{"id":"https://openalex.org/W2294109476","doi":"https://doi.org/10.1109/embc.2015.7319462","title":"Combining human volitional control with intrinsic controller on robotic prosthesis: A case study on adaptive slope walking","display_name":"Combining human volitional control with intrinsic controller on robotic prosthesis: A case study on adaptive slope walking","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W2294109476","doi":"https://doi.org/10.1109/embc.2015.7319462","mag":"2294109476","pmid":"https://pubmed.ncbi.nlm.nih.gov/26737362"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2015.7319462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5026574260","display_name":"Baojun Chen","orcid":"https://orcid.org/0000-0002-2840-7617"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baojun Chen","raw_affiliation_strings":["Robotics Research Group, College of Engineering, Peking University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Group, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025723618","display_name":"Qining Wang","orcid":"https://orcid.org/0000-0003-3484-4810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qining Wang","raw_affiliation_strings":["Robot. Res. Group, Peking University, Beijing, Beijing, CN"],"affiliations":[{"raw_affiliation_string":"Robot. Res. Group, Peking University, Beijing, Beijing, CN","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5026574260"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":0.3813,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.64560105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2015","issue":null,"first_page":"4777","last_page":"4780"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9628000259399414,"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/controller","display_name":"Controller (irrigation)","score":0.7460968494415283},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.5947794914245605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5475897789001465},{"id":"https://openalex.org/keywords/electromyography","display_name":"Electromyography","score":0.5141392350196838},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.45270416140556335},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4340794086456299},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4139770269393921},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39254671335220337},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3846229612827301},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.36990636587142944},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2755843698978424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.174530029296875},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11430197954177856},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10205155611038208}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7460968494415283},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.5947794914245605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5475897789001465},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.5141392350196838},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.45270416140556335},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4340794086456299},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4139770269393921},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39254671335220337},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3846229612827301},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.36990636587142944},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2755843698978424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.174530029296875},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11430197954177856},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10205155611038208},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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}],"mesh":[{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000328","descriptor_name":"Adult","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001186","descriptor_name":"Artificial Limbs","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D004576","descriptor_name":"Electromyography","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D005080","descriptor_name":"Exercise Test","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005080","descriptor_name":"Exercise Test","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005080","descriptor_name":"Exercise Test","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008297","descriptor_name":"Male","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011474","descriptor_name":"Prosthesis Design","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000295","qualifier_name":"instrumentation","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":false},{"descriptor_ui":"D014836","descriptor_name":"Volition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014836","descriptor_name":"Volition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014836","descriptor_name":"Volition","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D016138","descriptor_name":"Walking","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D062207","descriptor_name":"Brain-Computer Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D062207","descriptor_name":"Brain-Computer Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D062207","descriptor_name":"Brain-Computer Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/embc.2015.7319462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2015.7319462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:26737362","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/26737362","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1967922857","https://openalex.org/W1979892952","https://openalex.org/W1985158854","https://openalex.org/W2004072317","https://openalex.org/W2020204205","https://openalex.org/W2025355037","https://openalex.org/W2059530986","https://openalex.org/W2063016156","https://openalex.org/W2098682658","https://openalex.org/W2131428895","https://openalex.org/W2134208106","https://openalex.org/W6998750141"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Affording":[0],"lower-limb":[1],"amputees":[2],"the":[3,12,49,53,58,86,91,95,109,131,143,160,183,190],"ability":[4],"to":[5,14,38,89,112,116,130,141,188],"volitionally":[6,120],"control":[7,47],"robotic":[8,54],"prostheses":[9],"can":[10],"improve":[11],"adaptability":[13],"terrain":[15],"changes":[16,115],"as":[17,19],"well":[18],"enhancing":[20],"proprioception.":[21],"However,":[22],"it":[23],"also":[24],"increases":[25],"amputees'":[26],"conscious":[27,65],"burdens":[28],"for":[29,74],"prosthesis":[30,62],"control.":[31],"Therefore,":[32],"in":[33,85,153],"this":[34,68,154],"paper,":[35],"we":[36],"aim":[37],"propose":[39],"a":[40,71,105],"hybrid":[41,72,135,184],"controller":[42,51,73,88,107,118,136,185],"which":[43],"combines":[44],"human":[45],"volitional":[46,181],"with":[48,63,168],"intrinsic":[50,87,161],"on":[52],"transtibial":[55,148],"prosthesis,":[56],"enabling":[57],"amputee":[59,110,149],"actively":[60],"controlling":[61],"little":[64],"attention.":[66],"In":[67],"preliminary":[69],"study,":[70],"adaptive":[75],"slope":[76,81,93,114,132,162,192],"walking":[77],"was":[78,83,151],"designed.":[79],"A":[80],"estimator":[82,163],"embedded":[84],"estimate":[90],"ground":[92],"of":[94,173],"previous":[96],"step":[97],"using":[98],"signals":[99,127],"measured":[100],"by":[101,119],"prosthetic":[102,117],"sensors.":[103],"And":[104],"myoelectric":[106],"allows":[108],"subject":[111,150],"convey":[113],"contract":[121],"his":[122],"residual":[123],"muscles,":[124],"whose":[125],"electromyography":[126],"were":[128],"mapped":[129],"increment.":[133],"The":[134],"combined":[137],"these":[138],"two":[139],"results":[140,157,167],"obtain":[142],"estimated":[144],"slope.":[145],"One":[146],"male":[147],"recruited":[152],"research.":[155],"Experiment":[156],"showed":[158],"that":[159],"produced":[164],"satisfactory":[165],"estimation":[166],"an":[169],"average":[170],"absolute":[171],"error":[172],"0.70":[174],"\u00b1":[175],"0.54":[176],"degrees.":[177],"By":[178],"adding":[179],"amputee's":[180],"control,":[182],"is":[186],"able":[187],"predict":[189],"upcoming":[191],"changes.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}