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Works (24)
Updated: April 5th, 2024 08:34
2023 article
1-D Manual Tracing Based on a High Density Haptic Stimulation Grid - a Pilot Effort
2023 IEEE WORLD HAPTICS CONFERENCE, WHC, pp. 375–381.
author keywords: haptics; sensory substitution; phantom actuator
TL;DR:
This study developed an encoding approach, which is based on the illusory “phantom actuator” phenomenon, to convert 1-D position information to a wearer through a bHaptics Tactsuit, and demonstrated an improvement of velocity tracing accuracy with the proposed approach.
(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.
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)
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
2023 journal article
A simplified model for whole-body angular momentum calculation
MEDICAL ENGINEERING & PHYSICS, 111.
author keywords: Angular momentum; Gait stability; Wearable system; Rigid body model
MeSH headings : Humans; Biomechanical Phenomena; Gait; Lower Extremity; Amputation, Surgical; Motion
TL;DR:
This study developed a simplified rigid body model by merging connected body segments to reduce the number of body segments, which need to be monitored, and demonstrated that the Lbody could be estimated by a seven-segment model accurately for both people with and without lower extremity amputation.
(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 27, 2023
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.
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
2023 article
Development and Online Validation of an Intrinsic Fault Detector for a Powered Robotic Knee Prosthesis
2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS, pp. 2158–2164.
TL;DR:
This paper focuses on designing an active fault detector for a robotic knee prosthesis and demonstrates its effectiveness in real time, and expects that this detector can be integrated into a fault tolerance strategy to enhance the reliability and safety of robotic prosthetic legs, enabling users to perform their everyday tasks with greater confidence.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: March 4, 2024
2023 journal article
Investigating the Association of Quantitative Gait Stability Metrics With User Perception of Gait Interruption Due to Control Faults During Human-Prosthesis Interaction
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 31, 4693–4702.
author keywords: Gait stability measurements; internal disturbance in robotic prosthesis; powered knee prosthesis; individuals with transfemoral amputation; gait stability perception
TL;DR:
The results showed that the center of pressure progression in the sagittal plane and knee momentum can potentially estimate the users’ perceptions of gait stability when experiencing disturbances, which can help improve the development and evaluation ofgait stability control algorithms in robotic prosthetic devices.
(via Semantic Scholar)
Sources: Web Of Science, NC State University Libraries
Added: January 2, 2024
2022 journal article
Characterizing Prosthesis Control Fault During Human-Prosthesis Interactive Walking Using Intrinsic Sensors
IEEE ROBOTICS AND AUTOMATION LETTERS, 7(3), 8307–8314.
author keywords: Prosthetics and exoskeletons; safety in HRI; failure detection and recovery; physical human-robot interaction
TL;DR:
A procedure to study human-robot fault tolerance and inform the future design of robust prosthesis control is presented and the potential of using machine-learning-based schemes in identifying prostheses control faults based on intrinsic sensors on the prosthesis is demonstrated.
(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: August 29, 2022
2022 article
Design of EMG-driven Musculoskeletal Model for Volitional Control of a Robotic Ankle Prosthesis
2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 12261–12266.
Contributors: C. Shah n, A. Fleming n, V. Nalam n, n & H. Huang n
TL;DR:
The proposed controller ensures continuous control of the device, allowing users to freely manipulate the prosthesis behavior, and may further improve the function of robotic prosthesis for supporting versatile activities in individuals with lower-limb amputations.
(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: March 13, 2023
2022 journal article
Is there a trade-off between economy and task goal variability in transfemoral amputee gait?
JOURNAL OF NEUROENGINEERING AND REHABILITATION, 19(1).
Contributors: I. Lee n, B. Fylstra n, n, T. Lenzi * & H. Huang n
author keywords: Mechanical energy; Goal equivalent manifold; Transfemoral amputee; Energy recovery rate; Walking
MeSH headings : Amputees; Artificial Limbs; Gait / physiology; Goals; Humans; Walking / physiology
TL;DR:
This study investigated how unilateral transfemoral amputees regulate step and stride variability based on the task to achieve energy economy and found a negative relationship between energy recovery rate and non-goal-equivalent variability.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
7. Affordable and Clean Energy
(OpenAlex)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: April 4, 2022
2022 journal article
Standing and Walking Attention Visual Field (SWAVF) task: A new method to assess visuospatial attention during walking
APPLIED ERGONOMICS, 104.
Contributors: J. Yuan n, X. Bai n, B. Driscoll n, n, H. Huang n & J. Feng n
author keywords: Walking; Visuospatial attention; Measurement
MeSH headings : Humans; Reproducibility of Results; Sitting Position; Standing Position; Visual Fields; Walking; Young Adult
TL;DR:
The newly-developed Standing and Walking Visual Attention Field task showed good psychometric properties and potential applications to the evaluation of prosthetic and other exoskeleton devices, smart glasses, and ground-level traffic lights or signs were discussed.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
11. Sustainable Cities and Communities
(Web of Science)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: June 15, 2022
2022 journal article
Toward Safe Wearer-Prosthesis Interaction: Evaluation of Gait Stability and Human Compensation Strategy Under Faults in Robotic Transfemoral Prostheses
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 30, 2773–2782.
Contributors: I. Lee n, n, M. Lewek n, X. Hu n, W. Filer n & H. Huang n
author keywords: Prosthetics; Robots; Knee; Legged locomotion; IP networks; Impedance; Training; Gait stability; machine fault; powered knee prosthesis; transfemoral amputee; user-prosthesis interaction
MeSH headings : Amputees; Artificial Limbs; Biomechanical Phenomena; Gait; Humans; Prosthesis Design; Robotic Surgical Procedures; Robotics; Walking
TL;DR:
The results showed that the error tolerable bound is dependent on the gait phase and the direction of torque change, and may assist the future design of an auto-tuning algorithm, volitionally-controlled powered prosthetic legs, and training of gait stability.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
16. Peace, Justice and Strong Institutions
(OpenAlex)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: October 31, 2022
2021 article
A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), pp. 10610–10616.
author keywords: Exoskeleton; reinforcement learning; optimal adaptive control; least square policy iteration; data driven
TL;DR:
The results showed that the optimal and adaptive RL controller as a new approach was feasible for tuning assistive torque profile of the hip exoskeleton that coordinated with human actions and reduced activation level of hip extensor muscle in human.
(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: November 21, 2021
2021 article
A Powered Prosthetic Ankle Designed for Task Variability - A Concept Validation
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), pp. 6153–6158.
Contributors: S. Upadhye n, C. Shah n, n, G. Buckner n & H. Huang n
TL;DR:
A new active prosthetic ankle, Variable Spring embedded Motor-ball screw (VSeM) ankle, to meet all these requirements at the same time, and its capability to mimic human ankle was validated through both bench tests and human subject tests.
(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
2021 review
Cognitive measures during walking with and without lower-limb prosthesis: protocol for a scoping review
[Review of ]. BMJ OPEN, 11(2).
TL;DR:
The results will contribute to the advancement of prosthesis tuning processes by reviewing the application status of cognitive measures during walking with and without prosthesis and laying the foundation for developing needed measures for cognitive assessment during walking.
(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: March 22, 2021
2021 article
Development of a Wearable Human-Machine Interface to Track Forearm Rotation via an Optical Sensor
2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC), pp. 7360–7363.
Contributors: F. Popp n, n & H. Huang n
MeSH headings : Artificial Limbs; Forearm; Humans; Upper Extremity; Wearable Electronic Devices; Wrist Joint
TL;DR:
The goal of this research was to develop an intuitive wearable human-machine interface (HMI), utilizing an optical sensor, and results showed that the performance of OSS control was comparable to direct control, therefore validating the feasibility of the OSS HMI.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022
2021 journal article
Textile-Based Pressure Sensors for Monitoring Prosthetic-Socket Interfaces
IEEE SENSORS JOURNAL, 21(7), 9413–9422.
Contributors: J. Tabor n, T. Agcayazi n, A. Fleming n, B. Thompson n, A. Kapoor n, n, M. Lee *, H. Huang n , A. Bozkurt n, T. Ghosh n
author keywords: Sensors; Sensor arrays; Sensor systems; Sockets; Monitoring; Data collection; Capacitive sensors; Pressure sensors; capacitive sensors; sensor arrays; body system networks; sensor systems and applications; textiles; wearable sensors; flexible electronics; prosthetics
TL;DR:
This work presents a capacitive pressure sensor fabricated through a simple, and scalable sewing process using commercially available conductive yarns and textile materials that provides a soft, flexible, and comfortable sensing system for monitoring the inner socket environment (ISE).
(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 5, 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
2017 journal article
Interactions Between Transfemoral Amputees and a Powered Knee Prosthesis During Load Carriage
Scientific Reports, 7(1).
MeSH headings : Adult; Amputees; Artificial Limbs; Biomechanical Phenomena; Female; Humans; Knee Prosthesis; Male; Middle Aged; Perception; Prosthesis Design; Walking / physiology; Wearable Electronic Devices; Weight-Bearing / physiology; Young Adult
TL;DR:
The results suggest transfemoral amputees could benefit from load-adaptive powered knee controllers, and controller adjustments affect amputee users more when they walk with (versus without) load.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Crossref, NC State University Libraries, ORCID, NC State University Libraries
Added: August 6, 2018
2016 journal article
A cyber expert system for auto-tuning powered prosthesis impedance control parameters
Annals of Biomedical Engineering, 44(5), 1613–1624.
Contributors: H. Huang n , D. Crouch n, n, G. Sawicki n & D. Wang n
MeSH headings : Ankle Joint; Electric Impedance; Female; Gait; Humans; Knee Joint; Knee Prosthesis; Male; Walking
TL;DR:
A novel cyber expert system that encoded HME tuning decisions as computer rules to auto-tune control parameters for a powered knee (passive ankle) prosthesis and observed normative prosthetic knee kinematics and improved or slightly improved gait symmetry and step width within each subject.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: NC State University Libraries, NC State University Libraries, ORCID
Added: August 6, 2018
2016 journal article
Development of an Environment-Aware Locomotion Mode Recognition System for Powered Lower Limb Prostheses
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 24(4), 434–443.
Contributors: *, D. Wang & H. Helen Huang
author keywords: A priori probability; locomotion mode recognition; prosthetics and orthotics; terrain recognition
MeSH headings : Accelerometry / instrumentation; Adult; Amputees / rehabilitation; Artificial Limbs; Ecosystem; Electric Power Supplies; Equipment Design; Equipment Failure Analysis; Exoskeleton Device; Female; Humans; Locomotion / physiology; Male; Monitoring, Ambulatory / instrumentation; Pattern Recognition, Automated / methods; Spatial Navigation / physiology
TL;DR:
It is demonstrated that environmental information should be considered for operating wearable lower limb robotic devices, such as prosthetics and orthotics.
(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: August 6, 2018
2015 journal article
Effects of Locomotion Mode Recognition Errors on Volitional Control of Powered Above-Knee Prostheses
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 23(1), 64–72.
Contributors: F. Zhang n, n & H. Huang n
author keywords: Gait stability; locomotion mode recognition; powered above-knee prosthesis; volitional control
MeSH headings : Adult; Algorithms; Female; Gait / physiology; Humans; Knee Prosthesis; Locomotion / physiology; Male; Postural Balance / physiology; Prosthesis Design; Reproducibility of Results; Volition
TL;DR:
“critical errors” were defined and suggested as a new index to evaluate locomotion mode recognition algorithms for artificial legs to aid the future design of volitionally-controlled powered prosthetic legs that are reliable and safe for practice.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
16. Peace, Justice and Strong Institutions
(OpenAlex)
Sources: Web Of Science, NC State University Libraries, ORCID
Added: August 6, 2018
2014 journal article
Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
JOVE-JOURNAL OF VISUALIZED EXPERIMENTS, (89).
Contributors: F. Zhang n, n, S. Harper, M. Lee & H. Huang n
author keywords: Biomedical Engineering; Issue 89; neural control; powered transfemoral prosthesis; electromyography (EMG); neural-machine interface; experimental setup and protocol
MeSH headings : Amputees / rehabilitation; Artificial Limbs; Biomechanical Phenomena; Electromyography / instrumentation; Electromyography / methods; Humans; Male; Middle Aged; Software; Thigh / innervation; Thigh / physiology; Walking / physiology
TL;DR:
A flexible platform to implement and optimize neural control of powered lower limb prosthesis and an experimental setup and protocol to evaluate neural prosthesis control on patients with lower limb amputations are reported.
(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: August 6, 2018
2014 journal article
Improving Finite State Impedance Control of Active-Transfemoral Prosthesis Using Dempster-Shafer Based State Transition Rules
Journal of Intelligent & Robotic Systems, 76(3-4), 461–474.
author keywords: Impedance control; Finite state machine; Uncertainty; Amputee gait
TL;DR:
This study aimed to generate more robust FSI control of ATP against these variations by using Dempster-Shafer theory (DST)-based transition rules, which yielded enhanced accuracy in state transition timing and reduced control errors when intra- and inter-subject variations were presented.
(via Semantic Scholar)
UN Sustainable Development Goal Categories
3. Good Health and Well-being
(Web of Science)
Sources: Crossref, Web Of Science, NC State University Libraries, ORCID
Added: August 6, 2018
2008 journal article
A new type of atomic force microscope based on chaotic motions
International Journal of Non-Linear Mechanics, 43(6), 521–526.
author keywords: AFM; atomic force microscope; chaotic motion; phase space warping; smooth orthogonal decomposition; local flow variation
Source: Crossref
Added: December 22, 2020
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