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Cited by 419

The DOI matches its Crossref record; 30 of the 30 references it cites were found in a registry or an index.

Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model

Open access
Eilenberg, Michael F., Geyer, Hartmut, Herr, Hugh·2010·IEEE Transactions on Neural Systems and Rehabilitation Engineering
DOI 10.1109/tnsre.2009.2039620
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Abstract

Control schemes for powered ankle-foot prostheses rely upon fixed torque-ankle state relationships obtained from measurements of intact humans walking at target speeds and across known terrains. Although effective at their intended gait speed and terrain, these controllers do not allow for adaptation to environmental disturbances such as speed transients and terrain variation. Here we present an adaptive muscle-reflex controller, based on simulation studies, that utilizes an ankle plantar flexor comprising a Hill-type muscle with a positive force feedback reflex. The model's parameters were fitted to match the human ankle's torque-angle profile as obtained from level-ground walking measurements of a weight and height-matched intact subject walking at 1 m/s. Using this single parameter set, clinical trials were conducted with a transtibial amputee walking on level ground, ramp ascent, and ramp descent conditions. During these trials, an adaptation of prosthetic ankle work was observed in response to ground slope variation, in a manner comparable to intact subjects, without the difficulties of explicit terrain sensing. Specifically, the energy provided by the prosthesis was directly correlated to the ground slope angle. This study highlights the importance of neuromuscular controllers for enhancing the adaptiveness of powered prosthetic devices across varied terrain surfaces.

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Metadata

Authors
Eilenberg, M. F., Geyer, H., & Herr, H.
Venue
IEEE Transactions on Neural Systems and Rehabilitation Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2010-04
Volume
18
Issue
2
Pages
164-173
ISSN
  • 1534-4320 (ISSN-L)
  • 1558-0210
DOI
10.1109/tnsre.2009.2039620
OpenAlex
W2147809815
Cited by
419
References
30
FWCI
10.01
Type
journal article
Language
en
Open access
green

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CoChat. (2026). Citation check: Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model. https://app.cochat.ai/papers/10.1109/tnsre.2009.2039620
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Eilenberg, M. F., Geyer, H., & Herr, H. (2010). Control of a Powered Ankle–Foot Prosthesis Based on a Neuromuscular Model. IEEE Transactions on Neural Systems and Rehabilitation Engineering. https://doi.org/10.1109/tnsre.2009.2039620

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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).

Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.