ArticleFrontiers in neurorobotics2021
Control Framework for Sloped Walking With a Powered Transfemoral Prosthesis.
Article in Frontiers in neurorobotics, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed, 32 citations in OpenAlex.
- 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
- Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses.IEEE robotics and automation letters · 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
- Clinical trials of GPE-based muscle support algorithm for robotic hip exoskeleton: a pilot study.Scientific reports · 2025Article
- A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing.IEEE ... International Conference on Rehabilitation Robotics : [proceedings] · 2025Article
- 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
- HiDeS: a higher-order-derivative-supervised neural ordinary differential equation for multi-robot systems and opinion dynamics.Frontiers in neurorobotics · 2024Article
- Design, Kinematics and Gait Analysis, of Prosthetic Knee Joints: A Systematic Review.Bioengineering (Basel, Switzerland) · 2023Review
- 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
- Classification of gait phases based on a machine learning approach using muscle synergy.Frontiers in human neuroscience · 2023Article
- Biomechanical Impacts of Toe Joint With Transfemoral Amputee Using a Powered Knee-Ankle Prosthesis.Frontiers in neurorobotics · 2022Article
Corrections and comments
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Authors and funding
4 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
User customization of a lower-limb powered Prosthesis controller remains a challenge to this date. Controllers adopting impedance control strategies mandate tedious tuning for every joint, terrain condition, and user. Moreover, no relationship is known to exist between the joint control parameters and the slope condition. We present a control framework composed of impedance control and trajectory tracking, with the transitioning between the two strategies facilitated by Bezier curves. The impedance (stiffness and damping) functions vary as polynomials during the stance phase for both the knee and ankle. These functions were derived through least squares optimization with healthy human sloped walking data. The functions derived for each slope condition were simplified using principal component analysis. The weights of the resulting basis functions were found to obey monotonic trends within upslope and downslope walking, proving the existence of a relationship between the joint parameter functions and the slope angle. Using these trends, one can now design a controller for any given slope angle. Amputee and able-bodied walking trials with a powered transfemoral prosthesis revealed the controller to generate a healthy human gait. The observed kinematic and kinetic trends with the slope angle were similar to those found in healthy walking.
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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.