{"id":"https://openalex.org/W2045763110","doi":"https://doi.org/10.1109/iembs.2011.6090626","title":"Sensor-fault tolerant control of a powered lower limb prosthesis by mixing mode-specific adaptive Kalman filters","display_name":"Sensor-fault tolerant control of a powered lower limb prosthesis by mixing mode-specific adaptive Kalman filters","publication_year":2011,"publication_date":"2011-08-01","ids":{"openalex":"https://openalex.org/W2045763110","doi":"https://doi.org/10.1109/iembs.2011.6090626","mag":"2045763110","pmid":"https://pubmed.ncbi.nlm.nih.gov/22255142"},"language":"en","primary_location":{"id":"doi:10.1109/iembs.2011.6090626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2011.6090626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","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/A5022628269","display_name":"Anirban Dutta","orcid":"https://orcid.org/0000-0002-7298-9773"},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"A. Dutta","raw_affiliation_strings":["Department of Clinical Neurophysiology, Georg-August-University, Goettingen, Germany. adutta@ieee.org","Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)","DEMAR - Artificial movement and gait restoration (France)"],"affiliations":[{"raw_affiliation_string":"Department of Clinical Neurophysiology, Georg-August-University, Goettingen, Germany. adutta@ieee.org","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)","institution_ids":["https://openalex.org/I74656192"]},{"raw_affiliation_string":"DEMAR - Artificial movement and gait restoration (France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109157923","display_name":"Konrad Koerding","orcid":null},"institutions":[{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]},{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"K. Koerding","raw_affiliation_strings":["Department of Physiology, Northwestern University, Chicago, USA","Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)"],"affiliations":[{"raw_affiliation_string":"Department of Physiology, Northwestern University, Chicago, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091823591","display_name":"Eric J. Perreault","orcid":"https://orcid.org/0000-0002-9860-6427"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"E. Perreault","raw_affiliation_strings":["Department of Biomedical Engineering, Northwestern University, Chicago, USA","Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Northwestern University, Chicago, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)","institution_ids":["https://openalex.org/I74656192"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018478365","display_name":"Levi J. Hargrove","orcid":"https://orcid.org/0000-0002-1705-0050"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]},{"id":"https://openalex.org/I74656192","display_name":"University of G\u00f6ttingen","ror":"https://ror.org/01y9bpm73","country_code":"DE","type":"education","lineage":["https://openalex.org/I74656192"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"L. Hargrove","raw_affiliation_strings":["Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, USA","Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)"],"affiliations":[{"raw_affiliation_string":"Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, USA","institution_ids":["https://openalex.org/I111979921"]},{"raw_affiliation_string":"Department of Clinical Neurophysiology [G\u00f6ttingen] (Georg-August-University, Robert-Koch-Stra\u00dfe 40, G\u00f6ttingen D-37075, Germany - Germany)","institution_ids":["https://openalex.org/I74656192"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5022628269"],"corresponding_institution_ids":["https://openalex.org/I74656192"],"apc_list":null,"apc_paid":null,"fwci":0.647,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.70730209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2011","issue":null,"first_page":"3696","last_page":"3699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9970999956130981,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9531999826431274,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/interfacing","display_name":"Interfacing","score":0.7308031320571899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6132039427757263},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5908991098403931},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41592854261398315},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3816646635532379},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3330042064189911},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2782667875289917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21047264337539673}],"concepts":[{"id":"https://openalex.org/C2776303644","wikidata":"https://www.wikidata.org/wiki/Q1020499","display_name":"Interfacing","level":2,"score":0.7308031320571899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6132039427757263},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5908991098403931},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41592854261398315},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3816646635532379},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3330042064189911},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2782667875289917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21047264337539673},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.0}],"mesh":[{"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":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","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":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008962","descriptor_name":"Models, Theoretical","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D011336","descriptor_name":"Probability","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011336","descriptor_name":"Probability","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D011336","descriptor_name":"Probability","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/iembs.2011.6090626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iembs.2011.6090626","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society","raw_type":"proceedings-article"},{"id":"pmid:22255142","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/22255142","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},{"id":"pmh:oai:HAL:hal-01062434v1","is_oa":false,"landing_page_url":"https://inria.hal.science/hal-01062434","pdf_url":null,"source":{"id":"https://openalex.org/S4406922461","display_name":"SPIRE - Sciences Po Institutional REpository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. pp.3696-3699, ⟨10.1109/IEMBS.2011.6090626⟩","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1979892952","https://openalex.org/W2105102432","https://openalex.org/W2106951868","https://openalex.org/W2125393120","https://openalex.org/W2144910137","https://openalex.org/W2156064084","https://openalex.org/W2322427245"],"related_works":["https://openalex.org/W2136647108","https://openalex.org/W2350029007","https://openalex.org/W1965180958","https://openalex.org/W1973428399","https://openalex.org/W2182594080","https://openalex.org/W2484987020","https://openalex.org/W2152662857","https://openalex.org/W2017757432","https://openalex.org/W2047994557","https://openalex.org/W1980060958"],"abstract_inverted_index":{"Machine":[0],"learning":[1],"methods":[2],"for":[3,18,26],"interfacing":[4,19],"humans":[5,20],"with":[6,21,48],"machines":[7],"is":[8,115],"an":[9,72],"emerging":[10],"area.":[11],"Here":[12],"we":[13],"propose":[14],"a":[15,67,99,104,111],"novel":[16],"algorithm":[17],"powered":[22],"lower":[23],"limb":[24],"prostheses":[25],"restoring":[27],"control":[28,43,71],"of":[29,60,78,90],"naturalistic":[30],"gait":[31],"following":[32],"amputation.":[33],"Unlike":[34],"most":[35],"previous":[36],"neural":[37],"machine":[38],"interfaces,":[39],"our":[40],"approach":[41],"fuses":[42],"information":[44,50],"from":[45,51,82],"the":[46,52,56,61],"user":[47],"sensor":[49,119],"prosthesis":[53],"to":[54,70,117],"approximate":[55],"closed":[57],"loop":[58],"behavior":[59],"unimpaired":[62],"sensorimotor":[63],"system.":[64],"We":[65,106],"present":[66],"Bayesian":[68],"framework":[69],"artificial":[73],"knee":[74],"by":[75],"probabilistically":[76],"mixing":[77],"process":[79],"state":[80],"estimates":[81],"different":[83],"Kalman":[84],"filters,":[85],"each":[86],"addressing":[87],"separate":[88],"regimes":[89],"locomotion":[91],"such":[92],"as":[93,110],"level":[94],"ground":[95],"walking,":[96],"walking":[97,102],"up":[98],"ramp,":[100],"and":[101],"down":[103],"ramp.":[105],"show":[107],"its":[108],"utility":[109],"mode":[112],"classifier":[113],"that":[114],"tolerant":[116],"temporary":[118],"faults":[120],"which":[121],"are":[122],"frequently":[123],"experienced":[124],"in":[125],"practical":[126],"applications.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}