ArticleIEEE access : practical innovations, open solutions2019
A Phase Variable Approach for Improved Rhythmic and Non-Rhythmic Control of a Powered Knee-Ankle Prosthesis.
Article in IEEE access : practical innovations, open solutions, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 41 papers.
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Who cites it
41 citing papers in PubMed.
- Lower-limb prosthetic mechanisms: recent progress, control innovations and barriers to real-world adoption.Biomedical engineering online · 2026Review
- A preliminary study of the efficacy of bimodal versus unimodal stumble recovery responses in a powered knee prosthesis.Wearable technologies · 2026Article
- The prospective efficacy of stumble recovery responses in a powered knee prosthesis.Frontiers in robotics and AI · 2026Article
- Controlling Powered Prosthesis Joint Impedance Over Continuous Stance Transitions Between Walking and Stair Ascent/Descent.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2026Article
- Using EMG Biofeedback to Restore Closed-Loop Neural Control on a Powered Prosthetic Ankle.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2026Article
- A low-noise low-impedance powered knee prosthesis with direct ball screw drive and torque-sensitive actuation.The International journal of robotics research · 2025Article
- Extremum-Seeking Control for a Robotic Leg Prosthesis with Sensory Feedback.Sensors (Basel, Switzerland) · 2025Article
- A Task-Agnostic Knee Exoskeleton for Reducing Osteoarthritis Pain Across Activities of Daily Life: A Pilot Study.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
- 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
- Ambilateral Activity Recognition and Continuous Adaptation with a Powered Knee-Ankle Prosthesis.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2025Article
- Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles.IEEE transactions on bio-medical engineering · 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
- Improving Amputee Endurance over Activities of Daily Living with a Robotic Knee-Ankle Prosthesis: A Case Study.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Controlling Powered Prosthesis Kinematics over Continuous Transitions Between Walk and Stair Ascent.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Powered Knee and Ankle Prosthesis Control for Adaptive Ambulation at Variable Speeds, Inclines, and Uneven Terrains.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2023Article
- Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Adaptive Speed and Incline Walking.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
- Real-Time Gait Phase and Task Estimation for Controlling a Powered Ankle Exoskeleton on Extremely Uneven Terrain.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2023Article
Corrections and comments
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Authors and funding
6 authors.
Funding
Abstract
Although there has been recent progress in control of multi-joint prosthetic legs for rhythmic tasks such as walking, control of these systems for non-rhythmic motions and general real-world maneuvers is still an open problem. In this article, we develop a new controller that is capable of both rhythmic (constant-speed) walking, transitions between speeds and/or tasks, and some common volitional leg motions. We introduce a new piecewise holonomic phase variable, which, through a finite state machine, forms the basis of our controller. The phase variable is constructed by measuring the thigh angle, and the transitions in the finite state machine are formulated through sensing foot contact along with attributes of a nominal reference gait trajectory. The controller was implemented on a powered knee-ankle prosthesis and tested with a transfemoral amputee subject, who successfully performed a wide range of rhythmic and non-rhythmic tasks, including slow and fast walking, quick start and stop, backward walking, walking over obstacles, and kicking a soccer ball. Use of the powered leg resulted in clinically significant reductions in amputee compensations for rhythmic tasks (including vaulting and hip circumduction) when compared to use of the take-home passive leg. In addition, considerable improvements were also observed in the performance for non-rhythmic tasks. The proposed approach is expected to provide a better understanding of rhythmic and non-rhythmic motions in a unified framework, which in turn can lead to more reliable control of multi-joint prostheses for a wider range of real-world tasks.
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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.