{"id":"https://openalex.org/W3210408793","doi":"https://doi.org/10.1109/jas.2021.1004272","title":"Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning","display_name":"Robotic Knee Tracking Control to Mimic the Intact Human Knee Profile Based on Actor-Critic Reinforcement Learning","publication_year":2021,"publication_date":"2021-10-20","ids":{"openalex":"https://openalex.org/W3210408793","doi":"https://doi.org/10.1109/jas.2021.1004272","mag":"3210408793"},"language":"en","primary_location":{"id":"doi:10.1109/jas.2021.1004272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004272","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5074902946","display_name":"Ruofan Wu","orcid":"https://orcid.org/0000-0003-4438-0191"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ruofan Wu","raw_affiliation_strings":["School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032223352","display_name":"Zhikai Yao","orcid":"https://orcid.org/0000-0001-6716-7321"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhikai Yao","raw_affiliation_strings":["School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085653399","display_name":"Jennie Si","orcid":"https://orcid.org/0000-0002-0374-7404"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennie Si","raw_affiliation_strings":["School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA"],"affiliations":[{"raw_affiliation_string":"School of Electrical, Computer and Energy Engineering, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036072216","display_name":"He Huang","orcid":"https://orcid.org/0000-0001-5581-1423"},"institutions":[{"id":"https://openalex.org/I137902535","display_name":"North Carolina State University","ror":"https://ror.org/04tj63d06","country_code":"US","type":"education","lineage":["https://openalex.org/I137902535"]},{"id":"https://openalex.org/I114027177","display_name":"University of North Carolina at Chapel Hill","ror":"https://ror.org/0130frc33","country_code":"US","type":"education","lineage":["https://openalex.org/I114027177"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"He Helen Huang","raw_affiliation_strings":["Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA","University of North Carolina at Chapel Hill, Chapel Hill, NC, USA"],"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, North Carolina State University, Raleigh, NC, USA","institution_ids":["https://openalex.org/I137902535"]},{"raw_affiliation_string":"University of North Carolina at Chapel Hill, Chapel Hill, NC, USA","institution_ids":["https://openalex.org/I114027177"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074902946"],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":2.3774,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.88625377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"9","issue":"1","first_page":"19","last_page":"30"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.8726513385772705},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6191405057907104},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6088686585426331},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4903297424316406},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.48161691427230835},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4745510518550873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4539484977722168},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.43228408694267273},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4173538088798523},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4156438112258911},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39604946970939636},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38630664348602295},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3513043522834778},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3247772753238678},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25731921195983887},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.10851195454597473}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8726513385772705},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6191405057907104},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6088686585426331},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4903297424316406},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48161691427230835},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4745510518550873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4539484977722168},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.43228408694267273},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4173538088798523},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4156438112258911},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39604946970939636},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38630664348602295},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3513043522834778},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3247772753238678},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25731921195983887},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.10851195454597473},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jas.2021.1004272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jas.2021.1004272","pdf_url":null,"source":{"id":"https://openalex.org/S2484288132","display_name":"IEEE/CAA Journal of Automatica Sinica","issn_l":"2329-9266","issn":["2329-9266","2329-9274"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/CAA Journal of Automatica Sinica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6198196197","display_name":null,"funder_award_id":"1563921,1808752,1563454,1808898","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W103878522","https://openalex.org/W814391925","https://openalex.org/W1778882367","https://openalex.org/W1887006513","https://openalex.org/W1964373008","https://openalex.org/W1976953979","https://openalex.org/W1981932940","https://openalex.org/W2001998296","https://openalex.org/W2016014744","https://openalex.org/W2017239762","https://openalex.org/W2017380219","https://openalex.org/W2028044548","https://openalex.org/W2028060274","https://openalex.org/W2033226680","https://openalex.org/W2040871222","https://openalex.org/W2056732290","https://openalex.org/W2057757990","https://openalex.org/W2090167557","https://openalex.org/W2099683979","https://openalex.org/W2106813881","https://openalex.org/W2120624705","https://openalex.org/W2128131727","https://openalex.org/W2128698518","https://openalex.org/W2130281033","https://openalex.org/W2147809815","https://openalex.org/W2147951118","https://openalex.org/W2150716443","https://openalex.org/W2165501837","https://openalex.org/W2166310857","https://openalex.org/W2220291955","https://openalex.org/W2334230567","https://openalex.org/W2424242071","https://openalex.org/W2490084223","https://openalex.org/W2532391106","https://openalex.org/W2802953299","https://openalex.org/W2887102266","https://openalex.org/W2909711564","https://openalex.org/W2941405176","https://openalex.org/W2941796172","https://openalex.org/W2968028487","https://openalex.org/W2968257162","https://openalex.org/W3011807390","https://openalex.org/W3034289395","https://openalex.org/W3119188395","https://openalex.org/W3159667783","https://openalex.org/W3160954918","https://openalex.org/W4211253905","https://openalex.org/W4236611057","https://openalex.org/W4255103961","https://openalex.org/W4298691646","https://openalex.org/W4308960747","https://openalex.org/W6604220138","https://openalex.org/W6788604126","https://openalex.org/W6788917625"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548","https://openalex.org/W2964765435"],"abstract_inverted_index":{"We":[0,104,141],"address":[1],"a":[2,35,47,68,94,144,153],"state-of-the-art":[3],"reinforcement":[4],"learning":[5,121],"(RL)":[6],"control":[7,33,59,66,83,95,110,132,151,186],"approach":[8],"to":[9,16,39,79,160],"automatically":[10],"configure":[11],"robotic":[12,36,71],"prosthesis":[13,38,58],"impedance":[14],"parameters":[15,60],"enable":[17],"end-to-end,":[18],"continuous":[19],"locomotion":[20],"intended":[21],"for":[22],"transfemoral":[23],"amputee":[24],"subjects.":[25],"Specifically,":[26],"our":[27,51,107,181],"actor-critic":[28],"based":[29,54,85,184],"RL":[30,53],"provides":[31],"tracking":[32,82,109,150,185],"of":[34,57,101,119,126,137,147],"knee":[37,43,72],"mimic":[40],"the":[41,75,81,99,120,127,138,148,158,163],"intact":[42],"profile,":[44],"This":[45],"is":[46,187],"significant":[48],"advance":[49],"from":[50],"previous":[52],"automatic":[55],"tuning":[56],"which":[61],"have":[62],"centered":[63],"on":[64,86,170],"regulation":[65],"with":[67],"designer":[69],"prescribed":[70],"profile":[73],"as":[74,116],"target.":[76],"In":[77],"addition":[78],"presenting":[80],"algorithm":[84],"direct":[87],"heuristic":[88],"dynamic":[89],"programming":[90],"(dHDP),":[91],"we":[92],"provide":[93,143],"performance":[96],"guarantee":[97],"including":[98],"case":[100],"constrained":[102],"inputs.":[103],"show":[105,179],"that":[106,180],"proposed":[108,149,182],"possesses":[111],"several":[112],"important":[113],"properties,":[114],"such":[115],"weight":[117],"convergence":[118],"networks,":[122],"Bellman":[123],"(sub)":[124],"optimality":[125],"cost-to-go":[128],"value":[129],"function":[130],"and":[131,134,173],"input,":[133],"practical":[135],"stability":[136],"human-robot":[139,155],"system.":[140],"further":[142],"systematic":[145],"simulation":[146],"using":[152],"realistic":[154],"system":[156],"simulator,":[157],"OpenSim,":[159],"emulate":[161],"how":[162],"dHDP":[164,183],"enables":[165],"level":[166],"ground":[167],"walking,":[168],"walking":[169],"different":[171,175],"terrains":[172],"at":[174],"paces.":[176],"These":[177],"results":[178],"not":[188],"only":[189],"theoretically":[190],"suitable,":[191],"but":[192],"also":[193],"practically":[194],"useful.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":10}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2021-11-08T00:00:00"}
