{"id":"https://openalex.org/W1997253004","doi":"https://doi.org/10.1145/2728606.2728638","title":"Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control","display_name":"Demonstration of locomotion with the powered prosthesis AMPRO utilizing online optimization-based control","publication_year":2015,"publication_date":"2015-04-14","ids":{"openalex":"https://openalex.org/W1997253004","doi":"https://doi.org/10.1145/2728606.2728638","mag":"1997253004"},"language":"en","primary_location":{"id":"doi:10.1145/2728606.2728638","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","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/A5113816680","display_name":"Huihua Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Huihua Zhao","raw_affiliation_strings":["Texas A&amp;M University, College Station"],"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University, College Station","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050491629","display_name":"Jake Reher","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jake Reher","raw_affiliation_strings":["Texas A&amp;M University, College Station"],"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University, College Station","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018595252","display_name":"Jonathan Horn","orcid":"https://orcid.org/0000-0002-3261-5750"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Horn","raw_affiliation_strings":["Texas A&amp;M University, College Station"],"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University, College Station","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101576333","display_name":"Victor Paredes","orcid":"https://orcid.org/0000-0002-1539-7667"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Victor Paredes","raw_affiliation_strings":["Texas A&amp;M University, College Station"],"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University, College Station","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Texas A&amp;M University, College Station"],"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University, College Station","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113816680"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":0.3635,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.6274828,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"305","last_page":"306"},"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9930999875068665,"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":0.9825999736785889,"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/robustness","display_name":"Robustness (evolution)","score":0.6160115599632263},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5599455237388611},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5470021367073059},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5453202128410339},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.48708298802375793},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4653782248497009},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43996351957321167},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42775851488113403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3710469603538513},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3552659749984741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21747496724128723},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19570845365524292}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6160115599632263},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5599455237388611},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5470021367073059},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5453202128410339},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.48708298802375793},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4653782248497009},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43996351957321167},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42775851488113403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3710469603538513},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3552659749984741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21747496724128723},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19570845365524292},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/2728606.2728638","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728638","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:97334","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190722-155959429","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7919829247","display_name":null,"funder_award_id":"0953823","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7961846490","display_name":null,"funder_award_id":"11062013","funder_id":"https://openalex.org/F4320309385","funder_display_name":"Texas Emerging Technology Fund"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309385","display_name":"Texas Emerging Technology Fund","ror":"https://ror.org/02yyzvz79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1565928583","https://openalex.org/W1979431386","https://openalex.org/W2026616272","https://openalex.org/W2109135013","https://openalex.org/W2129485278","https://openalex.org/W2130260542","https://openalex.org/W2131469482","https://openalex.org/W2132600856","https://openalex.org/W2398855487","https://openalex.org/W4252920678"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W4287122200","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2742744817","https://openalex.org/W3202472720","https://openalex.org/W2785665096"],"abstract_inverted_index":{"This":[0,79],"demonstration":[1],"presents":[2],"an":[3,85,168],"unimpaired":[4],"subject":[5],"walking":[6,43,57,98],"with":[7,50,146,156],"a":[8,20,137],"custom":[9],"built":[10],"self-contained":[11],"powered":[12],"transfemoral":[13],"prosthesis:":[14],"AMPRO,":[15],"which":[16],"is":[17,134,162],"controlled":[18],"by":[19,68],"novel":[21],"nonlinear":[22],"real-time":[23],"optimization":[24,86,169],"based":[25,116,170],"controller.":[26,158],"To":[27,62],"achieve":[28,63],"the":[29,48,51,82,93,125,132,143,151,154,157,165],"behaviors":[30],"that":[31,36,88,95,103,173],"will":[32],"be":[33],"demonstrated,":[34],"controllers":[35],"have":[37,104],"been":[38],"successfully":[39],"implemented":[40],"on":[41,142],"bipedal":[42],"robots":[44],"are":[45,120],"translated":[46],"to":[47,122],"prosthesis":[49,94,144],"goal":[52],"of":[53,131,139,153],"achieving":[54],"natural":[55],"human-like":[56],"while":[58],"minimizing":[59],"power":[60],"consumption.":[61],"this":[64],"goal,":[65],"we":[66],"begin":[67],"collecting":[69],"reference":[70],"human":[71],"locomotion":[72],"data":[73,80],"via":[74],"Inertial":[75],"measurement":[76],"Units":[77],"(IMUs).":[78],"forms":[81],"basis":[83],"for":[84,92],"problem":[87],"generates":[89],"virtual":[90],"constraints":[91],"provably":[96],"yields":[97],"in":[99,107],"simulation.":[100],"Utilizing":[101],"methods":[102],"proven":[105],"successful":[106],"generating":[108],"stable":[109],"robotic":[110],"locomotion,":[111],"control":[112,161,171,184],"Lyapunov":[113],"function":[114],"(CLF)":[115],"Quadratic":[117],"Programs":[118],"(QPs)":[119],"utilized":[121],"optimally":[123],"track":[124],"resulting":[126],"desired":[127],"trajectories.":[128],"The":[129],"parameterization":[130],"trajectories":[133],"determined":[135],"through":[136],"combination":[138],"on-board":[140],"sensing":[141],"together":[145],"IMU":[147],"data,":[148],"thereby":[149],"coupling":[150],"actions":[152],"user":[155],"Finally,":[159],"impedance":[160,183],"integrated":[163],"into":[164],"QP":[166],"yielding":[167],"law":[172],"displays":[174],"remarkable":[175],"tracking":[176],"and":[177,182],"robustness,":[178],"outperforming":[179],"traditional":[180],"PD":[181],"strategies.":[185]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
