{"id":"https://openalex.org/W4200062316","doi":"https://doi.org/10.1109/iros51168.2021.9636180","title":"Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines","display_name":"Phase-Variable Control of a Powered Knee-Ankle Prosthesis over Continuously Varying Speeds and Inclines","publication_year":2021,"publication_date":"2021-09-27","ids":{"openalex":"https://openalex.org/W4200062316","doi":"https://doi.org/10.1109/iros51168.2021.9636180","pmid":"https://pubmed.ncbi.nlm.nih.gov/35251752"},"language":"en","primary_location":{"id":"doi:10.1109/iros51168.2021.9636180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636180","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8890507","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034840911","display_name":"T. Kevin Best","orcid":"https://orcid.org/0000-0002-0404-2166"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T. Kevin Best","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021066997","display_name":"Kyle Embry","orcid":"https://orcid.org/0000-0002-4629-2630"},"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/I1324242722","display_name":"Shirley Ryan AbilityLab","ror":"https://ror.org/02ja0m249","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1324242722"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyle R. Embry","raw_affiliation_strings":["Max Nader Lab for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, and the Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611","Max Nader Lab for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, Northwestern University, Chicago, IL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Nader Lab for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, and the Department of Physical Medicine and Rehabilitation, Northwestern University, Chicago, IL 60611","institution_ids":["https://openalex.org/I1324242722"]},{"raw_affiliation_string":"Max Nader Lab for Rehabilitation Technologies and Outcomes Research, Shirley Ryan AbilityLab, Northwestern University, Chicago, IL","institution_ids":["https://openalex.org/I1324242722","https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075910975","display_name":"Elliott J. Rouse","orcid":"https://orcid.org/0000-0003-3880-1527"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elliott J. Rouse","raw_affiliation_strings":["Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051369788","display_name":"Robert D. Gregg","orcid":"https://orcid.org/0000-0002-0729-2857"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert D. Gregg","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science and the Robotics Institute, University of Michigan, Ann Arbor, MI 48109","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":20.0283,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.99745093,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2021","issue":null,"first_page":"6182","last_page":"6189"},"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":0.9965999722480774,"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/T10562","display_name":"Total Knee Arthroplasty Outcomes","score":0.9696000218391418,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8326107263565063},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6291431188583374},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.6022845506668091},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5891167521476746},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.57247394323349},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5594472885131836},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5346115827560425},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49099400639533997},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4364648759365082},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23919016122817993},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1524132490158081},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13898378610610962},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11383107304573059},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08955144882202148},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08943513035774231}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8326107263565063},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6291431188583374},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.6022845506668091},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5891167521476746},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.57247394323349},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5594472885131836},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346115827560425},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49099400639533997},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4364648759365082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23919016122817993},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1524132490158081},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13898378610610962},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11383107304573059},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08955144882202148},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08943513035774231},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros51168.2021.9636180","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros51168.2021.9636180","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmid:35251752","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35251752","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":"Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:8890507","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8890507","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:8890507","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/8890507","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Rep U S","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338440","display_name":"HORIZON EUROPE Health","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1971846877","https://openalex.org/W2017249007","https://openalex.org/W2044278802","https://openalex.org/W2074563816","https://openalex.org/W2078457597","https://openalex.org/W2079209541","https://openalex.org/W2113642685","https://openalex.org/W2117608991","https://openalex.org/W2122365325","https://openalex.org/W2134208106","https://openalex.org/W2139716007","https://openalex.org/W2142114107","https://openalex.org/W2352725842","https://openalex.org/W2792994057","https://openalex.org/W2883939927","https://openalex.org/W2890566160","https://openalex.org/W2899699839","https://openalex.org/W2928709887","https://openalex.org/W2956097110","https://openalex.org/W2966226054","https://openalex.org/W2990263641","https://openalex.org/W3006131609","https://openalex.org/W3045470471","https://openalex.org/W3090048627","https://openalex.org/W3094416664","https://openalex.org/W3108775639","https://openalex.org/W3111887757","https://openalex.org/W4206206425","https://openalex.org/W4211003818","https://openalex.org/W6786806091","https://openalex.org/W6806260460"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W2532934974","https://openalex.org/W2965229072","https://openalex.org/W2547001673","https://openalex.org/W3036227703","https://openalex.org/W2516761344","https://openalex.org/W4384824586"],"abstract_inverted_index":{"Most":[0],"controllers":[1],"for":[2,11,140,157],"lower-limb":[3],"robotic":[4],"prostheses":[5],"require":[6],"individually":[7],"tuned":[8],"parameter":[9],"sets":[10],"every":[12],"combination":[13],"of":[14,30,39,45,60,70,80,108,127,150],"speed":[15,152,177],"and":[16,32,62,111,119,144,153,160,178],"incline":[17,154,179],"that":[18,54,167],"the":[19,78,100,116,147,151,163],"device":[20],"is":[21],"designed":[22],"for.":[23],"Because":[24],"ambulation":[25],"occurs":[26],"over":[27,57],"a":[28,40,58,67,81,87,95,124],"continuum":[29],"speeds":[31,61,143],"inclines,":[33,145],"this":[34,74],"design":[35],"paradigm":[36],"requires":[37],"tuning":[38],"potentially":[41],"prohibitively":[42],"large":[43],"number":[44,69],"parameters.":[46,72],"This":[47],"limitation":[48],"motivates":[49],"an":[50,133],"alternative":[51],"control":[52],"framework":[53],"enables":[55],"walking":[56,112],"range":[59],"inclines":[63],"while":[64],"requiring":[65],"only":[66],"limited":[68],"tunable":[71],"In":[73],"work,":[75],"we":[76],"present":[77],"implementation":[79],"continuously":[82],"varying":[83],"kinematic":[84,129,170],"controller":[85,93,164],"on":[86],"custom":[88],"powered":[89],"knee-ankle":[90],"prosthesis.":[91],"The":[92],"uses":[94],"phase":[96,135],"variable":[97,136],"derived":[98],"from":[99,123],"residual":[101],"thigh":[102],"angle,":[103],"along":[104],"with":[105],"real-time":[106],"estimates":[107],"ground":[109],"inclination":[110],"speed,":[113],"to":[114,138],"compute":[115],"appropriate":[117],"knee":[118],"ankle":[120],"joint":[121],"angles":[122],"continuous":[125],"model":[126],"able-bodied":[128,174],"data.":[130],"We":[131],"modify":[132],"existing":[134],"architecture":[137],"allow":[139],"changes":[141],"in":[142,173],"quantify":[146],"closed-loop":[148],"accuracy":[149],"estimation":[155],"algorithms":[156],"various":[158],"references,":[159],"experimentally":[161],"validate":[162],"by":[165],"observing":[166],"it":[168],"replicates":[169],"trends":[171],"seen":[172],"gait":[175],"as":[176],"vary.":[180]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":20},{"year":2021,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
