Works (11)
Updated: October 2nd, 2024 05:02
2024 article
Toward Task-Independent Optimal Adaptive Control of a Hip Exoskeleton for Locomotion Assistance in Neurorehabilitation
Zhang, Q., Si, J., Tu, X., Li, M., Lewek, M. D., & Huang, H. (2024, September 19). IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, Vol. 9.
author keywords: Exoskeletons; Legged locomotion; Hip; Impedance; Motors; Robots; Tuning; Assistance personalization; impedance control; optimal adaptive control; rehabilitation exoskeletons; rehabilitation robotics; reinforcement learning (RL)
Sources: Web Of Science, NC State University Libraries
Added: September 30, 2024
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.
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)
open access via ieeexplore.ieee.org (publisher PDF)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: March 15, 2023
2022 journal article
Hierarchical Optimization for Control of Robotic Knee Prostheses Toward Improved Symmetry of Propulsive Impulse
IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 70(5), 1634–1642.
Contributors: M. Li n, W. Liu n, *, J. Stallrich n & H. Huang n
author keywords: Prosthetics; Knee; Robots; Legged locomotion; Kinematics; Optimization; Impedance; Human-in-the-loop; Bayesian optimization; reinforcement learning; gait symmetry; robotic prostheses
MeSH headings : Humans; Knee Prosthesis; Robotics; Robotic Surgical Procedures; Gait; Walking; Knee Joint / surgery; Biomechanical Phenomena
TL;DR:
This work proposes a novel hierarchical framework to personalize robotic knee prosthesis control and improve overall gait performance and shows that the design successfully shaped the target knee kinematics as well as configured 12 impedance control parameters to improve propulsive impulse symmetry of the human users.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: March 15, 2023
2022 journal article
Inferring Human-Robot Performance Objectives During Locomotion Using Inverse Reinforcement Learning and Inverse Optimal Control
IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 2549–2556.
Contributors: W. Liu n, J. Zhong *, R. Wu *, B. Fylstra n, * & H. Huang n
author keywords: Learning from demonstration; reinforcement learning; wearable robotics
TL;DR:
This study proposes a new inverse approach from observed human-robot walking behavior to infer a human- robot collective performance objective represented in a quadratic form and introduces a new tool to the field of wearable lower limb robots.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: February 14, 2022
2022 journal article
Reinforcement Learning Impedance Control of a Robotic Prosthesis to Coordinate With Human Intact Knee Motion
IEEE ROBOTICS AND AUTOMATION LETTERS, 7(3), 7014–7020.
author keywords: Reinforcement learning; prosthetics and exoskeletons; compliance and impedance control; physical human-robot interaction
TL;DR:
By formulating the “echo control” of the robotic knee as a reinforcement learning problem, this paper provides a promising new tool for real-time tracking control design without explicitly representing the underlying dynamics using a mathematical model, which can be difficult to obtain for a human-robot system.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: June 27, 2022
2022 journal article
Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning
IEEE-CAA JOURNAL OF AUTOMATICA SINICA, 9(1), 19–30.
author keywords: Automatic tracking of intact knee; configuration of robotic knee prosthesis; direct heuristic dynamic programming (dHDP); reinforcement learning control
TL;DR:
This work addresses a state-of-the-art reinforcement learning (RL) control approach to automatically configure robotic prosthesis impedance parameters to enable end-to-end, continuous locomotion intended for transfemoral amputee subjects and provides tracking control of a robotic knee prosthesis to mimic the intact knee profile.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: November 8, 2021
2021 article
Reinforcement Learning Control of Robotic Knee With Human-in-the-Loop by Flexible Policy Iteration
Gao, X., Si, J., Wen, Y., Li, M., & Huang, H. (2021, May 6). IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, Vol. 5.
author keywords: Robots; Impedance; Tuning; Prosthetics; Knee; Erbium; Legged locomotion; Adaptive optimal control; data- and time-efficient learning; flexible policy iteration (FPI); human-in-the-loop; reinforcement learning (RL); robotic knee
MeSH headings : Humans; Computer Simulation; Neural Networks, Computer; Policy; Robotic Surgical Procedures; Robotics
TL;DR:
This study introduces flexible policy iteration (FPI), which can flexibly and organically integrate experience replay and supplemental values from prior experience into the RL controller, and shows system-level performances, including convergence of the approximate value function, (sub)optimality of the solution, and stability of the system.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 18, 2021
2021 journal article
Taking both sides: seeking symbiosis between intelligent prostheses and human motor control during locomotion
CURRENT OPINION IN BIOMEDICAL ENGINEERING, 20.
author keywords: Robotic lower limb prostheses; Human-prosthesis symbiosis; Human- in-the-loop optimization; Reinforcement learning; Gait biomechanics; Augmented biofeedback
TL;DR:
This work advocates for new holistic approaches in which human motor control and intelligent prosthesis control function as one system (defined as human-prosthesis symbiosis), thereby improving the functionality and acceptance of robotic prostheses and users' quality of life.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: September 20, 2021
2021 article
Toward Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control
Li, M., Wen, Y., Gao, X., Si, J., & Huang, H. (2021, May 26). IEEE TRANSACTIONS ON ROBOTICS, Vol. 5.
author keywords: Tuning; Impedance; Knee; Prosthetics; Legged locomotion; Robustness; Kinematics; Impedance control; knee prosthesis; policy iteration; rehabilitation robotics; reinforcement learning (RL)
TL;DR:
A policy iteration with constraint embedded (PICE) method as an innovative solution to the problem under the framework of reinforcement learning, using a projected Bellman equation with a constraint of assuring positive semidefiniteness of performance values during policy evaluation.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 18, 2021
2021 article
User Controlled Interface for Tuning Robotic Knee Prosthesis
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 6190–6195.
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
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022
2020 journal article
Wearer-Prosthesis Interaction for Symmetrical Gait: A Study Enabled by Reinforcement Learning Prosthesis Control
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 28(4), 904–913.
author keywords: Prosthetics; Knee; Impedance; Legged locomotion; Robot kinematics; Tuning; Wearer-prosthesis interaction; robotic knee prosthesis; reinforcement learning; gait asymmetry; anteroposterior impulse
MeSH headings : Amputees; Artificial Limbs; Biomechanical Phenomena; Gait; Humans; Knee Joint; Prosthesis Design; Walking
TL;DR:
The results suggest that it is possible to personalize transfemoral prosthesis control for improved temporal-spatial gait symmetry, and indicated that the RL-based prosthesis tuning system was a potential tool for studying wearer-prosthesis interactions.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: May 8, 2020
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