{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:5D4BECURZFBQP3Z4O3TDE7BH4M","short_pith_number":"pith:5D4BECUR","schema_version":"1.0","canonical_sha256":"e8f8120a91c94307ef3c76e6327c27e332bc7c71b01c1ff9c7f1dfd6d78f097a","source":{"kind":"arxiv","id":"2111.07419","version":1},"attestation_state":"computed","paper":{"title":"Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.LG","stat.AP"],"primary_cat":"cs.RO","authors_text":"Arndt F. Schilling, Sabri Boughorbel, Sharmita Dey","submitted_at":"2021-11-14T19:02:40Z","abstract_excerpt":"Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion. In this paper, we propose a learning-based shared model for predicting ankle-joint motion for different locomotion modes like level-ground walking, stair ascent, stair descent, slope ascent, and slope descent without the need to classify between them. Features extracted from hip and knee joint angular motion are used to continuously predict the ankle angles and moments using a Feed-Forward Neural Ne"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2111.07419","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2021-11-14T19:02:40Z","cross_cats_sorted":["cs.LG","stat.AP"],"title_canon_sha256":"834efbae5205de449c2849f277143de37ab60a9d6b771738999611fd6072f4b7","abstract_canon_sha256":"c7f92ae2aa684f5c4ff43231288e5b4efd054d0b55f8c2d48ffb2c62f5ee73f6"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:31:39.675127Z","signature_b64":"b1aQop7IhHTkkca7Bit3P/PNQ62QH4117OBVKxe4KXIwhcZyIP3QPRYXYdmYEcM0KVeLv4mstaT13FF9Vk3dAw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e8f8120a91c94307ef3c76e6327c27e332bc7c71b01c1ff9c7f1dfd6d78f097a","last_reissued_at":"2026-07-05T03:31:39.674651Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:31:39.674651Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Learning a Shared Model for Motorized Prosthetic Joints to Predict Ankle-Joint Motion","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":["cs.LG","stat.AP"],"primary_cat":"cs.RO","authors_text":"Arndt F. Schilling, Sabri Boughorbel, Sharmita Dey","submitted_at":"2021-11-14T19:02:40Z","abstract_excerpt":"Control strategies for active prostheses or orthoses use sensor inputs to recognize the user's locomotive intention and generate corresponding control commands for producing the desired locomotion. In this paper, we propose a learning-based shared model for predicting ankle-joint motion for different locomotion modes like level-ground walking, stair ascent, stair descent, slope ascent, and slope descent without the need to classify between them. Features extracted from hip and knee joint angular motion are used to continuously predict the ankle angles and moments using a Feed-Forward Neural Ne"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2111.07419","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2111.07419/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2111.07419","created_at":"2026-07-05T03:31:39.674714+00:00"},{"alias_kind":"arxiv_version","alias_value":"2111.07419v1","created_at":"2026-07-05T03:31:39.674714+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2111.07419","created_at":"2026-07-05T03:31:39.674714+00:00"},{"alias_kind":"pith_short_12","alias_value":"5D4BECURZFBQ","created_at":"2026-07-05T03:31:39.674714+00:00"},{"alias_kind":"pith_short_16","alias_value":"5D4BECURZFBQP3Z4","created_at":"2026-07-05T03:31:39.674714+00:00"},{"alias_kind":"pith_short_8","alias_value":"5D4BECUR","created_at":"2026-07-05T03:31:39.674714+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M","json":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M.json","graph_json":"https://pith.science/api/pith-number/5D4BECURZFBQP3Z4O3TDE7BH4M/graph.json","events_json":"https://pith.science/api/pith-number/5D4BECURZFBQP3Z4O3TDE7BH4M/events.json","paper":"https://pith.science/paper/5D4BECUR"},"agent_actions":{"view_html":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M","download_json":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M.json","view_paper":"https://pith.science/paper/5D4BECUR","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2111.07419&json=true","fetch_graph":"https://pith.science/api/pith-number/5D4BECURZFBQP3Z4O3TDE7BH4M/graph.json","fetch_events":"https://pith.science/api/pith-number/5D4BECURZFBQP3Z4O3TDE7BH4M/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M/action/timestamp_anchor","attest_storage":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M/action/storage_attestation","attest_author":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M/action/author_attestation","sign_citation":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M/action/citation_signature","submit_replication":"https://pith.science/pith/5D4BECURZFBQP3Z4O3TDE7BH4M/action/replication_record"}},"created_at":"2026-07-05T03:31:39.674714+00:00","updated_at":"2026-07-05T03:31:39.674714+00:00"}