{"id":"https://openalex.org/W4389428755","doi":"https://doi.org/10.1109/tbme.2023.3340628","title":"Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles","display_name":"Automatic Stub Avoidance for a Powered Prosthetic Leg Over Stairs and Obstacles","publication_year":2023,"publication_date":"2023-12-07","ids":{"openalex":"https://openalex.org/W4389428755","doi":"https://doi.org/10.1109/tbme.2023.3340628","pmid":"https://pubmed.ncbi.nlm.nih.gov/38060364"},"language":"en","primary_location":{"id":"doi:10.1109/tbme.2023.3340628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2023.3340628","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11035099/pdf/nihms-1950455.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026757426","display_name":"Shihao Cheng","orcid":"https://orcid.org/0000-0003-3413-6400"},"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"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shihao Cheng","raw_affiliation_strings":["Department of Robotics, University of Michigan, USA","Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-3413-6400","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026979785","display_name":"Curt A. Laubscher","orcid":"https://orcid.org/0000-0003-3513-8184"},"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"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Curt A. Laubscher","raw_affiliation_strings":["Department of Robotics, University of Michigan, USA","Department of Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0003-3513-8184","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, USA","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","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 Robotics, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":"https://orcid.org/0000-0002-0729-2857","affiliations":[{"raw_affiliation_string":"Department of Robotics, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8242,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.84642157,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"71","issue":"5","first_page":"1499","last_page":"1510"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9947999715805054,"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":0.9947999715805054,"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":0.9937999844551086,"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":0.9872000217437744,"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/stairs","display_name":"Stairs","score":0.871878981590271},{"id":"https://openalex.org/keywords/stub","display_name":"Stub (electronics)","score":0.5201675891876221},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46472957730293274},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4516420364379883},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.448058545589447},{"id":"https://openalex.org/keywords/artificial-limbs","display_name":"Artificial limbs","score":0.43145716190338135},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37702155113220215},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.3709472417831421},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3496556878089905},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.24963602423667908},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.23964324593544006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2039720118045807},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1815444529056549},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17131665349006653},{"id":"https://openalex.org/keywords/prosthesis","display_name":"Prosthesis","score":0.147674560546875},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.11680454015731812}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.871878981590271},{"id":"https://openalex.org/C63676506","wikidata":"https://www.wikidata.org/wiki/Q3976238","display_name":"Stub (electronics)","level":2,"score":0.5201675891876221},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46472957730293274},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4516420364379883},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.448058545589447},{"id":"https://openalex.org/C2987467780","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Artificial limbs","level":3,"score":0.43145716190338135},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37702155113220215},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3709472417831421},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3496556878089905},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.24963602423667908},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.23964324593544006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2039720118045807},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1815444529056549},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17131665349006653},{"id":"https://openalex.org/C2778715743","wikidata":"https://www.wikidata.org/wiki/Q181802","display_name":"Prosthesis","level":2,"score":0.147674560546875},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.11680454015731812}],"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":"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":"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":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000674","descriptor_name":"Amputees","qualifier_ui":"Q000534","qualifier_name":"rehabilitation","is_major_topic":true},{"descriptor_ui":"D000842","descriptor_name":"Ankle","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000843","descriptor_name":"Ankle Joint","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":"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":"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":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","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":"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":"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":"D007866","descriptor_name":"Leg","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":"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":"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":"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":"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":"D016138","descriptor_name":"Walking","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false}],"locations_count":3,"locations":[{"id":"doi:10.1109/tbme.2023.3340628","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tbme.2023.3340628","pdf_url":null,"source":{"id":"https://openalex.org/S5240358","display_name":"IEEE Transactions on Biomedical Engineering","issn_l":"0018-9294","issn":["0018-9294","1558-2531"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Biomedical Engineering","raw_type":"journal-article"},{"id":"pmid:38060364","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38060364","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":"IEEE transactions on bio-medical engineering","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11035099","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11035099","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11035099/pdf/nihms-1950455.pdf","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Biomed Eng","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:pubmedcentral.nih.gov:11035099","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11035099","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11035099/pdf/nihms-1950455.pdf","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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Trans Biomed Eng","raw_type":"Text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1004636238","display_name":null,"funder_award_id":"R01 HD094772","funder_id":"https://openalex.org/F4320337611","funder_display_name":"Eunice Kennedy Shriver National Institute of Child Health and Human Development"},{"id":"https://openalex.org/G3426788153","display_name":null,"funder_award_id":"R01HD094772","funder_id":"https://openalex.org/F4320332161","funder_display_name":"National Institutes of Health"}],"funders":[{"id":"https://openalex.org/F4320332161","display_name":"National Institutes of Health","ror":"https://ror.org/01cwqze88"},{"id":"https://openalex.org/F4320337364","display_name":"National Institute of Child Health and Human Development","ror":"https://ror.org/04byxyr05"},{"id":"https://openalex.org/F4320337611","display_name":"Eunice Kennedy Shriver National Institute of Child Health and Human Development","ror":"https://ror.org/04byxyr05"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4389428755.pdf","grobid_xml":"https://content.openalex.org/works/W4389428755.grobid-xml"},"referenced_works_count":57,"referenced_works":["https://openalex.org/W1011227367","https://openalex.org/W1967516228","https://openalex.org/W1971846877","https://openalex.org/W2007463440","https://openalex.org/W2017249007","https://openalex.org/W2042769499","https://openalex.org/W2043271804","https://openalex.org/W2053350700","https://openalex.org/W2071787606","https://openalex.org/W2082448527","https://openalex.org/W2120212185","https://openalex.org/W2122887607","https://openalex.org/W2134208106","https://openalex.org/W2143119804","https://openalex.org/W2145352197","https://openalex.org/W2165144034","https://openalex.org/W2165938052","https://openalex.org/W2299017612","https://openalex.org/W2326837543","https://openalex.org/W2337738013","https://openalex.org/W2352725842","https://openalex.org/W2613036214","https://openalex.org/W2792994057","https://openalex.org/W2793986549","https://openalex.org/W2804555486","https://openalex.org/W2890566160","https://openalex.org/W2899048881","https://openalex.org/W2946422201","https://openalex.org/W2962896813","https://openalex.org/W2965569660","https://openalex.org/W2966226054","https://openalex.org/W2966765967","https://openalex.org/W2967143823","https://openalex.org/W3012175404","https://openalex.org/W3045470471","https://openalex.org/W3148074603","https://openalex.org/W3157775549","https://openalex.org/W3172986630","https://openalex.org/W3194165539","https://openalex.org/W3203831484","https://openalex.org/W3210416003","https://openalex.org/W4206206425","https://openalex.org/W4221134828","https://openalex.org/W4226055619","https://openalex.org/W4285102452","https://openalex.org/W4285150664","https://openalex.org/W4285595616","https://openalex.org/W4297037733","https://openalex.org/W4310332788","https://openalex.org/W4315874482","https://openalex.org/W4316013192","https://openalex.org/W4323659733","https://openalex.org/W4362576326","https://openalex.org/W4387197057","https://openalex.org/W4387790087","https://openalex.org/W4388089603","https://openalex.org/W4389667247"],"related_works":["https://openalex.org/W2570308965","https://openalex.org/W2049247410","https://openalex.org/W2318265355","https://openalex.org/W1486724195","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W4200464353","https://openalex.org/W2592227335","https://openalex.org/W2387566434"],"abstract_inverted_index":{"Passive":[0],"prosthetic":[1,61,82],"legs":[2],"require":[3],"undesirable":[4],"compensations":[5,20],"from":[6,71],"amputee":[7,91],"users":[8],"to":[9,124,138],"avoid":[10,139],"stubbing":[11],"obstacles":[12,114,144],"and":[13,32,105,143],"stairsteps.":[14],"Powered":[15],"prostheses":[16,137],"can":[17],"reduce":[18],"those":[19],"by":[21,42,103],"restoring":[22,146],"normative":[23,147],"joint":[24],"biomechanics,":[25],"but":[26],"the":[27,37,43,46,81,97],"absence":[28,38],"of":[29,39,48,68],"user":[30],"proprioception":[31],"volitional":[33],"control":[34,94],"combined":[35],"with":[36,88,141],"environmental":[40,69],"awareness":[41],"prosthesis":[44],"increases":[45],"risk":[47],"collisions.":[49],"This":[50],"article":[51],"presents":[52],"a":[53,72,85,131],"novel":[54],"stub":[55,98],"avoidance":[56,109],"controller":[57],"that":[58],"automatically":[59],"adjusts":[60],"knee/ankle":[62],"kinematics":[63],"based":[64],"on":[65,115],"suprasensory":[66],"measurements":[67],"distance":[70],"small,":[73],"lightweight,":[74],"low-power,":[75],"low-cost":[76],"ultrasonic":[77],"sensor":[78],"mounted":[79],"above":[80],"ankle.":[83],"In":[84],"case":[86],"study":[87],"two":[89],"transfemoral":[90],"participants,":[92],"this":[93],"method":[95],"reduced":[96],"rate":[99,110],"during":[100,149],"stair":[101],"ascent":[102],"89.95%":[104],"demonstrated":[106],"an":[107],"87.50%":[108],"for":[111,135],"crossing":[112],"different":[113],"level":[116],"ground.":[117],"No":[118],"thigh":[119],"kinematic":[120],"compensation":[121],"was":[122],"required":[123],"achieve":[125],"these":[126],"results.":[127],"These":[128],"findings":[129],"demonstrate":[130],"practical":[132],"perception":[133],"solution":[134],"powered":[136],"collisions":[140],"stairs":[142],"while":[145],"biomechanics":[148],"daily":[150],"activities.":[151]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
