@inproceedings{4102443425b24292bd76f602fac4226a,
title = "Robotic Knee Prosthesis Real-Time Control Using Reinforcement Learning with Human in the Loop",
abstract = "Advanced robotic prostheses are expensive considering the cost of human resources and the time spent on manually tuning the high-dimensional control parameters for individual users. To alleviate clinicians{\textquoteright} effort and promote the advanced robotic prosthesis, we implemented an optimal adaptive control algorithm, which fundamentally is a type of reinforcement learning method, to automatically tune the high-dimensional control parameters of a robotic knee prosthesis through interaction with a human-prosthesis system. The {\textquoteleft}human-in-the-loop{\textquoteright} term means that the learning controller tunes the control parameters based on the performance of the robotic knee prosthesis while an amputee subject walking with it. We validated the human-in-the-loop auto-tuner with one transfemoral amputee subject for 4 hour-long lab testing sessions. Our results demonstrated that this novel reinforcement learning controller was able to learn through interaction with the human-prosthesis system and discover a set of suitable control parameter for the amputee user to generate near-normative knee kinematics.",
keywords = "Amputees, Gait symmetry, Machine learning, Prosthetic knee kinematics, Reinforcement learning, Robotic knee prosthesis",
author = "Yue Wen and Xiang Gao and Jennie Si and Andrea Brandt and Minhan Li and Huang, {He (Helen)}",
note = "Funding Information: This work was partly supported by National Science Foundation #1563454, #1563921, #1808752 and #1808898. Publisher Copyright: © 2019, Springer Nature Singapore Pte Ltd.; 4th International Conference on Cognitive Systems and Information Processing, ICCSIP 2018 ; Conference date: 29-11-2018 Through 01-12-2018",
year = "2019",
doi = "10.1007/978-981-13-7983-3_41",
language = "English (US)",
isbn = "9789811379826",
series = "Communications in Computer and Information Science",
publisher = "Springer Verlag",
pages = "463--473",
editor = "Dewen Hu and Huaping Liu and Fuchun Sun",
booktitle = "Cognitive Systems and Signal Processing - 4th International Conference, ICCSIP 2018, Revised Selected Papers",
}