ArticlePloS one2020
Lower limb joint biomechanics-based identification of gait transitions in between level walking and stair ambulation.
Article in PloS one, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed.
- Design and evaluation of a bone-anchored, neurally-controlled knee prosthesis.Journal of neuroengineering and rehabilitation · 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
- Validation of Gait Kinematics With Ramp and Stair Ascent and Descent Revealed by Markerless Motion Capture in Simulated Living Space: Test-Retest Reliability Study.JMIR rehabilitation and assistive technologies · 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
- On utilizing gaze behavior to predict movement transitions during natural human walking on different terrains.PloS one · 2025Article
- Pattern transition recognition based on transfer learning for exoskeleton across different terrains.PeerJ. Computer science · 2025Article
- A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks.Science robotics · 2024Article
- Controlling Powered Prosthesis Kinematics Over Continuous Inter-Leg 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 · 2024Article
- Robot-Aided Motion Analysis in Neurorehabilitation: Benefits and Challenges.Diagnostics (Basel, Switzerland) · 2023Review
- 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
- Effects of community ambulation training with 3D-printed ankle-foot orthosis on gait and functional improvements: a case series of three stroke survivors.Frontiers in neurology · 2023Article
- Article
- Wearable-Based Stair Climb Power Estimation and Activity Classification.Sensors (Basel, Switzerland) · 2022Article
- Real-Time Adaptation of an Artificial Neural Network for Transfemoral Amputees Using a Powered Prosthesis.IEEE transactions on bio-medical engineering · 2022Article
- Exploring surface electromyography (EMG) as a feedback variable for the human-in-the-loop optimization of lower limb wearable robotics.Frontiers in neurorobotics · 2022Article
- Performance of Sonomyographic and Electromyographic Sensing for Continuous Estimation of Joint Torque During Ambulation on Multiple Terrains.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2021Article
Corrections and comments
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Authors and funding
7 authors.
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No grant is acknowledged in the PubMed record.
Abstract
Lower limb exoskeletons and lower limb prostheses have the potential to reduce gait limitations during stair ambulation. To develop robotic assistance devices, the biomechanics of stair ambulation and the required transitions to level walking have to be understood. This study aimed to identify the timing of these transitions, to determine if transition phases exist and how long they last, and to investigate if there exists a joint-related order and timing for the start and end of the transitions. Therefore, this study analyzed the kinematics and kinetics of both transitions between level walking and stair ascent, and between level walking and stair descent (12 subjects, 25.4 yrs, 74.6 kg). We found that transitions primarily start within the stance phase and end within the swing phase. Transition phases exist for each limb, all joints (hip, knee, ankle), and types of transitions. They have a mean duration of half of one stride and they do not last longer than one stride. The duration of the transition phase for all joints of a single limb in aggregate is less than 35% of one stride in all but one case. The distal joints initialize stair ascent, while the proximal joints primarily initialize the stair descent transitions. In general, the distal joints complete the transitions first. We believe that energy- and balance-related processes are responsible for the joint-specific transition timing. Regarding the existence of a transition phase for all joints and transitions, we believe that lower limb exoskeleton or prosthetic control concepts should account for these transitions in order to improve the smoothness of the transition and to thus increase the user comfort, safety, and user experience. Our gait data and the identified transition timings can provide a reference for the design and the performance of stair ambulation- related control concepts.
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