Search research articles

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Optimal Energy Shaping and Force Amplification Framework for Task-Agnostic, Biomimetic Ankle Exoskeletons.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2026

Same author

Controlling Powered Prosthesis Joint Impedance Over Continuous Stance Transitions Between Walking and Stair Ascent/Descent.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026

Same author

Effects of a Powered Knee-Ankle Prosthesis on Intact Joint Biomechanics Across Sustained Activities of Daily Life: A Case Series.

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society·2026

Same author

Vibrotactile Haptic and Gesture Feedback in a Smartwatch for Controlling a Multi-Activity Powered Knee-Ankle Prosthesis.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

Task-Agnostic Exoskeleton Torque Assistance Reduces Ankle Osteoarthritis Pain: A Pilot Study.

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference·2025

Same author

Customizable Task-Agnostic Exoskeleton Control for Targeted Neuromuscular Assistance: Case Series.

IEEE open journal of engineering in medicine and biology·2025

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Search research articles

Related Experiment Video

Updated: Sep 16, 2025

Simultaneous Scalp Electroencephalography EEG, Electromyography EMG, and Whole-body Segmental Inertial Recording for Multi-modal Neural Decoding

Simultaneous Scalp Electroencephalography EEG, Electromyography EMG, and Whole-body Segmental Inertial Recording for Multi-modal Neural Decoding

Published on: July 26, 2013

A Task-Agnostic Approach to Unified Multi-Activity Gait Phase Estimation via Bilateral Sensing.

Ryan R Posh, Robert D Gregg

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]

|July 11, 2025

Summary

This summary is machine-generated.

This study introduces a new gait phase estimation framework for lower-limb prostheses. A task-agnostic approach using bilateral sensing performs comparably to classification-based methods, improving adaptability in robotic rehabilitation.

More Related Videos

Motor Dual-Tasks for Gait Analysis and Evaluation in Post-Stroke Patients

Motor Dual-Tasks for Gait Analysis and Evaluation in Post-Stroke Patients

Published on: March 11, 2021

Home-Based Monitor for Gait and Activity Analysis

Home-Based Monitor for Gait and Activity Analysis

Published on: August 8, 2019

Related Experiment Videos

Last Updated: Sep 16, 2025

Simultaneous Scalp Electroencephalography EEG, Electromyography EMG, and Whole-body Segmental Inertial Recording for Multi-modal Neural Decoding

Simultaneous Scalp Electroencephalography EEG, Electromyography EMG, and Whole-body Segmental Inertial Recording for Multi-modal Neural Decoding

Published on: July 26, 2013

Motor Dual-Tasks for Gait Analysis and Evaluation in Post-Stroke Patients

Motor Dual-Tasks for Gait Analysis and Evaluation in Post-Stroke Patients

Published on: March 11, 2021

Home-Based Monitor for Gait and Activity Analysis

Home-Based Monitor for Gait and Activity Analysis

Published on: August 8, 2019

Area of Science:

Robotics
Biomechanics
Rehabilitation Engineering

Background:

Accurate gait phase estimation is crucial for controlling lower-limb rehabilitation robots like transfemoral prostheses.
Current methods often rely on activity classification, limiting adaptability and risking misclassification errors.

Purpose of the Study:

To propose a novel unified phase variable framework for continuous gait phase estimation.
To develop and evaluate both a classification-based and a task-agnostic approach within this framework.
To assess the performance across various locomotion tasks including level walking, ramps, and stairs.

Main Methods:

Developed a unified phase variable framework utilizing predicted gait event information.
Implemented a classification-based approach using unilateral thigh angle sensing.
Developed a task-agnostic approach expanding sensing to include contralateral thigh angle.
Conducted simulated evaluations using an able-bodied dataset across diverse locomotion conditions.

Main Results:

The classification-based approach achieved an average phase root-mean-square error (RMSE) of 6.8%.
The task-agnostic approach demonstrated an average phase RMSE of 6.3%.
The bilateral task-agnostic approach showed comparable or superior performance to the unilateral classification-based method, with improved consistency across subjects and tasks, especially during stair ascent.

Conclusions:

Task-agnostic gait phase estimation is feasible for prosthesis control.
The proposed framework offers performance comparable to task-specific models.
This approach eliminates the reliance on activity classification, enhancing adaptability and reliability in lower-limb robotic rehabilitation.