Multiphase and Multivariable Linear Controllers That Account for the Joint Torques in Normal Human Walking
Objective: The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects. Methods: We so...
Uložené v:
| Vydané v: | IEEE transactions on biomedical engineering Ročník 67; číslo 6; s. 1573 - 1584 |
|---|---|
| Hlavní autori: | , , |
| Médium: | Journal Article |
| Jazyk: | English |
| Vydavateľské údaje: |
United States
IEEE
01.06.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Predmet: | |
| ISSN: | 0018-9294, 1558-2531, 1558-2531 |
| On-line prístup: | Získať plný text |
| Tagy: |
Pridať tag
Žiadne tagy, Buďte prvý, kto otaguje tento záznam!
|
| Abstract | Objective: The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects. Methods: We solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints. Results: Using the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for <inline-formula><tex-math notation="LaTeX">\text{96.5}\pm \text{0.1}{\%}</tex-math></inline-formula> (mean <inline-formula><tex-math notation="LaTeX">\pm</tex-math></inline-formula> sem) of the variance in the joint torques across subjects, and <inline-formula><tex-math notation="LaTeX">\text{89.3}\pm \text{1.1}{\%}</tex-math></inline-formula> of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike. Conclusion: The proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects. Significance: Our result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices. |
|---|---|
| AbstractList | Objective: The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects. Methods: We solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints. Results: Using the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for [Formula Omitted] (mean [Formula Omitted] sem) of the variance in the joint torques across subjects, and [Formula Omitted] of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike. Conclusion: The proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects. Significance: Our result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices. The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects. We solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints. Using the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for [Formula: see text] (mean ± sem) of the variance in the joint torques across subjects, and [Formula: see text] of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike. The proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects. Our result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices. The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects.OBJECTIVEThe objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects.We solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints.METHODSWe solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints.Using the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for [Formula: see text] (mean ± sem) of the variance in the joint torques across subjects, and [Formula: see text] of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike.RESULTSUsing the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for [Formula: see text] (mean ± sem) of the variance in the joint torques across subjects, and [Formula: see text] of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike.The proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects.CONCLUSIONThe proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects.Our result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices.SIGNIFICANCEOur result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices. Objective: The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a defining relation between the joint torques, angles, and velocities hidden in the walking data of multiple human subjects. Methods: We solve a mixed integer programming problem that defines the optimal multivariable and multiphase relation between the torques, angles, and velocities for the hip, knee, and ankle joints. Results: Using the data of seven healthy subjects, we show that the aforementioned relation can be remarkably well represented by four sequentially composed and independently activated multivariable linear controllers; the controllers account for <inline-formula><tex-math notation="LaTeX">\text{96.5}\pm \text{0.1}{\%}</tex-math></inline-formula> (mean <inline-formula><tex-math notation="LaTeX">\pm</tex-math></inline-formula> sem) of the variance in the joint torques across subjects, and <inline-formula><tex-math notation="LaTeX">\text{89.3}\pm \text{1.1}{\%}</tex-math></inline-formula> of the variance for a new subject. We further show that each controller is associated with one of the four phases of the gait cycle, separated by toe-off and heel-strike. Conclusion: The proposed controller generalizes previously developed multiphase single variable, and single phase multivariable controllers, to a multiphase multivariable controller that better explains the walking data of multiple subjects, and better generalizes to new subjects. Significance: Our result provides strong support to extend previously developed decoupled single joint controllers to coupled multijoint multivariable controllers for the control of human assistive and augmentation devices. |
| Author | Braun, David J. Roig, Gemma Altinkaynak, Evrim S. |
| Author_xml | – sequence: 1 givenname: Evrim S. orcidid: 0000-0003-4134-235X surname: Altinkaynak fullname: Altinkaynak, Evrim S. organization: Singapore University of Technology and Design (SUTD) – sequence: 2 givenname: Gemma surname: Roig fullname: Roig, Gemma organization: Singapore University of Technology and Design (SUTD) – sequence: 3 givenname: David J. orcidid: 0000-0002-3672-3847 surname: Braun fullname: Braun, David J. email: david.braun@vanderbilt.edu organization: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/31502961$$D View this record in MEDLINE/PubMed |
| BookMark | eNp9kU9v1DAQxS1URLeFD4CQkCUuXLL138Q5llWhrbblsohj5DgT1otjb-0EiW-P09320AOHkfXk3xuP552hEx88IPSekiWlpL7YfLm7WjJC6yWrBWGCvkILKqUqmOT0BC0Ioaqo890pOktpl6VQonyDTjmVhNUlXaDd3eRGu9_qBFj7Dj_KPzpa3TrAa-tBR7wKfozBOYgJb7Z6xJfGhMmPuA8Rj1vAt8FmtQnxYYKErcf3IQ7a4etp0B7_1O639b_eote9dgneHc9z9OPr1WZ1Xay_f7tZXa4Lw0U9Fpq2ytSd6rhUqmQtZYLnEqaVBBj02lSd4XVLZNeW-RsANSjeVrKsqKhkz8_R50PffQzzPGMz2GTAOe0hTKlhTClCGVFVRj-9QHdhij5P1zBBZMW5qMpMfTxSUztA1-yjHXT82zxtMQP0AJgYUorQPyOUNHNSzZxUMyfVHJPKnuqFx9hRj3Zetbbuv84PB6cFgOeXlGJVKQj_BxOcnzc |
| CODEN | IEBEAX |
| CitedBy_id | crossref_primary_10_1016_j_rvsc_2025_105858 |
| Cites_doi | 10.1111/j.1469-7793.2000.00817.x 10.1126/science.1254486 10.1093/brain/awu038 10.1080/00222895.1985.10735360 10.1109/TNSRE.2010.2047592 10.1007/s004220050196 10.1152/jn.00081.2006 10.1109/TBME.2015.2472533 10.1038/35039000 10.1126/science.1210617 10.1126/science.1857964 10.1109/TNSRE.2019.2899970 10.1016/S0966-6362(02)00069-3 10.1016/0966-6362(95)01045-9 10.1016/S0140-6736(11)60547-3 10.1038/nm.4025 10.1111/j.1469-7998.1983.tb04266.x 10.1002/9780470549148 10.1113/jphysiol.2003.057174 10.1016/j.jbiomech.2007.09.033 10.1111/j.1469-7998.1991.tb04794.x 10.1016/S0966-6362(02)00057-7 10.1016/0025-5564(68)90007-2 10.1016/1050-6411(96)00030-2 10.1016/0021-9290(94)00072-C 10.1137/S0036144504445133 10.1126/science.3975635 10.1098/rsif.2008.0415 10.1109/TRO.2017.2768035 10.1016/j.gaitpost.2006.07.003 10.1126/scirobotics.aar5438 10.1016/j.jbiomech.2004.01.017 10.1109/TRO.2009.2028762 10.1152/jn.2001.85.2.605 10.1113/JP270228 10.1177/027836498400300205 10.1038/nn1010 10.1038/5721 10.15607/RSS.2016.XII.007 10.1007/BF00204048 10.1016/0966-6362(95)01057-2 10.1152/physrev.00028.2005 10.1007/s10439-015-1464-7 10.1177/1073858406287987 10.1137/S1052623400378742 10.1016/j.conb.2008.01.002 10.1109/TRO.2008.915453 10.1109/THFE.1966.232325 10.1371/journal.pone.0081841 10.1016/0021-9290(93)90083-Q 10.1152/jn.1998.80.4.1860 10.1242/jeb.044297 10.1152/jn.00825.2009 10.1249/00003677-198900170-00009 10.1109/ROBOT.2007.364114 10.1682/JRRD.2008.09.0131 10.1016/S0966-6362(99)00019-3 10.1109/TMECH.2010.2090891 10.1016/1050-6411(93)90023-P 10.14740/jocmr2478w 10.1109/MRA.2014.2360303 10.1007/978-1-4614-7138-7 10.1007/BF00227094 10.1109/TNSRE.2016.2521160 10.1016/S0966-6362(02)00068-1 10.3389/fnins.2018.00069 10.1109/TMECH.2014.2337514 10.1137/S003614450242889 10.1523/JNEUROSCI.13-02-00467.1993 10.1007/s002210050421 10.1152/jn.2000.83.1.288 10.1016/j.jbiomech.2005.05.005 10.1371/journal.pone.0059993 10.1242/jeb.115451 10.1523/JNEUROSCI.20-01-00409.2000 10.1016/j.jbiomech.2009.03.009 10.1016/j.neunet.2008.03.006 10.1073/pnas.91.16.7534 10.1126/science.aal5054 10.1109/86.242403 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| DBID | 97E RIA RIE AAYXX CITATION NPM 7QF 7QO 7QQ 7SC 7SE 7SP 7SR 7TA 7TB 7U5 8BQ 8FD F28 FR3 H8D JG9 JQ2 KR7 L7M L~C L~D P64 7X8 |
| DOI | 10.1109/TBME.2019.2940241 |
| DatabaseName | IEEE Xplore (IEEE) IEEE All-Society Periodicals Package (ASPP) 1998–Present IEEE Xplore CrossRef PubMed Aluminium Industry Abstracts Biotechnology Research Abstracts Ceramic Abstracts Computer and Information Systems Abstracts Corrosion Abstracts Electronics & Communications Abstracts Engineered Materials Abstracts Materials Business File Mechanical & Transportation Engineering Abstracts Solid State and Superconductivity Abstracts METADEX Technology Research Database ANTE: Abstracts in New Technology & Engineering Engineering Research Database Aerospace Database Materials Research Database ProQuest Computer Science Collection Civil Engineering Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional Biotechnology and BioEngineering Abstracts MEDLINE - Academic |
| DatabaseTitle | CrossRef PubMed Materials Research Database Civil Engineering Abstracts Aluminium Industry Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Mechanical & Transportation Engineering Abstracts Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Ceramic Abstracts Materials Business File METADEX Biotechnology and BioEngineering Abstracts Computer and Information Systems Abstracts Professional Aerospace Database Engineered Materials Abstracts Biotechnology Research Abstracts Solid State and Superconductivity Abstracts Engineering Research Database Corrosion Abstracts Advanced Technologies Database with Aerospace ANTE: Abstracts in New Technology & Engineering MEDLINE - Academic |
| DatabaseTitleList | Materials Research Database PubMed MEDLINE - Academic |
| Database_xml | – sequence: 1 dbid: NPM name: PubMed url: http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed sourceTypes: Index Database – sequence: 2 dbid: RIE name: IEEE Xplore url: https://ieeexplore.ieee.org/ sourceTypes: Publisher – sequence: 3 dbid: 7X8 name: MEDLINE - Academic url: https://search.proquest.com/medline sourceTypes: Aggregation Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Medicine Engineering |
| EISSN | 1558-2531 |
| EndPage | 1584 |
| ExternalDocumentID | 31502961 10_1109_TBME_2019_2940241 8827640 |
| Genre | orig-research Journal Article |
| GrantInformation_xml | – fundername: Singapore University of Technology and Design; Singapore International Graduate Award funderid: 10.13039/501100007040 |
| GroupedDBID | --- -~X .55 .DC .GJ 0R~ 29I 4.4 53G 5GY 5RE 5VS 6IF 6IK 6IL 6IN 85S 97E AAJGR AARMG AASAJ AAWTH AAYJJ ABAZT ABJNI ABQJQ ABVLG ACGFO ACGFS ACIWK ACKIV ACNCT ACPRK ADZIZ AENEX AETIX AFFNX AFRAH AGQYO AGSQL AHBIQ AI. AIBXA AKJIK AKQYR ALLEH ALMA_UNASSIGNED_HOLDINGS ASUFR ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CHZPO CS3 DU5 EBS EJD F5P HZ~ H~9 IAAWW IBMZZ ICLAB IDIHD IEGSK IFIPE IFJZH IPLJI JAVBF LAI MS~ O9- OCL P2P RIA RIE RIL RNS TAE TN5 VH1 VJK X7M ZGI ZXP AAYXX CITATION NPM RIG 7QF 7QO 7QQ 7SC 7SE 7SP 7SR 7TA 7TB 7U5 8BQ 8FD F28 FR3 H8D JG9 JQ2 KR7 L7M L~C L~D P64 7X8 |
| ID | FETCH-LOGICAL-c349t-a1b8c9d8d358862b12431244cb50e2efac7dc39b05db6502ee9e83b75671475f3 |
| IEDL.DBID | RIE |
| ISICitedReferencesCount | 1 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000537293200006&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 0018-9294 1558-2531 |
| IngestDate | Sat Sep 27 19:55:14 EDT 2025 Mon Jun 30 08:40:48 EDT 2025 Mon Jul 21 05:49:34 EDT 2025 Tue Nov 18 22:22:11 EST 2025 Sat Nov 29 05:34:24 EST 2025 Wed Aug 27 02:42:21 EDT 2025 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 6 |
| Language | English |
| License | https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html https://doi.org/10.15223/policy-029 https://doi.org/10.15223/policy-037 |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c349t-a1b8c9d8d358862b12431244cb50e2efac7dc39b05db6502ee9e83b75671475f3 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 content type line 23 |
| ORCID | 0000-0003-4134-235X 0000-0002-3672-3847 |
| PMID | 31502961 |
| PQID | 2405733476 |
| PQPubID | 85474 |
| PageCount | 12 |
| ParticipantIDs | proquest_journals_2405733476 pubmed_primary_31502961 crossref_citationtrail_10_1109_TBME_2019_2940241 proquest_miscellaneous_2288012087 crossref_primary_10_1109_TBME_2019_2940241 ieee_primary_8827640 |
| PublicationCentury | 2000 |
| PublicationDate | 2020-06-01 |
| PublicationDateYYYYMMDD | 2020-06-01 |
| PublicationDate_xml | – month: 06 year: 2020 text: 2020-06-01 day: 01 |
| PublicationDecade | 2020 |
| PublicationPlace | United States |
| PublicationPlace_xml | – name: United States – name: New York |
| PublicationTitle | IEEE transactions on biomedical engineering |
| PublicationTitleAbbrev | TBME |
| PublicationTitleAlternate | IEEE Trans Biomed Eng |
| PublicationYear | 2020 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref13 ref12 ref59 ref15 ref14 ref52 ref55 ref54 ref17 ref16 ref19 ref18 ref51 ref50 ref91 ref90 ref46 whittle (ref92) 2007 ref89 ref45 ref48 ref47 ref86 ref42 ref85 ref41 ref88 ref44 ref87 ref43 perry (ref73) 2010 eilenberg (ref53) 2017 ref49 ref8 ref7 weisberg (ref61) 2014 ref9 ref4 (ref70) 2019 ref3 ref6 ref5 ref82 inman (ref56) 1981 ref81 ref40 ref84 ref83 palmer (ref75) 2002 james (ref60) 2013 ref80 ref79 ref35 ref78 ref34 ref37 ref36 ref31 ref74 ref30 ref77 ref33 ref76 ref32 ref2 ref1 ref39 golub (ref62) 1996; 3 ref38 winter (ref57) 1991 ref71 ref72 bernstein (ref11) 1967 ref68 ref24 ref67 ref23 ref26 ref69 ref25 ref64 ref20 ref63 ref66 ref22 ref65 ref21 ref28 patton (ref10) 1993 ref27 ref29 perry (ref58) 1992 |
| References_xml | – year: 2017 ident: ref53 article-title: Development and evaluation of biarticular transtibial prostheses for level-ground amputee walking – year: 2007 ident: ref92 publication-title: Gait Analysis An Introduction – year: 1992 ident: ref58 publication-title: Gait Analysis Normal and Pathological Function – year: 1981 ident: ref56 publication-title: Human Walking – ident: ref28 doi: 10.1111/j.1469-7793.2000.00817.x – ident: ref3 doi: 10.1126/science.1254486 – ident: ref33 doi: 10.1093/brain/awu038 – ident: ref79 doi: 10.1080/00222895.1985.10735360 – ident: ref31 doi: 10.1109/TNSRE.2010.2047592 – volume: 3 year: 1996 ident: ref62 publication-title: Matrix Computations – ident: ref9 doi: 10.1007/s004220050196 – ident: ref23 doi: 10.1152/jn.00081.2006 – ident: ref44 doi: 10.1109/TBME.2015.2472533 – ident: ref15 doi: 10.1038/35039000 – ident: ref59 doi: 10.1126/science.1210617 – ident: ref12 doi: 10.1126/science.1857964 – ident: ref55 doi: 10.1109/TNSRE.2019.2899970 – ident: ref50 doi: 10.1016/S0966-6362(02)00069-3 – ident: ref74 doi: 10.1016/0966-6362(95)01045-9 – ident: ref32 doi: 10.1016/S0140-6736(11)60547-3 – year: 2019 ident: ref70 article-title: Inverse dynamics calculations in visual3d – year: 1991 ident: ref57 publication-title: Biomechanics and Motor Control of Human Gait Normal Elderly and Pathological – ident: ref35 doi: 10.1038/nm.4025 – ident: ref67 doi: 10.1111/j.1469-7998.1983.tb04266.x – ident: ref6 doi: 10.1002/9780470549148 – ident: ref7 doi: 10.1113/jphysiol.2003.057174 – ident: ref78 doi: 10.1016/j.jbiomech.2007.09.033 – ident: ref69 doi: 10.1111/j.1469-7998.1991.tb04794.x – ident: ref49 doi: 10.1016/S0966-6362(02)00057-7 – ident: ref82 doi: 10.1016/0025-5564(68)90007-2 – ident: ref77 doi: 10.1016/1050-6411(96)00030-2 – ident: ref5 doi: 10.1016/0021-9290(94)00072-C – ident: ref1 doi: 10.1137/S0036144504445133 – ident: ref25 doi: 10.1126/science.3975635 – ident: ref52 doi: 10.1098/rsif.2008.0415 – ident: ref43 doi: 10.1109/TRO.2017.2768035 – ident: ref89 doi: 10.1016/j.gaitpost.2006.07.003 – ident: ref88 doi: 10.1126/scirobotics.aar5438 – ident: ref76 doi: 10.1016/j.jbiomech.2004.01.017 – ident: ref36 doi: 10.1109/TRO.2009.2028762 – ident: ref17 doi: 10.1152/jn.2001.85.2.605 – ident: ref34 doi: 10.1113/JP270228 – ident: ref68 doi: 10.1177/027836498400300205 – ident: ref18 doi: 10.1038/nn1010 – year: 2010 ident: ref73 publication-title: Gait Analysis Normal and Pathological Function – ident: ref16 doi: 10.1038/5721 – ident: ref86 doi: 10.15607/RSS.2016.XII.007 – ident: ref27 doi: 10.1007/BF00204048 – ident: ref71 doi: 10.1016/0966-6362(95)01057-2 – ident: ref29 doi: 10.1152/physrev.00028.2005 – year: 1967 ident: ref11 publication-title: The Co-ordination and Regulation of Movements – ident: ref85 doi: 10.1007/s10439-015-1464-7 – ident: ref22 doi: 10.1177/1073858406287987 – year: 2014 ident: ref61 publication-title: Applied Linear Regression – ident: ref63 doi: 10.1137/S1052623400378742 – ident: ref19 doi: 10.1016/j.conb.2008.01.002 – ident: ref2 doi: 10.1109/TRO.2008.915453 – ident: ref81 doi: 10.1109/THFE.1966.232325 – ident: ref40 doi: 10.1371/journal.pone.0081841 – ident: ref46 doi: 10.1016/0021-9290(93)90083-Q – ident: ref8 doi: 10.1152/jn.1998.80.4.1860 – ident: ref65 doi: 10.1242/jeb.044297 – ident: ref24 doi: 10.1152/jn.00825.2009 – ident: ref45 doi: 10.1249/00003677-198900170-00009 – ident: ref38 doi: 10.1109/ROBOT.2007.364114 – ident: ref39 doi: 10.1682/JRRD.2008.09.0131 – ident: ref72 doi: 10.1016/S0966-6362(99)00019-3 – ident: ref37 doi: 10.1109/TMECH.2010.2090891 – ident: ref80 doi: 10.1016/1050-6411(93)90023-P – ident: ref51 doi: 10.14740/jocmr2478w – ident: ref84 doi: 10.1109/MRA.2014.2360303 – year: 2013 ident: ref60 publication-title: An Introduction to Statistical Learning doi: 10.1007/978-1-4614-7138-7 – ident: ref26 doi: 10.1007/BF00227094 – ident: ref4 doi: 10.1109/TNSRE.2016.2521160 – year: 1993 ident: ref10 article-title: Forward dynamic modeling of human locomotion – ident: ref48 doi: 10.1016/S0966-6362(02)00068-1 – year: 2002 ident: ref75 article-title: Sagittal plane characterization of normal human ankle function across a range of walking gait speeds – ident: ref54 doi: 10.3389/fnins.2018.00069 – ident: ref42 doi: 10.1109/TMECH.2014.2337514 – ident: ref64 doi: 10.1137/S003614450242889 – ident: ref13 doi: 10.1523/JNEUROSCI.13-02-00467.1993 – ident: ref47 doi: 10.1007/s002210050421 – ident: ref21 doi: 10.1152/jn.2000.83.1.288 – ident: ref90 doi: 10.1016/j.jbiomech.2005.05.005 – ident: ref41 doi: 10.1371/journal.pone.0059993 – ident: ref66 doi: 10.1242/jeb.115451 – ident: ref20 doi: 10.1523/JNEUROSCI.20-01-00409.2000 – ident: ref30 doi: 10.1016/j.jbiomech.2009.03.009 – ident: ref91 doi: 10.1016/j.neunet.2008.03.006 – ident: ref14 doi: 10.1073/pnas.91.16.7534 – ident: ref87 doi: 10.1126/science.aal5054 – ident: ref83 doi: 10.1109/86.242403 |
| SSID | ssj0014846 |
| Score | 2.319628 |
| Snippet | Objective: The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to... The objective of this paper is to investigate whether a small number of sequentially composed multivariable linear controllers can be used to recover a... |
| SourceID | proquest pubmed crossref ieee |
| SourceType | Aggregation Database Index Database Enrichment Source Publisher |
| StartPage | 1573 |
| SubjectTerms | Ankle Controllers Couplings Gait Heels Hip Human locomotion Integer programming Joints (anatomy) Knee Legged locomotion Mixed integer Multiphase multiphase and multivariable control Multivariable control Muscles Torque Variance Walking |
| Title | Multiphase and Multivariable Linear Controllers That Account for the Joint Torques in Normal Human Walking |
| URI | https://ieeexplore.ieee.org/document/8827640 https://www.ncbi.nlm.nih.gov/pubmed/31502961 https://www.proquest.com/docview/2405733476 https://www.proquest.com/docview/2288012087 |
| Volume | 67 |
| WOSCitedRecordID | wos000537293200006&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVIEE databaseName: IEEE Xplore customDbUrl: eissn: 1558-2531 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0014846 issn: 0018-9294 databaseCode: RIE dateStart: 19640101 isFulltext: true titleUrlDefault: https://ieeexplore.ieee.org/ providerName: IEEE |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1LT9wwEB5RVFXtgbbQRwpFrtQTIuDYTmwfKQIhJFY9bNW9RfEjYtEqQcsuv5-xY6JWgko9RIoT5zljfd94ZjwA36l2rWpNlXPDfC60ErkRIkTmCIWEtDCe2VhsQk4majbTPzfgcMyF8d7H4DN_FHajL9_1dh2myo6RDcpKoIH-QspqyNUaPQZCDUk5tMABzLRIHsyC6uPpj6uzEMSlj_A4YlLxFwbFoirP88uIM-dv_-8N38FW4pPkZFCA97Dhu21488cqg9vw6ir5z3fgJubb3l4jdJGmcyQ279FcDglUBO1S1HtyOkSvL5AYkul1syKpogRBfkuQL5LLfo6tab8MX0LmHZkE4rsg0SFAfjeLMP3-AX6dn01PL_JUbSG3XOhV3hRGWe2U46VCM8cg8PMA_taU1DPfNlY6y7WhpTNI65j32ituZFnJQsiy5R9hs-s7_xmI1CWXVlNuqEGQtEo7bXBrhVGlk0UG9PH_1zYtRR4qYizqaJJQXQeR1UFkdRJZBgfjJbfDOhz_6rwTRDN2TFLJYO9RyHUaqXc1E3FJSCGrDL6Np3GMBcdJ0_l-jX2YCkBOlczg06Ac4705Mmqmq-LL08_chdcsWOhx3mYPNlfLtf8KL-39an633EdFnqn9qMgPiQrs9g |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV1Jb9QwFH6qCmI5sLQFAgWMxAmR1rGd2D5C1apAZ8QhiN6ieIk6aJRU05n-fp4dNwIJkDhEihNnfba-7_ltAG-pdp3qTJVzw3wutBK5ESJ45giFhLQwntlYbELO5-r8XH_dgvdTLIz3Pjqf-YOwG235brCbsFR2iGxQVgIV9FulEIyO0VqTzUCoMSyHFjiFmRbJhllQfVh_nB0HNy59gMcRlYrfUCiWVfk7w4xIc_Lw_97xETxIjJJ8GIfAY9jy_Q7c_yXP4A7cmSUL-i78iBG3lxcIXqTtHYnNa1SYQwgVQc0URz45Gv3Xl0gNSX3RrkmqKUGQ4RJkjOTzsMBWPazCl5BFT-aB-i5JNAmQ7-0yLMDvwbeT4_roNE_1FnLLhV7nbWGU1U45XipUdAxCPw_wb01JPfNda6WzXBtaOoPEjnmvveJGlpUshCw7_gS2-6H3z4BIXXJpNeWGGoRJq7TTBrdOGFU6WWRAb_5_Y1My8lATY9lEpYTqJoisCSJrksgyeDddcjlm4vhX590gmqljkkoG-zdCbtJcvWqYiEkhhawyeDOdxlkWTCdt74cN9mEqQDlVMoOn4-CY7s2RUzNdFc___MzXcPe0np01Z5_mX17APRb09biKsw_b69XGv4Tb9nq9uFq9isP5J2qj71U |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Multiphase+and+Multivariable+Linear+Controllers+That+Account+for+the+Joint+Torques+in+Normal+Human+Walking&rft.jtitle=IEEE+transactions+on+biomedical+engineering&rft.au=Altinkaynak%2C+Evrim+S.&rft.au=Roig%2C+Gemma&rft.au=Braun%2C+David+J.&rft.date=2020-06-01&rft.pub=IEEE&rft.issn=0018-9294&rft.volume=67&rft.issue=6&rft.spage=1573&rft.epage=1584&rft_id=info:doi/10.1109%2FTBME.2019.2940241&rft.externalDocID=8827640 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=0018-9294&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=0018-9294&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=0018-9294&client=summon |