ArticleIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation2018
Design and Benchtop Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.
Article in IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers.
What it found
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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
19 citing papers in PubMed.
- The prospective efficacy of stumble recovery responses in a powered knee prosthesis.Frontiers in robotics and AI · 2026Article
- A preliminary study of the efficacy of bimodal versus unimodal stumble recovery responses in a powered knee prosthesis.Wearable technologies · 2026Article
- Design and Validation of a Pancake Style Planetary Gearbox for an Eddy Current-Based Wearable Gait Training Robot.IEEE transactions on bio-medical engineering · 2025Article
- The use of nonnormalized surface EMG and feature inputs for LSTM-based powered ankle prosthesis control algorithm development.Frontiers in neuroscience · 2023Article
- A lightweight robotic leg prosthesis replicating the biomechanics of the knee, ankle, and toe joint.Science robotics · 2022Article
- A Multimodal Sensory Apparatus for Robotic Prosthetic Feet Combining Optoelectronic Pressure Transducers and IMU.Sensors (Basel, Switzerland) · 2022Article
- Myoelectric control of robotic lower limb prostheses: a review of electromyography interfaces, control paradigms, challenges and future directions.Journal of neural engineering · 2021Review
- Effects of a Powered Knee-Ankle Prosthesis on Amputee Hip Compensations: A Case Series.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2020Article
- 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
- Design of a Semi-Powered Stance-Control Swing-Assist Transfemoral Prosthesis.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 2020Article
- Design and Validation of a Partial-Assist Knee Orthosis with Compact, Backdrivable Actuation.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2019Article
- Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design.IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division · 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
- 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
- On the Design and Control of Highly Backdrivable Lower-Limb Exoskeletons: A Discussion of Past and Ongoing Work.IEEE control systems · 2018Article
- 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
- Intuitive Clinician Control Interface for a Powered Knee-Ankle Prosthesis: A Case Study.IEEE journal of translational engineering in health and medicine · 2018Article
- Predicting Individualized Joint Kinematics over a Continuous Range of Slopes and Speeds.Proceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and BiomechatronicsArticle
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
This paper describes the design of a powered knee- and-ankle transfemoral prosthetic leg, which implements high torque density actuators with low-reduction transmissions. The low reduction of the transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical impedance and high backdrivability. This style of actuation presents several possible benefits over modern actuation styles implemented in emerging robotic prosthetic legs. Such benefits include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, and greater potential for power regeneration. Benchtop validation experiments were conducted to verify some of these benefits. Backdrive and free-swinging knee tests confirm that both joints can be backdriven by small torques (~3 Nm). Bandwidth tests reveal that the actuator is capable of achieving frequencies required for walking and running. Lastly, open-loop impedance control tests prove that the intrinsic impedance and unmodeled dynamics of the actuator are sufficiently small to control joint impedance without torque feedback.
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.