Abbas Alili

College of Engineering

Works (7)

Updated: October 1st, 2025 05:06

2025 article

An Offline Reinforcement Learning-Based Auto-Tuning Framework for Continuous Impedance Control in Powered Prostheses

Hong, W., Alili, A., & Huang, H. H. (2025, May 12). 2025 International Conference On Rehabilitation Robotics (ICORR), pp. 1829–1834.

By: W. Hong n, A. Alili n & H. Huang n 

MeSH headings : Humans; Biomechanical Phenomena / physiology; Walking / physiology; Artificial Limbs; Algorithms; Male; Electric Impedance; Reinforcement, Psychology; Machine Learning; Adult; Prosthesis Design; Female
topics (OpenAlex): Muscle activation and electromyography studies; Prosthetics and Rehabilitation Robotics; Robot Manipulation and Learning
Sources: Web Of Science, ORCID, NC State University Libraries
Added: September 1, 2025

2025 article

Effects of Hip Adduction-Abduction Exoskeleton-Controlled Step Width on Mediolateral Gait Balance During Walking

Paing, S. L., Alili, A., Nalam, V., & Huang, H. H. (2025, May 12). 2025 International Conference On Rehabilitation Robotics (ICORR), pp. 952–957.

By: S. Paing n, A. Alili n, V. Nalam n & H. Huang n 

MeSH headings : Humans; Exoskeleton Device; Walking / physiology; Male; Gait / physiology; Postural Balance / physiology; Female; Adult; Young Adult; Hip / physiology; Biomechanical Phenomena / physiology
topics (OpenAlex): Balance, Gait, and Falls Prevention; Cerebral Palsy and Movement Disorders; Stroke Rehabilitation and Recovery
Sources: Web Of Science, ORCID, NC State University Libraries
Added: September 1, 2025

2023 article

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

Alili, A., Nalam, V., Li, M., Liu, M., Feng, J., Si, J., & Huang, H. (2023, January 1). IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 31, pp. 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
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Stroke Rehabilitation and Recovery
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)
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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

Yu, Z., Nalam, V., Alili, A., & Huang, H. H. (2023, October 1). 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 

topics (OpenAlex): Stroke Rehabilitation and Recovery; Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies
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)
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Sources: Web Of Science, NC State University Libraries
Added: March 4, 2024

2023 article

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

Alili, A., Fleming, A., Nalam, V., Liu, M., Dean, J., & Huang, H. (2023, August 4). IEEE Transactions on Biomedical Engineering, Vol. 71, pp. 1–9.

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
MeSH headings : Humans; Exoskeleton Device; Biomechanical Phenomena; Walking; Robotics; Muscle, Skeletal; Gait
topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Balance, Gait, and Falls Prevention
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)
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Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 16, 2023

2023 article

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

Alili, A., Nalam, V., Fleming, A., Liu, M., Dean, J., & Huang, H. H. (2023, October 1). 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 

topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Balance, Gait, and Falls Prevention; Stroke Rehabilitation and Recovery
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)
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Sources: Web Of Science, NC State University Libraries
Added: March 4, 2024

2021 article

User Controlled Interface for Tuning Robotic Knee Prosthesis

Alili, A., Nalam, V., Li, M., Liu, M., Si, J., & Huang, H. H. (2021, September 27). 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 

topics (OpenAlex): Prosthetics and Rehabilitation Robotics; Muscle activation and electromyography studies; Advanced Sensor and Energy Harvesting Materials
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)
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Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022

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