{"id":"https://openalex.org/W4288064578","doi":"https://doi.org/10.1109/lra.2022.3194326","title":"A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning","display_name":"A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning","publication_year":2022,"publication_date":"2022-07-27","ids":{"openalex":"https://openalex.org/W4288064578","doi":"https://doi.org/10.1109/lra.2022.3194326"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3194326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3194326","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","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/A5084816118","display_name":"Wentao Liu","orcid":"https://orcid.org/0000-0002-3237-6307"},"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":true,"raw_author_name":"Wentao Liu","raw_affiliation_strings":["UNC/NCSU 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":"UNC/NCSU 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"]}]},{"author_position":"middle","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":false,"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/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":["UNC/NCSU 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":"UNC/NCSU 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/A5084816118"],"corresponding_institution_ids":["https://openalex.org/I114027177","https://openalex.org/I137902535"],"apc_list":null,"apc_paid":null,"fwci":1.6811,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.82699461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"10882","last_page":"10889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9993000030517578,"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":0.9943000078201294,"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":0.8479198217391968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6182063817977905},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5722452402114868},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5301826000213623},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5265624523162842},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4935039281845093},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46268004179000854},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.46169838309288025},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.41728562116622925},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3426922559738159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33970844745635986},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3390873074531555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25432246923446655},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.21917641162872314}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.8479198217391968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6182063817977905},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5722452402114868},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5301826000213623},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5265624523162842},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4935039281845093},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46268004179000854},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.46169838309288025},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.41728562116622925},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3426922559738159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33970844745635986},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3390873074531555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25432246923446655},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.21917641162872314},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3194326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3194326","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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 Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/4"}],"awards":[{"id":"https://openalex.org/G2142991018","display_name":null,"funder_award_id":"1926998","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G2899317681","display_name":null,"funder_award_id":"1808898","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G3286467314","display_name":null,"funder_award_id":"1563921","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G5470198761","display_name":null,"funder_award_id":"1563454","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"},{"id":"https://openalex.org/G6306294371","display_name":null,"funder_award_id":"1808752","funder_id":"https://openalex.org/F4320335353","funder_display_name":"National Science Foundation of Sri Lanka"}],"funders":[{"id":"https://openalex.org/F4320335353","display_name":"National Science Foundation of Sri Lanka","ror":"https://ror.org/010xaa060"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1778882367","https://openalex.org/W1964383074","https://openalex.org/W1971913572","https://openalex.org/W1976953979","https://openalex.org/W1978023077","https://openalex.org/W1999874108","https://openalex.org/W2020517307","https://openalex.org/W2074563816","https://openalex.org/W2099683979","https://openalex.org/W2117675763","https://openalex.org/W2130281033","https://openalex.org/W2133639509","https://openalex.org/W2142114107","https://openalex.org/W2147809815","https://openalex.org/W2149646777","https://openalex.org/W2326141327","https://openalex.org/W2490084223","https://openalex.org/W2700163520","https://openalex.org/W2909711564","https://openalex.org/W3034289395","https://openalex.org/W3091725409","https://openalex.org/W3159667783","https://openalex.org/W3177181149","https://openalex.org/W3210408793","https://openalex.org/W4211253905","https://openalex.org/W4214584936","https://openalex.org/W4254475186","https://openalex.org/W4285263112","https://openalex.org/W6677555207","https://openalex.org/W6728559231"],"related_works":["https://openalex.org/W2121208270","https://openalex.org/W2785665096","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W1992974134","https://openalex.org/W2904885586","https://openalex.org/W3003109530","https://openalex.org/W1551497311"],"abstract_inverted_index":{"Recent":[0],"efforts":[1],"in":[2,16,41,86,130,135],"the":[3,31,34,61,93,142,148,151],"design":[4,95,121,140],"of":[5,33,60,141,150],"intelligent":[6],"controllers":[7],"for":[8,22,96],"configuring":[9],"robotic":[10,35,97],"prostheses":[11],"have":[12],"demonstrated":[13],"new":[14,112],"possibilities":[15],"improving":[17],"mobility":[18],"and":[19,48,102],"restoring":[20],"locomotion":[21,106],"individuals":[23],"with":[24,155],"lower-limb":[25],"disabilities.":[26],"In":[27],"these":[28],"efforts,":[29],"personalizing":[30],"controller":[32],"device":[36],"is":[37],"a":[38,87,111],"crucial":[39],"step":[40],"order":[42],"to":[43,65,75,116],"meet":[44],"individual":[45],"user's":[46],"needs":[47],"physical":[49],"conditions.":[50],"Reinforcement":[51],"learning":[52,127],"(RL)":[53],"based":[54],"control":[55,99,120,144],"designs":[56,74],"are":[57],"among":[58],"some":[59],"most":[62],"promising":[63],"approaches":[64],"achieving":[66],"real-time,":[67],"optimal":[68],"adaptive":[69],"tuning":[70,101],"capability.":[71],"However,":[72],"such":[73,119],"date":[76],"rely":[77],"on":[78],"subjectively":[79],"determining":[80],"human-robot":[81,105,157],"walking":[82,158],"performance":[83,122,159],"measures,":[84],"commonly":[85],"quadratic":[88],"form.":[89],"To":[90],"further":[91],"automate":[92],"RL":[94,139],"knee":[98],"parameter":[100],"potentially":[103],"improve":[104],"performance,":[107],"this":[108],"study":[109],"introduces":[110],"bilevel":[113,152],"optimization":[114,153],"method":[115],"objectively":[117],"specify":[118],"measures":[123],"via":[124],"inverse":[125],"reinforcement":[126],"(IRL),":[128],"which":[129],"turn,":[131],"will":[132],"be":[133],"used":[134],"low":[136],"level":[137],"(forward)":[138],"impedance":[143],"parameters.":[145],"We":[146],"demonstrate":[147],"effectiveness":[149],"approach":[154],"improved":[156],"using":[160],"systematic":[161],"OpenSim":[162],"simulation":[163],"studies.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}