ArticleProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems2023
A Unified Controller for Natural Ambulation on Stairs and Level Ground with a Powered Robotic Knee Prosthesis.
Article in Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
What it found
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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
11 citing papers in PubMed, 14 citations in OpenAlex.
- Multi-Level Perception Systems in Fusion of Lifeforms: Classification, Challenges and Future Conceptions.Sensors (Basel, Switzerland) · 2026Review
- 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
- 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
- A low-noise low-impedance powered knee prosthesis with direct ball screw drive and torque-sensitive actuation.The International journal of robotics research · 2025Article
- The Only Way Is Up: Active Knee Exoskeleton Reduces Muscular Effort in Quadriceps During Weighted Stair Ascent.IEEE robotics and automation letters · 2025Article
- Enhancing Robot Transparency in Human-Robot Prosthesis Interaction to Mitigate Terrain Misrecognition Error.IEEE transactions on medical robotics and bionics · 2025Article
- Mode-Unified Intent Estimation of a Robotic Prosthesis using Deep-Learning.IEEE robotics and automation letters · 2025Article
- Kinematics, kinetics, and muscle activations during human locomotion over compliant terrains.Scientific data · 2025Article
- 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
- 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
Corrections and comments
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Authors and funding
5 authors at 3 institutions in 1 country.
Funding
Abstract
Powered lower-limb prostheses have the potential to improve amputee mobility by closely imitating the biomechanical function of the missing biological leg. To accomplish this goal, powered prostheses need controllers that can seamlessly adapt to the ambulation activity intended by the user. Most powered prosthesis control architectures address this issue by switching between specific controllers for each activity. This approach requires online classification of the intended ambulation activity. Unfortunately, any misclassification can cause the prosthesis to perform a different movement than the user expects, increasing the likelihood of falls and injuries. Therefore, classification approaches require near-perfect accuracy to be used safely in real life. In this paper, we propose a unified controller for powered knee prostheses which allows for walking, stair ascent, and stair descent without the need for explicit activity classification. Experiments with one individual with an above-knee amputation show that the proposed controller enables seamless transitions between activities. Moreover, transition between activities is possible while leading with either the sound-side or the prosthesis. A controller with these characteristics has the potential to improve amputee mobility.
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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.