Abbas Alili

College of Engineering

Works (5)

Updated: April 5th, 2024 15:08

2024 journal article

Abduction/Adduction Assistance From Powered Hip Exoskeleton Enables Modulation of User Step Width During Walking

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 71(1), 334–342.

By: A. Alili n, A. Fleming n, V. Nalam n, M. Liu  n, J. Dean * & H. Huang n 

author keywords: Hip; Exoskeletons; Legged locomotion; Behavioral sciences; Torque; Foot; Admittance control; Robotic hip exoskeleton; human-exoskeleton interaction; mediolateral balance assistance; gait stability
TL;DR: Tuning of stiffness in admittance control of a hip exoskeleton, acting in mediolateral direction, can be a viable way for controlling step width in normal walking and pave a new way for future design and control of wearable robotics in enhancing mediolateral walking balance for various rehabilitation applications. (via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 16, 2023

2023 journal article

A Novel Framework to Facilitate User Preferred Tuning for a Robotic Knee Prosthesis

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 31, 895–903.

By: A. Alili n, V. Nalam n, M. Li  n, M. Liu n, J. Feng n, J. Si*, H. Huang n 

Contributors: A. Alili n, V. Nalam n, M. Li  n, M. Liu n, J. Feng n, J. Si*, H. Huang n 

author keywords: Prosthetics; Knee; Robots; Tuning; Legged locomotion; Impedance; Wearable robots; Robotic knee prosthesis; human-in-the-loop optimization; user preference; reinforcement learning; user-controlled interface
TL;DR: This study proposes and evaluates a novel prosthesis control tuning framework for a robotic knee prosthesis, which could enable user preferred robot behavior in the device tuning process, and shows effectiveness of the developed framework in tuning 12 prosthetic control parameters while meeting the user-selected knee kinematics. (via Semantic Scholar)
UN Sustainable Development Goal Categories
Sources: Web Of Science, ORCID, NC State University Libraries
Added: March 15, 2023

2023 article

A Wearable Robotic Rehabilitation System for Neuro-rehabilitation Aimed at Enhancing Mediolateral Balance

2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS, pp. 155–160.

By: Z. Yu n, V. Nalam n, A. Alili n & H. Huang n 

TL;DR: A neurorehabilitation platform by integrating a wearable robotic hip abduction-adduction exoskeleton with a visual interface expected to influence and rehabilitate the underlying visuomotor mechanisms in individuals by having users perform motion tasks based on visual feedback while the robot applies various controlled resistances governed by the admittance controller implemented in the robot. (via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: March 4, 2024

2023 article

Closed-Loop Feedback Control of Human Step Width During Walking by Mediolaterally Acting Robotic Hip Exoskeleton

2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 6097–6102.

By: A. Alili n, V. Nalam n, A. Fleming n, M. Liu n, J. Dean * & H. Huang n 

TL;DR: This study successfully demonstrated the feasibility of controlling step width using a mediolaterally acting robotic hip exoskeleton and was able to effectively adjust the user's step width by increasing or decreasing it to predefined targets through the regulation of admittance control parameters governing the device. (via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: March 4, 2024

2021 article

User Controlled Interface for Tuning Robotic Knee Prosthesis

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 6190–6195.

By: A. Alili n, V. Nalam n, M. Li n, M. Liu n, J. Si* & H. Huang n 

Contributors: A. Alili n, V. Nalam n, M. Li n, M. Liu n, J. Si* & H. Huang n 

TL;DR: An intuitive interface designed for the prosthesis users and clinicians to choose the preferred knee joint profile during gait and use the autotuner to replicate in the prosthetics to address the challenges of manual tuning methods. (via Semantic Scholar)
UN Sustainable Development Goal Categories
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022

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