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A Piecewise Monotonic Gait Phase Estimation Model for Controlling a Powered Transfemoral Prosthesis in Various Locomotion Modes


Jul 25, 2022
Xinxing Chen, Chuheng Chen, Yuxuan Wang, Bowen Yang, Teng Ma, Yuquan Leng, Chenglong Fu

* in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9549-9556, Oct. 2022 

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Design, Modelling, and Control of a Reconfigurable Rotary Series Elastic Actuator with Nonlinear Stiffness for Assistive Robots


May 28, 2022
Yuepeng Qian, Shuaishuai Han, Gabriel Aguirre-Ollinger, Chenglong Fu, Haoyong Yu


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Ensemble diverse hypotheses and knowledge distillation for unsupervised cross-subject adaptation


Apr 15, 2022
Kuangen Zhang, Jiahong Chen, Jing Wang, Xinxing Chen, Yuquan Leng, Clarence W. de Silva, Chenglong Fu

* This preprint was submitted to Information Fusion on December 20, 2021 and is under review 

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Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance


Jul 29, 2021
Jianwen Luo, Zheng Wang, Chaoyang Song, H. Harry Asada, Chenglong Fu


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How does the structure embedded in learning policy affect learning quadruped locomotion?


Aug 29, 2020
Kuangen Zhang, Jongwoo Lee, Zhimin Hou, Clarence W. de Silva, Chenglong Fu, Neville Hogan


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Robotic Cane as a Soft SuperLimb for Elderly Sit-to-Stand Assistance


Feb 29, 2020
Xia Wu, Haiyuan Liu, Ziqi Liu, Mingdong Chen, Fang Wan, Chenglong Fu, Harry Asada, Zheng Wang, Chaoyang Song

* 8 pages, 9 figures, accepted for IEEE RoboSoft 2020 

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Off-policy Maximum Entropy Reinforcement Learning : Soft Actor-Critic with Advantage Weighted Mixture Policy(SAC-AWMP)


Feb 07, 2020
Zhimin Hou, Kuangen Zhang, Yi Wan, Dongyu Li, Chenglong Fu, Haoyong Yu


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Teach Biped Robots to Walk via Gait Principles and Reinforcement Learning with Adversarial Critics


Oct 22, 2019
Kuangen Zhang, Zhimin Hou, Clarence W. de Silva, Haoyong Yu, Chenglong Fu


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Sequential Decision Fusion for Environmental Classification in Assistive Walking


Apr 25, 2019
Kuangen Zhang, Wen Zhang, Wentao Xiao, Haiyuan Liu, Clarence W. de Silva, Chenglong Fu


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Linked Dynamic Graph CNN: Learning on Point Cloud via Linking Hierarchical Features


Apr 22, 2019
Kuangen Zhang, Ming Hao, Jing Wang, Clarence W. de Silva, Chenglong Fu


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