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The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable feedbacks of accelerations at the socket place. Moreover, an appropriate Series Elastic Actuator (SEA) mechanism for the prosthetic ankle is included in this work and its effects are discussed. Tracking performance and stability of the closed-loop system are proven via the Lyapunov stability analysis. Using simulations on an overall amputee prosthetic foot system, the effectiveness of the proposed RMRAIC controller is investigated for the task of level ground walking.<\/jats:p>","DOI":"10.1017\/s0263574719000146","type":"journal-article","created":{"date-parts":[[2019,3,12]],"date-time":"2019-03-12T07:50:31Z","timestamp":1552377031000},"page":"1562-1581","source":"Crossref","is-referenced-by-count":3,"title":["A Novel Robust Model Reference Adaptive Impedance Control Scheme for an Active Transtibial Prosthesis"],"prefix":"10.1017","volume":"37","author":[{"given":"Siamak","family":"Heidarzadeh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mojtaba","family":"Sharifi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hassan","family":"Salarieh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Aria","family":"Alasty","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2019,3,12]]},"reference":[{"key":"S0263574719000146_ref47","volume-title":"Stable Adaptive Systems","author":"Narendra","year":"2012"},{"key":"S0263574719000146_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.2018.2836913"},{"key":"S0263574719000146_ref44","doi-asserted-by":"publisher","DOI":"10.1002\/9780470549148"},{"key":"S0263574719000146_ref43","volume-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","author":"Westervelt","year":"2007"},{"key":"S0263574719000146_ref41","doi-asserted-by":"publisher","DOI":"10.1007\/s41315-016-0006-2"},{"key":"S0263574719000146_ref40","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2017.05.006"},{"key":"S0263574719000146_ref39","unstructured":"39. 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