ArticleControl Technology and Applications. Control Technology and Applications2021
Toward Phase-Variable Control of Sit-to-Stand Motion with a Powered Knee-Ankle Prosthesis.
Article in Control Technology and Applications. Control Technology and Applications, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
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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
4 citing papers in PubMed.
- Can a powered knee-ankle prosthesis improve weight-bearing symmetry during stand-to-sit transitions in individuals with above-knee amputations?Journal of neuroengineering and rehabilitation · 2023Article
- Improving Sit/Stand Loading Symmetry and Timing Through Unified Variable Impedance Control of a Powered Knee-Ankle Prosthesis.IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society · 2023Article
- Data-Driven Variable Impedance Control of a Powered Knee-Ankle Prosthesis for Sit, Stand, and Walk with Minimal Tuning.Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems · 2022Article
- Real-Time Activity Recognition With Instantaneous Characteristic Features of Thigh Kinematics.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
4 authors.
Funding
Abstract
This paper presents a new model and phase-variable controller for sit-to-stand motion in above-knee amputees. The model captures the effect of work done by the sound side and residual limb on the prosthesis, while modeling only the prosthetic knee and ankle with a healthy hip joint that connects the thigh to the torso. The controller is parametrized by a biomechanical phase variable rather than time and is analyzed in simulation using the model. We show that this controller performs well with minimal tuning, under a range of realistic initial conditions and biological parameters such as height and body mass. The controller generates kinematic trajectories that are comparable to experimentally observed trajectories in non-amputees. Furthermore, the torques commanded by the controller are consistent with torque profiles and peak values of normative human sit-to-stand motion. Rise times measured in simulation and in non-amputee experiments are also similar. Finally, we compare the presented controller with a baseline proportional-derivative controller demonstrating the advantages of the phase-based design over a set-point based design.
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.