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   Rubino, Nicholas; Manchola, Miguel; Duenas, Victor H (January 2024, IFAC-PapersOnLine)
2. Day-To-Day User Adaptation to a Robotic Ankle-Foot Prosthesis

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   Miri, Sina; Jacobson, Michael; Major, Matthew J; Kim, Myunghee (May 2025, IEEE)
3. Predicting Neuromuscular Engagement to Improve Gait Training With a Robotic Ankle Exoskeleton

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4. Muscle inertial contributions to ankle kinetics during the swing phase of running

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5. A Phase Variable Approach to Volitional Control of Powered Knee-Ankle Prostheses

   https://doi.org/10.1109/IROS.2018.8594023  

   Rezazadeh, Siavash; Quintero, David; Divekar, Nikhil; Gregg, Robert D. (October 2018, IEEE International Conference on Intelligent Robots and Systems)

   Although there has been recent progress in control of multi-joint prosthetic legs for periodic tasks such as walking, volitional control of these systems for non-periodic maneuvers is still an open problem. In this paper, we develop a new controller that is capable of both periodic walking and common volitional leg motions based on a piecewise holonomic phase variable through a finite state machine. The phase variable is constructed by measuring the thigh angle, and the transitions in the finite state machine are formulated through sensing foot contact together with attributes of a nominal reference gait trajectory. The controller was implemented on a powered knee-ankle prosthesis and tested with a transfemoral amputee subject, who successfully performed a wide range of periodic and non-periodic tasks, including low- and high-speed walking, quick start and stop, backward walking, walking over obstacles, and kicking a soccer ball. The proposed approach is expected to provide better understanding of volitional motions and lead to more reliable control of multi-joint prostheses for a wider range of tasks. 

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