{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T19:29:44Z","timestamp":1769196584482,"version":"3.49.0"},"publisher-location":"New York, NY, USA","reference-count":41,"publisher":"ACM","license":[{"start":{"date-parts":[[2019,11,13]],"date-time":"2019-11-13T00:00:00Z","timestamp":1573603200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2019,11,13]]},"DOI":"10.1145\/3375923.3375931","type":"proceedings-article","created":{"date-parts":[[2020,3,25]],"date-time":"2020-03-25T08:07:14Z","timestamp":1585123634000},"page":"91-98","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Control Algorithm for an Active Ankle-Foot Orthosis (AAFOs)"],"prefix":"10.1145","author":[{"given":"Joseph Tsongo","family":"Vughuma","sequence":"first","affiliation":[{"name":"University of Mons, Boulevard Dolez Mons\/Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Olivier","family":"Verlinden","sequence":"additional","affiliation":[{"name":"University of Mons, Boulevard Dolez Mons\/Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2020,3,25]]},"reference":[{"key":"e_1_3_2_1_1_1","volume-title":"CEREGE, Echosciences","author":"Taieb Maurice","year":"2007","unstructured":"Maurice Taieb , \"L'Afrique , terre d'origine de l'humanit\u00e9 \", CEREGE, Echosciences , 2007 Maurice Taieb, \"L'Afrique, terre d'origine de l'humanit\u00e9\", CEREGE, Echosciences, 2007"},{"key":"e_1_3_2_1_2_1","first-page":"23","volume-title":"Human walking, ed2","author":"Sutherland D.","year":"1994","unstructured":"D. Sutherland , K. Kaufman , JR. Moitoza , \" Kinematics ofnormal human walkingin Rose J\", Gamble JG [eds] : Human walking, ed2 . Baltimore, MD : Williams andWilkins , 1994 , pp 23 -- 44 D. Sutherland, K. Kaufman, JR. Moitoza, \"Kinematics ofnormal human walkingin Rose J\", Gamble JG [eds]: Human walking, ed2. Baltimore, MD: Williams andWilkins, 1994, pp 23--44"},{"key":"e_1_3_2_1_3_1","doi-asserted-by":"crossref","unstructured":"Neptune RR Kautz SA Zajac FE. \u00ab Contributions of the individual ankle plantar flexors to support forward progression and swing initiation during walking\". Journal of Biomechanics 2001;34(11):1387--98.  Neptune RR Kautz SA Zajac FE. \u00ab Contributions of the individual ankle plantar flexors to support forward progression and swing initiation during walking\". Journal of Biomechanics 2001;34(11):1387--98.","DOI":"10.1016\/S0021-9290(01)00105-1"},{"key":"e_1_3_2_1_4_1","volume-title":"MIT","author":"Palmer L.R.","year":"2002","unstructured":"L.R. Palmer , \"Sagittal plane characterization of normal human ankle function across a range of walking gait speeds\", Master's thesis, Department of Mechanical Engineering , MIT , 2002 . L.R. Palmer, \"Sagittal plane characterization of normal human ankle function across a range of walking gait speeds\", Master's thesis, Department of Mechanical Engineering, MIT, 2002."},{"key":"e_1_3_2_1_5_1","volume-title":"Master's thesis","author":"Gates D.H.","year":"2004","unstructured":"D.H. Gates , \" Characterizing ankle function during stair ascent , decent, and level walking for ankle prosthesis and orthosis design \", Master's thesis , College of Engineering , Boston University , 2004 . D.H. Gates, \"Characterizing ankle function during stair ascent, decent, and level walking for ankle prosthesis and orthosis design\", Master's thesis, College of Engineering, Boston University, 2004."},{"key":"e_1_3_2_1_6_1","first-page":"4","article-title":"Ankle-knee prosthesis with ankle and energy transfer: development of the CYBERLEG Alpha-Prosthesis","volume":"2015","author":"Flynn Louis","unstructured":"Louis Flynn , J. Geeroms , R. Jimenez-Fabian , B. Vanderborght , \" Ankle-knee prosthesis with ankle and energy transfer: development of the CYBERLEG Alpha-Prosthesis \", Journal of Robotics and Autonomous Systems , 2015 , p 4 -- 15 . Louis Flynn, J. Geeroms, R. Jimenez-Fabian, B. Vanderborght, \"Ankle-knee prosthesis with ankle and energy transfer: development of the CYBERLEG Alpha-Prosthesis\", Journal of Robotics and Autonomous Systems, 2015, p 4--15.","journal-title":"Journal of Robotics and Autonomous Systems"},{"key":"e_1_3_2_1_7_1","volume-title":"International conference on advanced intelligent mechatronics.","author":"Zhu J.","unstructured":"J. Zhu , Q. Wang , L. Wang , \" PANTOE 1 : Biomechanical Design of Powered Ankle-foot Prosthesis with Compliant Joints and Segmented Foot\", 2010 , International conference on advanced intelligent mechatronics. J. Zhu, Q. Wang, L. Wang, \"PANTOE 1: Biomechanical Design of Powered Ankle-foot Prosthesis with Compliant Joints and Segmented Foot\", 2010, International conference on advanced intelligent mechatronics."},{"key":"e_1_3_2_1_8_1","volume-title":"possibilities and challenges","author":"Shorter K. A.","year":"2013","unstructured":"K. A. Shorter , J. Xia , E. T. Hsiao-Weckler , \" Technologies for powered ankle-foot orthotic systems : possibilities and challenges , 2013 , Transactions on mechatronics vol18, p337--347. K. A. Shorter, J. Xia, E. T. Hsiao-Weckler, \"Technologies for powered ankle-foot orthotic systems: possibilities and challenges, 2013, Transactions on mechatronics vol18, p337--347."},{"key":"e_1_3_2_1_9_1","article-title":"Design and validation of the ankle mimicking prosthetic (<AMP-) Foot 2.0","author":"Cherelle P.","year":"2013","unstructured":"P. Cherelle , V. Grosu , A. Matthys , B. Vanderborght , D. Lefeber , \" Design and validation of the ankle mimicking prosthetic (<AMP-) Foot 2.0 , IEEE Trans. Neural Syst. Rehabil. Eng. PP(99) , 2013 P. Cherelle, V. Grosu, A. Matthys, B. Vanderborght, D. Lefeber, \"Design and validation of the ankle mimicking prosthetic (<AMP-) Foot 2.0, IEEE Trans. Neural Syst. Rehabil. Eng. PP(99), 2013","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng. PP(99)"},{"key":"e_1_3_2_1_10_1","volume-title":"7th International Conference of Materials Processing and Characterization","author":"Debtaa S.","year":"2017","unstructured":"S. Debtaa , K. Kumarb \" Biomedical Design of Powered Ankle- Foot Prosthesis - A Review\" , 7th International Conference of Materials Processing and Characterization , 2017 S. Debtaa, K. Kumarb \"Biomedical Design of Powered Ankle- Foot Prosthesis - A Review\", 7th International Conference of Materials Processing and Characterization, 2017"},{"key":"e_1_3_2_1_11_1","first-page":"1","volume-title":"2018 electr electron comput sci biomed eng meet EBBT","author":"Ulkir O.","year":"2018","unstructured":"O. Ulkir , G. Akgun , E. Kaplanoglu ,\" Mechanical design and analysis of a pneumatic ankle foot orthosis\" , 2018 electr electron comput sci biomed eng meet EBBT ( 2018 ), pp. 1 -- 4 O. Ulkir, G. Akgun, E. Kaplanoglu,\"Mechanical design and analysis of a pneumatic ankle foot orthosis\", 2018 electr electron comput sci biomed eng meet EBBT (2018), pp. 1--4"},{"key":"e_1_3_2_1_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1672-6529(14)60114-1"},{"key":"e_1_3_2_1_13_1","doi-asserted-by":"crossref","unstructured":"P. Cherelle G. Mathijssen Q. Wang B. Vanderborght D. Lefeber \"Advances in propulsive Bionic Feet and Their Actuation Principles\" July 2014  P. Cherelle G. Mathijssen Q. Wang B. Vanderborght D. Lefeber \"Advances in propulsive Bionic Feet and Their Actuation Principles\" July 2014","DOI":"10.1155\/2014\/984046"},{"key":"e_1_3_2_1_14_1","volume-title":"Possibilities and challenges\", journal of mechatronics","author":"Chen B.","year":"2018","unstructured":"B. Chen , B. Zi , Y. Zeng , L. Qin , W-H. Liao , \"Ankle-foot orthoses for rehabilitation and reducing metabolic cost of walking : Possibilities and challenges\", journal of mechatronics , volume 53 , p241--250, August 2018 . B. Chen, B. Zi, Y. Zeng, L. Qin, W-H. Liao, \"Ankle-foot orthoses for rehabilitation and reducing metabolic cost of walking: Possibilities and challenges\", journal of mechatronics, volume 53, p241--250, August 2018."},{"key":"e_1_3_2_1_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.medengphy.2011.11.018"},{"key":"e_1_3_2_1_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2008.4762887"},{"key":"e_1_3_2_1_17_1","volume-title":"1384--1389","author":"Arnez-Paniagua V.","year":"2017","unstructured":"V. Arnez-Paniagua , H. Rifai , S. Mohammed , Y. Amirat , \" Adaptive Control of an Actuated Ankle Foot Orthosis for Foot-Drop Correction\", IFAC PapersOnLine 50--1 ( 2017 ) 1384--1389 V. Arnez-Paniagua, H. Rifai, S. Mohammed, Y. Amirat, \"Adaptive Control of an Actuated Ankle Foot Orthosis for Foot-Drop Correction\", IFAC PapersOnLine 50--1 (2017) 1384--1389"},{"key":"e_1_3_2_1_18_1","first-page":"2939","volume-title":"IEEE Int. Conf on Robotics and Automation","author":"Au S. K.","year":"2006","unstructured":"S. K. Au , P. Dilworth , and H. Herr , \" An ankle-foot emulator system for the study of human walking biomechanics,\" Proc . IEEE Int. Conf on Robotics and Automation , Orlando, FL , pp. 2939 -- 2945 , May 2006 . S. K. Au, P. Dilworth, and H. Herr, \"An ankle-foot emulator system for the study of human walking biomechanics,\" Proc. IEEE Int. Conf on Robotics and Automation, Orlando, FL, pp. 2939--2945, May 2006."},{"key":"e_1_3_2_1_19_1","first-page":"1321","volume-title":"Leuven","author":"Hirai K.","year":"1998","unstructured":"K. Hirai , The development of Honda humanoid robot,\" Proceedings on IEEE\/RSJ International Conference on Intelligent Robots and Systems , Leuven , Belgium , pp. 1321 -- 1326 , May 1998 . K. Hirai, et al., \"The development of Honda humanoid robot,\" Proceedings on IEEE\/RSJ International Conference on Intelligent Robots and Systems, Leuven, Belgium, pp. 1321--1326, May 1998."},{"key":"e_1_3_2_1_20_1","volume-title":"International Conference on Rehabilitation Robotics","author":"Au S.K.","year":"2007","unstructured":"S.K. Au , J. Weber , H. Herr , \"Biomechanical Design of a Powered Ankle-Foot Prosthesis \", International Conference on Rehabilitation Robotics , 2007 . S.K. Au, J. Weber, H. Herr, \"Biomechanical Design of a Powered Ankle-Foot Prosthesis\", International Conference on Rehabilitation Robotics, 2007."},{"key":"e_1_3_2_1_21_1","volume-title":"International Conference on Biomedical Robotics and Biomechatronics","author":"Holgate M.A.","year":"2008","unstructured":"M.A. Holgate , J.K. Hitt , R.D. Bellman , T.G. Sugar , K.W. Hollander , \" The SPARKy ( Spring Ankle with Regenerative Kinetics) Project : Choosing a DC Motor Based Actuation Method \", International Conference on Biomedical Robotics and Biomechatronics , 2008 . M.A. Holgate, J.K. Hitt, R.D. Bellman, T.G. Sugar, K.W. Hollander, \"The SPARKy (Spring Ankle with Regenerative Kinetics) Project: Choosing a DC Motor Based Actuation Method\", International Conference on Biomedical Robotics and Biomechatronics, 2008."},{"key":"e_1_3_2_1_22_1","doi-asserted-by":"publisher","DOI":"10.1186\/1743-0003-12-1"},{"key":"e_1_3_2_1_23_1","unstructured":"Zahra S. Ali E. Farhad T. G. and Noor A. \"Quantitative analysis of human ankle characteristics at different gait phases and speeds for utilizing in ankle-foot prosthetic design\"  Zahra S. Ali E. Farhad T. G. and Noor A. \"Quantitative analysis of human ankle characteristics at different gait phases and speeds for utilizing in ankle-foot prosthetic design\""},{"key":"e_1_3_2_1_24_1","unstructured":"C. Everarts B. Dehez R. Ronsse \"Variable Stiffness Actuator Applied to an Active Ankle Prosthesis: Principle Energy-Efficiency and Control\"  C. Everarts B. Dehez R. Ronsse \"Variable Stiffness Actuator Applied to an Active Ankle Prosthesis: Principle Energy-Efficiency and Control\""},{"key":"e_1_3_2_1_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.05.016"},{"key":"e_1_3_2_1_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2218615"},{"key":"e_1_3_2_1_27_1","volume-title":"2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Jafari A.","unstructured":"A. Jafari , N. G. Tsagarakis , B. Vanderborght , D. G. Caldwell , \"A novel actuator with adjustable stiffness (AwAS) \", 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems A. Jafari, N. G. Tsagarakis, B. Vanderborght, D. G. Caldwell, \"A novel actuator with adjustable stiffness (AwAS)\", 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"e_1_3_2_1_28_1","volume-title":"University of Waterloo Press","author":"Winter D.A.","year":"1987","unstructured":"D.A. Winter , \"The biomechanics and motor control of human gait \", University of Waterloo Press , 1987 , 124 pages. D.A. Winter, \"The biomechanics and motor control of human gait\", University of Waterloo Press, 1987, 124 pages."},{"key":"e_1_3_2_1_29_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1996.76.2.1112"},{"key":"e_1_3_2_1_30_1","volume-title":"33rd Annual Meeting of Society for Neuroscience, Louisiana, NO","author":"Tremblay E.","year":"2003","unstructured":"E. Tremblay , L.J. Bouyer , \"Modifications of locomotor output during and after exposure to an elastic force applied to the leg \", 33rd Annual Meeting of Society for Neuroscience, Louisiana, NO , 2003 , Nov. 8-12, Abstract 29 (494.15). E. Tremblay, L.J. Bouyer, \"Modifications of locomotor output during and after exposure to an elastic force applied to the leg\", 33rd Annual Meeting of Society for Neuroscience, Louisiana, NO, 2003, Nov. 8-12, Abstract 29 (494.15)."},{"key":"e_1_3_2_1_31_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00227094"},{"key":"e_1_3_2_1_32_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(01)00105-1"},{"key":"e_1_3_2_1_33_1","volume-title":"intern report of the department of Theoretical mechanic, Dynamic and Vibration","author":"Jimenez-Fabian R.","year":"2009","unstructured":"R. Jimenez-Fabian , \" Mechanical specification for an active ankle orthosis\" , intern report of the department of Theoretical mechanic, Dynamic and Vibration , University of Mons , Dec. 2009 . R. Jimenez-Fabian, \"Mechanical specification for an active ankle orthosis\", intern report of the department of Theoretical mechanic, Dynamic and Vibration, University of Mons, Dec. 2009."},{"key":"e_1_3_2_1_34_1","volume-title":"intern report of the department of Theoretical mechanic, Dynamic and Vibration","author":"Jimenez-Fabian R.","year":"2009","unstructured":"R. Jimenez-Fabian , \" Active ankle orthosis design in the context of the biomanufacturing project\" , intern report of the department of Theoretical mechanic, Dynamic and Vibration , University of Mons , Aug. 2009 . R. Jimenez-Fabian, \"Active ankle orthosis design in the context of the biomanufacturing project\", intern report of the department of Theoretical mechanic, Dynamic and Vibration, University of Mons, Aug. 2009."},{"key":"e_1_3_2_1_35_1","volume-title":"MIT","author":"Au S.K.","year":"2007","unstructured":"S.K. Au , \" Powered ankle-foot Prosthesis for the Improvement of Amputee Walking Economy\", PhD thesis, Department of Mechanical Engineering , MIT , 2007 S.K. Au, \"Powered ankle-foot Prosthesis for the Improvement of Amputee Walking Economy\", PhD thesis, Department of Mechanical Engineering, MIT, 2007"},{"key":"e_1_3_2_1_36_1","unstructured":"D.A. Lawrence \"Impedance Control Stability Properties in Common Implementations\".  D.A. Lawrence \"Impedance Control Stability Properties in Common Implementations\"."},{"key":"e_1_3_2_1_37_1","unstructured":"D.W. Robinson \"Design and Analysis of Series Elasticity in Closed-loop Actuator Force Control\" PhD thesis 2000.  D.W. Robinson \"Design and Analysis of Series Elasticity in Closed-loop Actuator Force Control\" PhD thesis 2000."},{"key":"e_1_3_2_1_38_1","first-page":"1802","article-title":"Anatomy of the Ankle and Foot","volume":"68","author":"Riegger C.L.","year":"1988","unstructured":"C.L. Riegger , \" Anatomy of the Ankle and Foot \", Physical Therapy, Journal of the American Physical Therapy Association , 1988 , 68 : 1802 -- 1814 C.L. Riegger, \"Anatomy of the Ankle and Foot\", Physical Therapy, Journal of the American Physical Therapy Association, 1988, 68:1802--1814","journal-title":"Physical Therapy, Journal of the American Physical Therapy Association"},{"key":"e_1_3_2_1_39_1","volume-title":"MIT","author":"Sagittal L.R.","year":"2002","unstructured":"Palmer, L.R. , \" Sagittal plane characterization of normal human ankle function across a range of walking gait speeds\". Master's thesis, Department of Mechanical Engineering , MIT , 2002 . Palmer, L.R., \"Sagittal plane characterization of normal human ankle function across a range of walking gait speeds\". Master's thesis, Department of Mechanical Engineering, MIT, 2002."},{"key":"e_1_3_2_1_40_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2018.08.022"},{"key":"e_1_3_2_1_41_1","first-page":"p307","article-title":"Design and control of an active knee orthosis driven by a rotary series elastic actuator","volume":"2017","author":"dos Santos W.M.","unstructured":"W.M. dos Santos , G.A.P. Caurin , A.A.G Siqueira , \" Design and control of an active knee orthosis driven by a rotary series elastic actuator \", Journal of Control Engineering Practice , 2017 , p307 -- p318 . W.M. dos Santos, G.A.P. Caurin, A.A.G Siqueira, \"Design and control of an active knee orthosis driven by a rotary series elastic actuator\", Journal of Control Engineering Practice, 2017, p307--318.","journal-title":"Journal of Control Engineering Practice"}],"event":{"name":"ICBBE '19: 2019 6th International Conference on Biomedical and Bioinformatics Engineering","location":"Shanghai China","acronym":"ICBBE '19","sponsor":["East China Normal University"]},"container-title":["Proceedings of the 2019 6th International Conference on Biomedical and Bioinformatics Engineering"],"original-title":[],"link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3375923.3375931","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3375923.3375931","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,17]],"date-time":"2025-06-17T22:33:14Z","timestamp":1750199594000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3375923.3375931"}},"subtitle":["Adaptative Admittance Control"],"short-title":[],"issued":{"date-parts":[[2019,11,13]]},"references-count":41,"alternative-id":["10.1145\/3375923.3375931","10.1145\/3375923"],"URL":"https:\/\/doi.org\/10.1145\/3375923.3375931","relation":{},"subject":[],"published":{"date-parts":[[2019,11,13]]},"assertion":[{"value":"2020-03-25","order":2,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}