A review of current state-of-the-art control methods for lower-limb powered prostheses

R Gehlhar, M Tucker, AJ Young, AD Ames - Annual reviews in control, 2023 - Elsevier
Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb
amputations. While the design of lower-limb prostheses is important, this paper focuses on …

Human-in-the-loop optimization of wearable robotic devices to improve human–robot interaction: A systematic review

MA Diaz, M Voss, A Dillen, B Tassignon… - IEEE Transactions …, 2022 - ieeexplore.ieee.org
This article presents a systematic review on wearable robotic devices that use human-in-the-
loop optimization (HILO) strategies to improve human–robot interaction. A total of 46 HILO …

Human-in-the-loop optimization of exoskeleton assistance via online simulation of metabolic cost

DFN Gordon, C McGreavy, A Christou… - IEEE Transactions …, 2022 - ieeexplore.ieee.org
Many assistive robotic devices have been developed to augment or assist human
locomotion. Despite advancements in design and control algorithms, this task remains …

Integrating visual perception with decision making in neuromorphic fault-tolerant quadruplet-spike learning framework

S Yang, H Wang, Y Pang, Y Jin… - IEEE Transactions on …, 2023 - ieeexplore.ieee.org
The brain possesses the remarkable ability to seamlessly integrate perception with decision
making within a dynamically changing environment in a fault-tolerant, end-to-end manner …

Reinforcement learning impedance control of a robotic prosthesis to coordinate with human intact knee motion

R Wu, M Li, Z Yao, W Liu, J Si… - IEEE Robotics and …, 2022 - ieeexplore.ieee.org
This study aims to demonstrate reinforcement learning tracking control for automatically
configuring the impedance parameters of a robotic knee prosthesis. While our previous …

Foot contact forces can be used to personalize a wearable robot during human walking

M Jacobson, P Kantharaju, H Jeong, JK Ryu, JJ Park… - Scientific reports, 2022 - nature.com
Individuals with below-knee amputation (BKA) experience increased physical effort when
walking, and the use of a robotic ankle-foot prosthesis (AFP) can reduce such effort. The …

Visual guidance can help with the use of a robotic exoskeleton during human walking

M Kim, H Jeong, P Kantharaju, D Yoo, M Jacobson… - Scientific Reports, 2022 - nature.com
Walking is an important activity that supports the health-related quality of life, and for those
who need assistance, robotic devices are available to help. Recent progress in wearable …

Adaptive neural control for gait coordination of a lower limb prosthesis

X Ma, J Xu, H Fang, Y Lv, X Zhang - International Journal of Mechanical …, 2022 - Elsevier
Because of distinct differences in structure and drive, the lower limb amputee that walks with
prosthesis forms a heterogeneous coupled dynamic system. The strongly coupled …

A data-driven reinforcement learning solution framework for optimal and adaptive personalization of a hip exoskeleton

X Tu, M Li, M Liu, J Si, HH Huang - 2021 IEEE international …, 2021 - ieeexplore.ieee.org
Robotic exoskeletons are exciting technologies for augmenting human mobility. However,
designing such a device for seamless integration with the human user and to assist human …

Taking both sides: seeking symbiosis between intelligent prostheses and human motor control during locomotion

HH Huang, J Si, A Brandt, M Li - Current opinion in biomedical engineering, 2021 - Elsevier
Robotic lower limb prostheses aim to replicate the power-generating capability of biological
joints during locomotion to empower individuals with lower limb loss. However, recent …