Jennie Si

Biomedical Program - ENG

Works (8)

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.

By: W. Liu n, J. Zhong*, R. Wu*, B. Fylstra, J. Si & H. Huang

author keywords: Learning from demonstration; reinforcement learning; wearable robotics
Sources: Web Of Science, 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
Sources: Web Of Science, 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.

By: R. Wu*, Z. Yao*, J. Si & H. Huang

author keywords: Automatic tracking of intact knee; configuration of robotic knee prosthesis; direct heuristic dynamic programming (dHDP); reinforcement learning control
Sources: Web Of Science, 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.

By: X. Gao*, J. Si, Y. Wen, M. Li & H. Huang

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
Sources: Web Of Science, ORCID
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.

By: H. Huang, J. Si, A. Brandt & M. Li

author keywords: Robotic lower limb prostheses; Human-prosthesis symbiosis; Human- in-the-loop optimization; Reinforcement learning; Gait biomechanics; Augmented biofeedback
Sources: Web Of Science, 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.

By: M. Li, Y. Wen, X. Gao*, J. Si & H. Huang

author keywords: Tuning; Impedance; Knee; Prosthetics; Legged locomotion; Robustness; Kinematics; Impedance control; knee prosthesis; policy iteration; rehabilitation robotics; reinforcement learning (RL)
Sources: Web Of Science, ORCID
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.

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

Sources: Web Of Science, ORCID
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.

By: Y. Wen, M. Li, J. Si & H. Huang

author keywords: Prosthetics; Knee; Impedance; Legged locomotion; Robot kinematics; Tuning; Wearer-prosthesis interaction; robotic knee prosthesis; reinforcement learning; gait asymmetry; anteroposterior impulse
Sources: Web Of Science, ORCID
Added: May 8, 2020