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      Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

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          Noncontact Capacitive Sensing-Based Locomotion Transition Recognition for Amputees With Robotic Transtibial Prostheses

          Recent advancement of robotic transtibial prostheses can restore human ankle dynamics in different terrains. Automatic locomotion transitions of the prosthesis guarantee the amputee's safety and smooth motion. In this paper, we present a noncontact capacitive sensing-based approach for recognizing locomotion transitions of amputees with robotic transtibial prostheses. The proposed sensing system is designed with flexible printed circuit boards which solves the walking instability brought by our previous system when using robotic prosthesis and improves the recognition performance. Six transtibial amputees were recruited and performed tasks of ten locomotion transitions with the robotic prosthesis that we recently constructed. The capacitive sensing system was integrated on the prosthesis and worked in combination with on-prosthesis mechanical sensors. With the cascaded classification method, the proposed system achieved 95.8% average recognition accuracy by support vector machine (SVM) classifier and 94.9% accuracy by quadratic discriminant analysis (QDA) classifier. It could accurately recognize the upcoming locomotion modes from the stance phase of the transition steps. In addition, we proved that adding capacitance signals could significantly reduce recognition errors of the robotic prosthesis in locomotion transition tasks. Our study suggests that the fusion of capacitive sensing system and mechanical sensors is a promising alternative for controlling the robotic transtibial prosthesis.
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            Time-Delay Controller Design for Position Control of Autonomous Underwater Vehicle Under Disturbances

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              On the Design of a Powered Transtibial Prosthesis With Stiffness Adaptable Ankle and Toe Joints

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                Author and article information

                Contributors
                Journal
                The International Journal of Medical Robotics and Computer Assisted Surgery
                Robotics Computer Surgery
                Wiley
                1478-5951
                1478-596X
                June 2022
                February 22 2022
                June 2022
                : 18
                : 3
                Affiliations
                [1 ]School of Artificial Intelligence Hebei University of Technology Hongqiao District China
                [2 ]Engineering Research Center of Intelligent Rehabilitation Device and Detection Technology Ministry of Education Jingjin Science and Technology Valley Wuqing District China
                Article
                10.1002/rcs.2378
                6081807b-7a00-4770-9930-3506c0abdf45
                © 2022

                http://onlinelibrary.wiley.com/termsAndConditions#vor

                http://doi.wiley.com/10.1002/tdm_license_1.1

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