ArticleIEEE transactions on medical robotics and bionics2022
Modeling the Transitional Kinematics Between Variable-Incline Walking and Stair Climbing.
Article in IEEE transactions on medical robotics and bionics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 15 papers.
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The trial behind it
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Who cites it
15 citing papers in PubMed.
- Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation 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
- Extremum-Seeking Control for a Robotic Leg Prosthesis with Sensory Feedback.Sensors (Basel, Switzerland) · 2025Article
- Mode-Unified Intent Estimation of a Robotic Prosthesis using Deep-Learning.IEEE robotics and automation letters · 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
- Pattern transition recognition based on transfer learning for exoskeleton across different terrains.PeerJ. Computer science · 2025Article
- Level-Ground and Stair Adaptation for Hip Exoskeletons Based on Continuous Locomotion Mode Perception.Cyborg and bionic systems (Washington, D.C.) · 2025Article
- Improving Task-Agnostic Energy Shaping Control of Powered Exoskeletons with Task/Gait Classification.IEEE robotics and automation letters · 2024Article
- Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles.IEEE transactions on bio-medical engineering · 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
- 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
- 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
- Generating synthetic gait patterns based on benchmark datasets for controlling prosthetic legs.Journal of neuroengineering and rehabilitation · 2023Article
- Design, Kinematics and Gait Analysis, of Prosthetic Knee Joints: A Systematic Review.Bioengineering (Basel, Switzerland) · 2023Review
- There are unique kinematics during locomotor transitions between level ground and stair ambulation that persist with increasing stair grade.Scientific reports · 2023Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
Although emerging powered prostheses can enable people with lower-limb amputation to walk and climb stairs over different task conditions (e.g., speeds and inclines), the control architecture typically uses a finite-state machine to switch between activity-specific controllers. Because these controllers focus on steady-state locomotion, powered prostheses abruptly switch between controllers during gait transitions rather than continuously adjusting leg biomechanics in synchrony with the users. This paper introduces a new framework for powered prosthesis control by modeling the lower-limb joint kinematics over a continuum of variable-incline walking and stair climbing, including steady-state and transitional gaits. Steady-state models for walking and stair climbing represent joint kinematics as continuous functions of gait phase, forward speed, and incline. Transition models interpolate kinematics as convex combinations of the two steady-state models, with an additional term to account for kinematics that fall outside their convex hull. The coefficients of this convex combination denote the similarity of the transitional kinematics to each steady-state mode, providing insight into how able-bodied individuals continuously transition between ambulation modes. Cross-validation demonstrates that the model predictions of untrained kinematics have errors within the range of physiological variability for all joints. Simulation results demonstrate the model's robustness to incline estimation and mode classification errors.
Identifiers
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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.