Wentao Liu
College of Engineering
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Works (7)
Updated: April 5th, 2024 15:16
2023 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, n, J. Si*, 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
2023 journal article
Neural prosthesis control restores near-normative neuromechanics in standing postural control
SCIENCE ROBOTICS, 8(83).
TL;DR:
The potential benefit of direct EMG control of robotic lower limb prostheses to restore normative postural control strategies (both neural and biomechanical) toward enhancing standing postural stability in amputee users is demonstrated.
(via Semantic Scholar)
www.science.org (publisher PDF)
Sources: Web Of Science, NC State University Libraries
Added: December 4, 2023
2022 journal article
A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning
IEEE ROBOTICS AND AUTOMATION LETTERS, 7(4), 10882–10889.
author keywords: Reinforcement learning; learning from demonstration; wearable robotics; compliance and impedance control
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 6, 2022
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 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
2021 article
Common Neural Input within and across Lower Limb Muscles: A Preliminary Study
2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC), pp. 6683–6686.
MeSH headings : Electromyography; Lower Extremity; Muscle, Skeletal
TL;DR:
This preliminary study characterized levels of common inputs to MUs in three muscle groups: MUs within a muscle, between bilateral homologous pairs, and between agonist/antagonist muscle pairs.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022
2021 article
Direct Myoelectric Control Modifies Lower Limb Functional Connectivity: A Case Study
2021 43RD ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE & BIOLOGY SOCIETY (EMBC), pp. 6573–6576.
Contributors: , A. Fleming*, I. Lee* & H. Huang*
MeSH headings : Amputees; Artificial Limbs; Electromyography; Humans; Lower Extremity; Muscle, Skeletal
TL;DR:
This preliminary study applies functional connectivity analysis to an individual with unilateral lower-limb amputation during postural sway task and identifies a stronger connection between residual and intact below knee modules with improved bilateral symmetry after amputee acquired skills to better control the powered prosthetic ankle.
(via Semantic Scholar)
Sources: Web Of Science, ORCID, NC State University Libraries
Added: January 7, 2022
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