A review of current state-of-the-art control methods for lower-limb powered prostheses
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 …
amputations. While the design of lower-limb prostheses is important, this paper focuses on …
Active upper limb prostheses: A review on current state and upcoming breakthroughs
The journey of a prosthetic user is characterized by the opportunities and the limitations of a
device that should enable activities of daily living (ADL). In particular, experiencing a bionic …
device that should enable activities of daily living (ADL). In particular, experiencing a bionic …
Data-driven variable impedance control of a powered knee–ankle prosthesis for adaptive speed and incline walking
Most impedance-based walking controllers for powered knee–ankle prostheses use a finite
state machine with dozens of user-specific parameters that require manual tuning by …
state machine with dozens of user-specific parameters that require manual tuning by …
Data-driven phase-based control of a powered knee-ankle prosthesis for variable-incline stair ascent and descent
Powered knee-ankle prostheses can offer benefits over conventional passive devices during
stair locomotion by providing biomimetic net-positive work and active control of joint angles …
stair locomotion by providing biomimetic net-positive work and active control of joint angles …
Continuous-time reinforcement learning control: A review of theoretical results, insights on performance, and needs for new designs
BA Wallace, J Si - IEEE Transactions on Neural Networks and …, 2023 - ieeexplore.ieee.org
This exposition discusses continuous-time reinforcement learning (CT-RL) for the control of
affine nonlinear systems. We review four seminal methods that are the centerpieces of the …
affine nonlinear systems. We review four seminal methods that are the centerpieces of the …
A new robotic knee impedance control parameter optimization method facilitated by inverse reinforcement learning
Recent efforts in the design of intelligent controllers for configuring robotic prostheses have
demonstrated new possibilities in improving mobility and restoring locomotion for individuals …
demonstrated new possibilities in improving mobility and restoring locomotion for individuals …
Human-robotic prosthesis as collaborating agents for symmetrical walking
This is the first attempt at considering human influence in the reinforcement learning control
of a robotic lower limb prosthesis toward symmetrical walking in real world situations. We …
of a robotic lower limb prosthesis toward symmetrical walking in real world situations. We …
Generating synthetic gait patterns based on benchmark datasets for controlling prosthetic legs
M Kim, LJ Hargrove - Journal of neuroengineering and rehabilitation, 2023 - Springer
Background Prosthetic legs help individuals with an amputation regain locomotion.
Recently, deep neural network (DNN)-based control methods, which take advantage of the …
Recently, deep neural network (DNN)-based control methods, which take advantage of the …
Improving bionic limb control through reinforcement learning in an interactive game environment
Enhancing the accuracy and robustness of bionic limb controllers that decode motor intent is
a pressing challenge in the field of prosthetics. State-of-the-art research has mostly focused …
a pressing challenge in the field of prosthetics. State-of-the-art research has mostly focused …
Continuous-Time Reinforcement Learning: New Design Algorithms With Theoretical Insights and Performance Guarantees
BA Wallace, J Si - IEEE Transactions on Neural Networks and …, 2024 - ieeexplore.ieee.org
Continuous-time reinforcement learning (CT-RL) methods hold great promise in real-world
applications. Adaptive dynamic programming (ADP)-based CT-RL algorithms, especially …
applications. Adaptive dynamic programming (ADP)-based CT-RL algorithms, especially …