and automation letters · 2024Article
- Real-Time Gait Phase Estimation for Robotic Hip Exoskeleton Control During Multimodal Locomotion.IEEE robotics and automation letters · 2021Article
- Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.Journal of computational and nonlinear dynamics · 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
- 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
- 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
Corrections and comments
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Authors and funding
3 authors at 1 institution in 1 country.
Funding
Abstract
Many control methods have been proposed for powered prosthetic legs, ranging from finite state machines that switch between discrete phases of gait to unified controllers that have a continuous sense of phase. In particular, recent work has shown that a mechanical phase variable can parameterize the entire gait cycle for controlling a prosthetic leg during steady rhythmic locomotion. However, the unified approach does not provide voluntary control over non-rhythmic motions like stepping forward and back. In this paper we present a phasing algorithm that uses the amputee's hip angle to control both rhythmic and non-rhythmic motion through two modes: 1) a piecewise (PW) function that provides users voluntary control over stance and swing in a piecewise manner, and 2) a unified function that continuously synchronizes the motion of the prosthetic leg with the amputee user at different walking speeds. The two phase variable approaches are compared in experiments with a powered knee-ankle prosthesis used by an above-knee amputee subject.
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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.