Yue Wen

Works (5)

Updated: July 5th, 2023 14:44

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 n, M. Li n & H. Huang n 

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

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 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 n, Y. Wen n, X. Gao *, J. Si* & H. Huang n 

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

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)
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Sources: Web Of Science, ORCID, NC State University Libraries
Added: October 18, 2021

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 n, M. Li n, J. Si* & H. Huang n 

Contributors: Y. Wen n, M. Li n, J. Si* & H. Huang n 

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)
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Sources: Web Of Science, NC State University Libraries, ORCID
Added: May 8, 2020

2017 journal article

A new powered lower limb prosthesis control framework based on adaptive dynamic programming

IEEE Transactions on Neural Networks and Learning Systems, 28(9), 2215–2220.

By: Y. Wen, J. Si, X. Gao, S. Huang & H. Huang 

Source: NC State University Libraries
Added: August 6, 2018

2017 journal article

Interactions between transfemoral amputees and a powered knee prosthesis during load carriage

Scientific Reports, 7.

By: A. Brandt, Y. Wen, M. Liu, J. Stallings & H. Huang 

Source: NC State University Libraries
Added: August 6, 2018

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