{"id":"https://openalex.org/W2481717547","doi":"https://doi.org/10.1109/acc.2016.7525376","title":"Robust composite adaptive transfemoral prosthesis control with non-scalar boundary layer trajectories","display_name":"Robust composite adaptive transfemoral prosthesis control with non-scalar boundary layer trajectories","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2481717547","doi":"https://doi.org/10.1109/acc.2016.7525376","mag":"2481717547"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2016.7525376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024503743","display_name":"Vahid Azimi","orcid":"https://orcid.org/0000-0002-5694-3871"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vahid Azimi","raw_affiliation_strings":["Cleveland State University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019862542","display_name":"Dan Simon","orcid":"https://orcid.org/0000-0002-1289-4000"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dan Simon","raw_affiliation_strings":["Cleveland State University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051347846","display_name":"Hanz Richter","orcid":"https://orcid.org/0000-0001-6079-3186"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hanz Richter","raw_affiliation_strings":["Cleveland State University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008438405","display_name":"Seyed Abolfazl Fakoorian","orcid":"https://orcid.org/0000-0001-7396-7704"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Abolfazl Fakoorian","raw_affiliation_strings":["Cleveland State University, Cleveland, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cleveland State University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5008,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.9253894,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3002","last_page":"3007"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.862370491027832},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6556715369224548},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.6364155411720276},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.507042646408081},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48638060688972473},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45255979895591736},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4515478014945984},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3259545564651489},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3219650685787201},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14865157008171082}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.862370491027832},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6556715369224548},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.6364155411720276},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.507042646408081},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48638060688972473},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45255979895591736},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4515478014945984},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3259545564651489},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3219650685787201},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14865157008171082},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/acc.2016.7525376","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2016.7525376","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:engagedscholarship.csuohio.edu:enece_facpub-1390","is_oa":false,"landing_page_url":"https://engagedscholarship.csuohio.edu/enece_facpub/381","pdf_url":null,"source":{"id":"https://openalex.org/S4306400889","display_name":"EngagedScholarship @ Cleveland State University (Cleveland State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102607778","host_organization_name":"Cleveland State University","host_organization_lineage":["https://openalex.org/I102607778"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Electrical Engineering &amp; Computer Science Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8199999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1984598383","https://openalex.org/W1985130317","https://openalex.org/W2017382559","https://openalex.org/W2039288896","https://openalex.org/W2065720856","https://openalex.org/W2068350246","https://openalex.org/W2078623275","https://openalex.org/W2091833895","https://openalex.org/W2099255026","https://openalex.org/W2118866368","https://openalex.org/W2134208106","https://openalex.org/W2154553161","https://openalex.org/W2187691308","https://openalex.org/W2282355089","https://openalex.org/W2437605640","https://openalex.org/W2503809436","https://openalex.org/W4234832683"],"related_works":["https://openalex.org/W2108470770","https://openalex.org/W1980376593","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W1562326332","https://openalex.org/W2319803529","https://openalex.org/W1550017747","https://openalex.org/W2152839317"],"abstract_inverted_index":{"We":[0,23,79,112,131,149],"propose":[1],"a":[2,13,25,35,82,126],"robust":[3,26,198],"composite":[4],"adaptive":[5,27,200],"impedance":[6],"controller":[7,28,40,135,160],"with":[8,196],"bounded-gain":[9],"forgetting":[10],"(BGF)":[11],"for":[12,20,120,161],"three":[14],"degree-of-freedom":[15],"(3-DOF)":[16],"active":[17],"prosthetic":[18],"leg":[19],"transfemoral":[21],"amputees.":[22],"design":[24,81,132],"so":[29],"the":[30,39,71,101,106,110,114,117,121,133,138,156,159,168,172,197],"error":[31,96,99],"trajectories":[32],"converge":[33],"to":[34,43,74,104,136,145,154],"boundary":[36,52,72,128],"layer":[37,53,73,129],"and":[38,48,61,97,144,164,189],"shows":[41],"robustness":[42],"ground":[44],"reaction":[45],"forces":[46],"(GRFs)":[47],"parameter":[49,77,91,187],"uncertainties.":[50],"The":[51],"not":[54],"only":[55],"compromises":[56],"between":[57],"control":[58],"signal":[59],"chattering":[60],"tracking":[62,95,193],"performance,":[63],"but":[64],"also":[65],"stops":[66],"tracking-error-based":[67,83],"(TEB)":[68],"adaptation":[69,87,92],"in":[70,192],"prevent":[75],"unfavorable":[76],"drift.":[78],"then":[80],"/":[84],"prediction-error-based":[85],"(TEB/PEB)":[86],"law,":[88],"which":[89],"drives":[90],"using":[93,125],"both":[94,162],"prediction":[98],"on":[100],"joint":[102],"torques":[103],"estimate":[105],"uncertain":[107],"parameters":[108,175],"of":[109,116,141,158,167],"system.":[111],"prove":[113],"stability":[115],"closed-loop":[118],"system":[119,169,174],"prosthesis":[122,134],"robot":[123],"model":[124],"non-scalar":[127],"trajectory.":[130],"imitate":[137],"biomechanical":[139],"properties":[140],"able-bodied":[142],"walking":[143],"provide":[146],"smooth":[147],"gait.":[148],"finally":[150],"present":[151],"simulation":[152],"results":[153],"confirm":[155],"effectiveness":[157],"nominal":[163,181],"perturbed":[165],"values":[166],"parameters.":[170],"When":[171],"unknown":[173],"deviate":[176],"by":[177],"30%":[178],"from":[179],"their":[180],"values,":[182],"we":[183],"achieve":[184],"more":[185],"accurate":[186],"estimation":[188],"6%":[190],"improvement":[191],"performance":[194],"compared":[195],"TEB":[199],"controller.":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
