ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2018
Continuous-Phase Control of a Powered Knee-Ankle Prosthesis: Amputee Experiments Across Speeds and Inclines.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 74 papers.
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The trial behind it
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Who cites it
74 citing papers in PubMed.
- Phase-Based Haptic Feedback for Improved Neural Control of a Robotic Prosthetic Ankle: A Preliminary Study.IEEE robotics and automation letters · 2026Article
- Cyberlegs X-Leg at CYBATHLON 2024: insights on the control development of an active transfemoral prosthesis.Journal of neuroengineering and rehabilitation · 2026Article
- Design and evaluation of a bone-anchored, neurally-controlled knee prosthesis.Journal of neuroengineering and rehabilitation · 2026Article
- User preference in the personalized control of an ankle prosthesis: a case study.Journal of neuroengineering and rehabilitation · 2026Article
- Evaluation of a Portable Bionic Ankle Prosthesis Under Direct Continuous Electromyography Control for Quiet Standing Tasks.Journal of prosthetics and orthotics : JPO · 2025Article
- A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Adapting Biomimetic Kinematics for Controlling a Powered-Knee, Passive-Ankle Prosthesis Across Inclines.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Enhancing Robot Transparency in Human-Robot Prosthesis Interaction to Mitigate Terrain Misrecognition Error.IEEE transactions on medical robotics and bionics · 2025Article
- Unified Control of a Powered Knee-Ankle Prosthesis Enables Walking, Stairs, Transitions, and Other Daily Ambulation Activities.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2025Article
- Article
- Review
- Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs over Walking Speeds and Inclines.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation · 2024Article
- Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles.IEEE transactions on bio-medical engineering · 2024Article
- IMU-Based Real-Time Estimation of Gait Phase Using Multi-Resolution Neural Networks.Sensors (Basel, Switzerland) · 2024Article
- Robustification of Bayesian-Inference-Based Gait Estimation for Lower-limb Wearable Robots.IEEE robotics and automation letters · 2024Article
- Optimization of Torque-Control Model for Quasi-Direct-Drive Knee Exoskeleton Robots Based on Regression Forecasting.Sensors (Basel, Switzerland) · 2024Article
- Data-Driven Phase-Based Control of a Powered Knee-Ankle Prosthesis for Variable-Incline Stair Ascent and Descent.IEEE transactions on medical robotics and bionics · 2024Article
- Continuous A-Mode Ultrasound-Based Prediction of Transfemoral Amputee Prosthesis Kinematics Across Different Ambulation Tasks.IEEE transactions on bio-medical engineering · 2024Article
- Interlimb and Intralimb Synergy Modeling for Lower Limb Assistive Devices: Modeling Methods and Feature Selection.Cyborg and bionic systems (Washington, D.C.) · 2024Article
- Multi-branch deep learning neural network prediction model for the development of angular biosensors based on sEMG.Frontiers in bioengineering and biotechnology · 2024Article
14 more citing papers are in PubMed but not listed here.
Corrections and comments
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Authors and funding
5 authors.
Funding
Abstract
Control systems for powered prosthetic legs typically divide the gait cycle into several periods with distinct controllers, resulting in dozens of control parameters that must be tuned across users and activities. To address this challenge, this paper presents a control approach that unifies the gait cycle of a powered knee-ankle prosthesis using a continuous, user-synchronized sense of phase. Virtual constraints characterize the desired periodic joint trajectories as functions of a phase variable across the entire stride. The phase variable is computed from residual thigh motion, giving the amputee control over the timing of the prosthetic joint patterns. This continuous sense of phase enabled three transfemoral amputee subjects to walk at speeds from 0.67 to 1.21 m/s and slopes from -2.5 to +9.0 deg. Virtual constraints based on task-specific kinematics facilitated normative adjustments in joint work across walking speeds. A fixed set of control gains generalized across these activities and users, which minimized the configuration time of the prosthesis.
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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.