{"paper":{"title":"Reinforcement Learning Enabled Automatic Impedance Control of a Robotic Knee Prosthesis to Mimic the Intact Knee Motion in a Co-Adapting Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"He (Helen) Huang, Jennie Si, Minhan Li, Ruofan Wu, Zhikai Yao","submitted_at":"2021-01-10T06:56:27Z","abstract_excerpt":"Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement learning (RL) solutions toward addressing this issue. Yet, our designs were based on using a subjectively prescribed target motion profile for the robotic knee during level ground walking. This is not realistic for different users and for different locomotion tasks. In this study for the first time, we investigated the feasibility of RL enabled automatic configura"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2101.03487","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2101.03487/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}