ArticleIEEE transactions on control systems technology : a publication of the IEEE Control Systems Society2018
Toward Unified Control of a Powered Prosthetic Leg: A Simulation Study.
Article in IEEE transactions on control systems technology : a publication of the IEEE Control Systems Society, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 14 papers.
What it found
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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.
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Who cites it
14 citing papers in PubMed, 49 citations in OpenAlex.
- Quantifying the effect of sagittal plane joint angle variability on bipedal fall risk.PloS one · 2022Article
- 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
- Reinforcement Q-Learning Control With Reward Shaping Function for Swing Phase Control in a Semi-active Prosthetic Knee.Frontiers in neurorobotics · 2020Article
- 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
- Modeling the Kinematics of Human Locomotion Over Continuously Varying Speeds and Inclines.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 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
- Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study.IEEE journal of translational engineering in health and medicine · 2018Article
- Automatic Tuning of Virtual Constraint-Based Control Algorithms for Powered Knee-Ankle Prostheses.Control Technology and Applications. Control Technology and Applications · 2017Article
- Real-Time Continuous Gait Phase and Speed Estimation from a Single Sensor.Control Technology and Applications. Control Technology and Applications · 2017Article
- Stable, Robust Hybrid Zero Dynamics Control of Powered Lower-Limb Prostheses.IEEE transactions on automatic control · 2017Article
- Piecewise and unified phase variables in the control of a powered prosthetic leg.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 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
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Authors and funding
3 authors at 2 institutions in 1 country.
Funding
Abstract
This brief presents a novel control strategy for a powered knee-ankle prosthesis that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. A reduced-order Discrete Fourier Transformation (DFT) is used to define virtual constraints that continuously parameterize periodic joint patterns as functions of a mechanical phasing variable. In order to leverage the provable stability properties of Hybrid Zero Dynamics (HZD), hybrid-invariant Bézier polynomials are converted into unified DFT virtual constraints for various walking speeds. Simulations of an amputee biped model show that the unified prosthesis controller approximates the behavior of the original HZD design under ideal scenarios and has advantages over the HZD design when hybrid invariance is violated by mismatches with the human controller. Two implementations of the unified virtual constraints, a feedback linearizing controller and a more practical joint impedance controller, produce similar results in simulation.
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.