ArticleIEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society2020
Design and Validation of a Powered Knee-Ankle Prosthesis with High-Torque, Low-Impedance Actuators.
Article in IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 55 papers, 1 of them a synthesis that pooled it.
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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.
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Who cites it
55 citing papers in PubMed, 1 synthesis or guideline pooled it, 164 citations in OpenAlex.
- A review of user needs to drive the development of lower limb prostheses.Journal of neuroengineering and rehabilitation · 2022Pooled it
- Beyond microprocessor knees: exploring the potential of fully powered prosthetic legs.Journal of neuroengineering and rehabilitation · 2026Trial
- The clinical effects of the Össur Power Knee with phase-based and default control during sitting, standing, and walking.Journal of neuroengineering and rehabilitation · 2025Trial
- Cyberlegs X-Leg at CYBATHLON 2024: insights on the control development of an active transfemoral prosthesis.Journal of neuroengineering and rehabilitation · 2026Article
- Effects of a Powered Knee-Ankle Prosthesis on Intact Joint Biomechanics Across Sustained Activities of Daily Life: A Case Series.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 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
- State of the art of lower limb prosthesis simulators: A literature review.Wearable technologies · 2026Review
- A low-noise low-impedance powered knee prosthesis with direct ball screw drive and torque-sensitive actuation.The International journal of robotics research · 2025Article
- Enhancing Gait Symmetry via Intact Limb Kinematic Mapping Control of a Hip Disarticulation Prosthesis.Biomimetics (Basel, Switzerland) · 2025Article
- Design of Human-Inspired Feet to Enhance the Performance of the Humanoid Robot Mithra.Biomimetics (Basel, Switzerland) · 2025Article
- The effects of kinesiology taping on joint stability during descending stairs in patients with acute ankle injuries.BMC sports science, medicine & rehabilitation · 2025Article
- Vibrotactile Haptic and Gesture Feedback in a Smartwatch for Controlling a Multi-Activity Powered Knee-Ankle Prosthesis.Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference · 2025Article
- Real-time Adaptation of Deep Learning Walking Speed Estimators Enables Biomimetic Assistance Modulation in an Open-Source Bionic Leg.IEEE transactions on medical robotics and bionics · 2025Article
- Adapting Biomimetic Kinematics for Controlling a Powered-Knee, Passive-Ankle Prosthesis Across Inclines.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Investigating Kinematic and Kinetic Asymmetries During Sit/Stand Movements with a Powered Knee-Ankle Prosthesis: A Pilot Study.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Implementation and Validation of a Data-Driven Variable Impedance Controller on the Össur Power Knee.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- Intelligent prosthetic hips and knees: from actuation to perception and control.Frontiers in neuroscience · 2025Review
- 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
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
We present the design of a powered knee-ankle prosthetic leg, which implements high-torque actuators with low-reduction transmissions. 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 in emerging robotic prosthetic legs, which include free-swinging knee motion, compliance with the ground, negligible unmodeled actuator dynamics, less acoustic noise, and power regeneration. Benchtop tests establish that both joints can be backdriven by small torques (~1-3 Nm) and confirm the small reflected inertia. Impedance control tests prove that the intrinsic impedance and unmodeled dynamics of the actuator are sufficiently small to control joint impedance without torque feedback or lengthy tuning trials. Walking experiments validate performance under the designed loading conditions with minimal tuning. Lastly, the regenerative abilities, low friction, and small reflected inertia of the presented actuators reduced power consumption and acoustic noise compared to state-of-art powered legs.
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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.