{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,23]],"date-time":"2026-09-23T17:38:21Z","timestamp":1790185101145,"version":"4.1.0"},"reference-count":42,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"44","funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1925371"],"award-info":[{"award-number":["1925371"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000071","name":"National Institute of Child Health and Human Development","doi-asserted-by":"publisher","award":["1R01HD098154-01A1"],"award-info":[{"award-number":["1R01HD098154-01A1"]}],"id":[{"id":"10.13039\/100000071","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2020,7,15]]},"abstract":"<jats:p>Control of prosthesis swing trajectory enables individuals to voluntarily change foot clearance to traverse obstacles.<\/jats:p>","DOI":"10.1126\/scirobotics.aba6635","type":"journal-article","created":{"date-parts":[[2020,7,22]],"date-time":"2020-07-22T23:19:05Z","timestamp":1595459945000},"source":"Crossref","is-referenced-by-count":106,"title":["Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles"],"prefix":"10.1126","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3844-2325","authenticated-orcid":true,"given":"Joel","family":"Mendez","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and Utah Robotics Center, University of Utah, Salt Lake City, UT, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8304-1884","authenticated-orcid":true,"given":"Sarah","family":"Hood","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Utah Robotics Center, University of Utah, Salt Lake City, UT, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1567-6308","authenticated-orcid":true,"given":"Andy","family":"Gunnel","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Utah Robotics Center, University of Utah, Salt Lake City, UT, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0957-6412","authenticated-orcid":true,"given":"Tommaso","family":"Lenzi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and Utah Robotics Center, University of Utah, Salt Lake City, UT, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.pmr.2005.10.006"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1097\/00003086-199904000-00006"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1097\/01.phm.0000174665.74933.0b"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2006.10.030"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.3109\/03093649609164428"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0003-9993(97)90044-7"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(02)00008-5"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(88)90142-X"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.humov.2011.09.004"},{"key":"e_1_3_2_11_2","doi-asserted-by":"publisher","DOI":"10.1097\/00008526-200203000-00003"},{"key":"e_1_3_2_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2360303"},{"key":"e_1_3_2_13_2","first-page":"6650371","article-title":"Strategies to reduce the configuration time for a powered knee and ankle prosthesis across multiple ambulation modes","volume":"2013","author":"Simon A. M.","year":"2013","unstructured":"A. M. Simon, N. P. Fey, S. B. Finucane, R. D. Lipschutz, L. J. Hargrove, Strategies to reduce the configuration time for a powered knee and ankle prosthesis across multiple ambulation modes. IEEE Int. Conf. Rehabil. Robot. 2013, 6650371 (2013).","journal-title":"IEEE Int. Conf. Rehabil. Robot."},{"key":"e_1_3_2_14_2","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0099387"},{"key":"e_1_3_2_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2032688"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10439-015-1464-7"},{"key":"e_1_3_2_17_2","doi-asserted-by":"crossref","unstructured":"T. Lenzi L. Hargrove J. W. Sensinger Preliminary evaluation of a new control approach to achieve speed adaptation in robotic transfemoral prostheses in 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IEEE 2014) pp. 2049\u20132054.","DOI":"10.1109\/IROS.2014.6942836"},{"key":"e_1_3_2_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2360305"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2933614"},{"key":"e_1_3_2_20_2","doi-asserted-by":"crossref","unstructured":"A. W. Boehler K. W. Hollander T. G. Sugar D. Shin Design implementation and test results of a robust control method for a powered ankle foot orthosis (AFO) in Proceedings of the IEEE International Conference on Robotics and Automation (IEEE 2008) pp. 2025\u20132030.","DOI":"10.1109\/ROBOT.2008.4543504"},{"key":"e_1_3_2_21_2","doi-asserted-by":"crossref","unstructured":"T. Lenzi L. J. Hargrove J. W. Sensinger Minimum jerk swing control allows variable cadence in powered transfemoral prostheses in 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE 2014) pp. 2492\u20132495.","DOI":"10.1109\/EMBC.2014.6944128"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2012.2225640"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2892609"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918785993"},{"key":"e_1_3_2_25_2","doi-asserted-by":"crossref","unstructured":"T. Lenzi J. Sensinger J. Lipsey L. Hargrove T. Kuiken Design and preliminary testing of the RIC hybrid knee prosthesis in 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (IEEE 2015) vol. 2015-Novem pp. 1683\u20131686.","DOI":"10.1109\/EMBC.2015.7318700"},{"key":"e_1_3_2_26_2","doi-asserted-by":"publisher","DOI":"10.1088\/1741-2552\/aa92a8"},{"key":"e_1_3_2_27_2","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2011.2161671"},{"key":"e_1_3_2_28_2","doi-asserted-by":"publisher","DOI":"10.1001\/jama.2015.4527"},{"key":"e_1_3_2_29_2","doi-asserted-by":"crossref","unstructured":"M. H. Jahanandish K. G. Rabe N. P. Fey K. Hoyt Gait phase identification during level incline and decline ambulation tasks using portable sonomyographic sensing in 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) (IEEE 2019) pp. 988\u2013993.","DOI":"10.1109\/ICORR.2019.8779534"},{"key":"e_1_3_2_30_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2015.2420539"},{"key":"e_1_3_2_31_2","first-page":"2576","article-title":"Depth sensing for improved control of lower limb prostheses","volume":"62","author":"Krausz N. E.","year":"2015","unstructured":"N. E. Krausz, T. Lenzi, L. J. Hargrove, Depth sensing for improved control of lower limb prostheses. I.E.E.E. Trans. Biomed. Eng. 62, 2576\u20132587 (2015).","journal-title":"I.E.E.E. Trans. Biomed. Eng."},{"key":"e_1_3_2_32_2","doi-asserted-by":"crossref","unstructured":"N. Thatte N. Srinivasan H. Geyer Real-time reactive trip avoidance for powered transfemoral prostheses in Robotics: Science and Systems XV (Robotics: Science and Systems Foundation 2019).","DOI":"10.15607\/RSS.2019.XV.034"},{"key":"e_1_3_2_33_2","doi-asserted-by":"crossref","unstructured":"M. Gordon N. Thatte H. Geyer Online learning for proactive obstacle avoidance with powered transfemoral prostheses in 2019 International Conference on Robotics and Automation (ICRA) (IEEE 2019) pp. 7920\u20137925.","DOI":"10.1109\/ICRA.2019.8794001"},{"key":"e_1_3_2_34_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2014.2327230"},{"key":"e_1_3_2_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2015.2413393"},{"key":"e_1_3_2_36_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2006.12.007"},{"key":"e_1_3_2_37_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(96)00161-3"},{"key":"e_1_3_2_38_2","doi-asserted-by":"publisher","DOI":"10.1097\/JPO.0000000000000028"},{"key":"e_1_3_2_39_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2892204"},{"key":"e_1_3_2_40_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2019.2955740"},{"key":"e_1_3_2_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2019.2920179"},{"key":"e_1_3_2_42_2","doi-asserted-by":"crossref","unstructured":"M. Cempini L. J. Hargrove T. Lenzi Design development and bench-top testing of a powered polycentric ankle prosthesis in IEEE\/RSJ International Conference on Intelligent Robots and System (IEEE 2017) vol. 2017-Septe pp. 1064\u20131069.","DOI":"10.1109\/IROS.2017.8202276"},{"key":"e_1_3_2_43_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2924841"}],"container-title":["Science Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/syndication.highwire.org\/content\/doi\/10.1126\/scirobotics.aba6635","content-type":"unspecified","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.science.org\/doi\/pdf\/10.1126\/scirobotics.aba6635","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,16]],"date-time":"2024-01-16T12:26:25Z","timestamp":1705407985000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.science.org\/doi\/10.1126\/scirobotics.aba6635"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7,15]]},"references-count":42,"journal-issue":{"issue":"44","published-print":{"date-parts":[[2020,7,15]]}},"alternative-id":["10.1126\/scirobotics.aba6635"],"URL":"https:\/\/doi.org\/10.1126\/scirobotics.aba6635","relation":{},"ISSN":["2470-9476"],"issn-type":[{"value":"2470-9476","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,7,15]]},"article-number":"eaba6635"}}