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Here is the full list of publications


Q Zhang, V. Nalam, X. Tu, M. Li, J. Si, M. Lewek, H. Huang, “Imposing Healthy Hip Movement Pattern and Range by Exoskeleton Control for Individualized Assistance”, IEEE Robotic and Automation Letter, 2022 (Accepted)

W Liu, R. Wu, J. Si, H. Huang, “A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning”, IEEE Robotic and Automation Letter, 2022 (Accepted)

A. Naseri, M Liu, IC Lee, W. Liu, H. Huang, “Characterizing Prosthesis Control Fault during Human-Prosthesis Interactive Walking Using Intrinsic Sensors”, IEEE RAL, 2022 (Accepted)

R. Hinson, K Saul, D. Kamper, H. Huang “Sensitivity Analysis Guided Improvement of an Electromyogram-driven Lumped Parameter Musculoskeletal Hand Model”, J of Biomechanics, 2022 (Accepted)

R. Wu, M. Li, W. Liu, Z. Yao, J. Si, H Huang, “Reinforcement Learning Impedance Control of a Robotic Prosthesis to Coordinate with Human Intact Knee MotionIEEE Robotic and Automation Letter, 2022 (Accepted)

J Yuan, X. Bai, B. Driscoll, M. Liu, Huang, F. Jing, “Standing and Walking Attention Visual Field (SWAVF) Task: A New Method to Assess Visuospatial Attention During Walking”, Applied Ergonomics, 2022 (Accepted)

M. Li, B. Zhong, E. Lobaton, H Huang, “Fusion of Human Gaze and Machine Vision for Predicting Intended Locomotion Mode“, IEEE Trans Neural System and Rehabilitation, 2022

IC Lee, B Fylstra, M Liu, T Lenzi, H Huang,Is there a trade-off between economy and task goal variability in transfemoral amputee gait?” Journal of NeuroEngineering and Rehabilitation, 2022

N. Rubin, Y. Zheng, H. Huang, X. Hu, “Finger Force estimation of individual fingers using motor unit discharges across multiple forearm postures”, IEEE Trans on Biomed Engr, 2022

V Nalam, X Tu, M Li, M Liu, J. Si, H. Huang, “Admittance Control based Human-in-the-loop Optimization for Hip Exoskeleton: A New Approach “, 2022 IEEE ICRA, 2022 (Accepted)

W Liu, J. Zhong, R. Wu, B. Flystra, J Si, H. Huang, “ Inferring Human-Robot Performance Objectives during Locomotion using Inverse Reinforcement Learning and Inverse Optimal Control”, IEEE Robotic and Automation Letter, 2022


V Nalam, H. Huang, “Empowering prosthesis users with a hip exoskeleton“, Nature Medicine, 2021 (Invited Views and News paper)

M Li, Y. Wen, X. Gao, J. Si, H. Huang, “Towards Expedited Impedance Tuning of a Robotic Prosthesis for Personalized Gait Assistance by Reinforcement Learning Control”, IEEE Trans Robotics, 2021

A Fleming, N. Stafford, S. Huang, X. Hu, DP Ferris*, H Huang*, “Myoelectric Control of Robotic Lower Limb Prostheses: A Review of Electromyography Interfaces, Control Paradigms, Challenges and Future Directions”, Journal of Neural Engineering, 2021 (Accepted)

H. Huang, J. Si, A. Brandt, M. Li, “Taking Both Sides: Seeking Symbiosis Between Intelligent Prostheses and Human Motor Control during Locomotion“, Current Opinion on Biomedical Engineering (invited paper), 2021

D. Farina., Vujaklija, I., Brånemark, R., Bull, A.M., Dietl, H., Graimann, B., Hargrove, L.J., Hoffmann, K.P., Huang, H.H., Ingvarsson, T. Janusson, H.B., K Kristjansson, T. Kuiken, S. Micera, T. Stieglitz, A. Sturma, D. Tyler, R. Weir, and OC Aszmann; “Toward higher-performance bionic limbs for wider clinical use“, Nature Biomedical Engineering, pp.1-13. 2021

B. Zhong, R. L. da Silva, M. Tran, H. Huang and E. Lobaton, “Efficient Environmental Context Prediction for Lower Limb Prostheses,IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2021

X Gao; Si, J; Wen, Y; Li, M; Huang, H, “Reinforcement Learning Control of Robotic Knee with Human in the Loop by Flexible Policy Iteration“, IEEE Trans on Neural Network and Learning Systems, 2021

L Pan, H Huang, “A Robust Model-Based Neural-Machine Interface across Different Loading Conditions”, Biomedical Signal Processing and Control, 2021

A Fleming, S. Huang, E. Buxton, F. Hodges, He Huang,Direct Continuous EMG control of a Powered Prosthetic Ankle for Improved Postural Control after Guided Physical Training: a Case Study”, Wearable Technology, 2021

Tabor, Jordan, Talha Agcayazi, Aaron Fleming, Brendan Thompson, Ashish Kapoor, Ming Liu, Michael Lee, He Huang, Alper Bozkurt, and Tushar K. Ghosh. “Textile-based Pressure Sensors for Monitoring Prosthetic-Socket Interfaces.” IEEE Sensors Journal, 2021

Wu, Ruofan, Minhan Li, Zhikai Yao, and Jennie Si. He Huang, “Reinforcement Learning Enabled Automatic Impedance Control of a Robotic Knee Prosthesis to Mimic the Intact Knee Motion in a Co-Adapting Environment.” arXiv preprint arXiv:2101.03487, 2021.

Yuan, J,  E. Cline, M. Liu, H Huang, J. Feng*, “Cognitive measures during walking with and without lower-limb prosthesis: protocol for a scoping review”, BMJ Open, 2021 (Accepted)

W. Wu, K Saul, He Huang* “Using reinforcement learning to estimate joint moments: An alternative solution to musculoskeletal-based biomechanics”, ASME Journal of Biomechanical Engineering, 2021

X Tu, M Li, M Liu, J Si, H Huang, “A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton“, IEEE ICRA, 2021

Alili, V Nalam, M Li, M Liu, J Si, H. Huang, “User Controlled Interface for Tuning Robotic Knee Prosthesis” 2021 IEEE/RSJ IROS 2021 (Accepted)

S. Upadhye, C. Shah, M Liu, G. Buckner, H. Huang, “A Powered Prosthetic Ankle Designed for Task Variability, Energy Efficiency, and Safety-A Concept Validation” 2021 IEEE/RSJ IROS 2021

J Berman, R Hinson, H Huang, “Comparing Reinforcement Learning Agents and Supervised Learning Neural Networks for EMG-Based Decoding of Continuous Movements”, IEEE EMBC, 2021

F Popp, M Liu, H Huang, “Development of a Wearable Human-Machine Interface to Track Forearm Rotation via an Optical Sensor”, IEEE EMBC, 2021

W Liu, A Fleming, IC Lee, H Huang “Direct myoelectric control modifies lower limb functional connectivity: a case study”, IEEE EMBC, 2021

N Rubin, W Liu, X Hu, H Huang, “Common Neural Input within and across Lower Limb Muscles: A preliminary Study”, IEEE EMBC, 2021


IC. Lee*, M. Pacheco, M. Lewek, H. Huang, “Perceiving amputee gait from biological motion: kinematics cues and effect of experience level”, Scientific Reports, 2020 (Accepted)

B. Fylstra, IC Lee, S Huang, A. Brandt, M. Lewek, H. Huang*, “Human-Prosthesis Coordination: A Preliminary Study Exploring Coordination With A Powered Ankle-Foot Prosthesis”, Clinical Biomechanics, 2020 (Accepted)

M. Liu*, D. Kamper, H. Huang,An Easy-to-Use Socket-Suspension Monitoring System for Lower Limb Amputees”, IEEE Transactions on Instrumentation & Measurement, 2020 (Accepted)

B. Zhong, H. Huang*, E. Lobaton*, “Reliable Vision-Based Grasping Target Recognition for Upper-limb Prostheses”, IEEE Trans on Cybernetics, 2020 (Accepted)

L. Pan, L. Vargas, X. Hu, Y. Zhu, H. Huang*, “Evoking Haptic Sensations in the Foot through High-Density Transcutaneous Electrical Nerve Stimulations”, Journal of Neural Engineering, 2020 (Accepted)

Y. Wen, M. Li, J. Si, H. Huang*, “Wearer-Prosthesis Interaction for Symmetrical Gait: A Study Enabled by Reinforcement Learning Prosthesis Control“, IEEE Transactions on Neural System and Rehabilitation Engineering, 2020

B. Zhong, RL da Silva, M. Li, H. Huang*, E. Lobaton*, “Environmental context Prediction for Lower Limb Prosthesis with Uncertainty Quantification”, IEEE Trans on Automation Science and Engineering, 2020 (Accepted)

M. McKnight, J. Tabor, T. Agcayazi, A. Fleming, T. Ghosh, H. Huang, A. Bozkurt*, “Fully-textile Insole Seam-line for Multi-modal Sensor Mapping”, IEEE Sensor, 2020 (Accepted)

J. Stallings*, MD Islam, AM Staicu, D. Crouch, L. Pan, H Huang, “Optimal EMG Placement for a Robotic Prosthesis Controller with Sequential, Adaptive Functional Estimation”, Annals of Applied Statistics, 2020 (Accepted)

L. Vargas, H Huang, Y. Zhu, X. Hu*; “Object Shape and Surface Topology Recognition using Haptic Feedback Evoked through Peripheral Nerve Stimulation.” IEEE Trans. On Haptics, 2020

X. Gao, J. Si, Y. Wen, M. Li, H Huang, “Knowledge-Guided Reinforcement Learning Control for Robotic Lower Limb Prosthesis”, IEEE ICRA, 2020

Fleming, W Liu, H Huang, “Neural Coherence of Homologous Muscle Pairs during Direct EMG Control of Standing Posture in Transtibial Amputees”, 2020 International Conference on Neurorehabilitation (ICNR), 2020

R Wu, M Li, J Si and H Huang, “Understanding Human-Prosthesis Interaction via Reinforcement Learning-based Echo Control: A case study”, 2020 International Conference on Neurorehabilitation (ICNR), 2020


A. Brandt*, H. Huang, “Effects of Extended Stance Time on a Powered Knee Prosthesis and Gait Symmetry on Unilateral Amputees’ Lateral Control of Balance during Walking”, Journal of Neuroengineering and Rehabilitation, 16:151, 2019

A. Brandt, W. Riddick, J. Stallrich, M. Lewek, H. Huang, Effects of Extended Powered Knee Prosthesis Stance Time via Visual Feedback on Gait Symmetry of Individuals with Unilateral Amputation: A Preliminary Study, Journal of NeuroEngineering and Rehabilitation, 16:112, 2019

L. Pan, D. Crouch, H. Huang, Comparing EMG-based human-machine interfaces for estimating continuous, coordinated movements, IEEE Transactions on Neural System and Rehabilitation Engineering, 2019 (Accepted)

T. Zhang, H. Huang, Design and Control of a Series Elastic Actuator with Clutch for Hip Exoskeleton for Precise Assistive Magnitude and Timing Control and Improved Mechanical Safety, IEEE Trans Mechatronics, 2019 (Accepted)

A. Fleming, S. Huang, H. Huang, Proportional Myoelectric Control of a Virtual Inverted Pendulum using Residual Antagonistic Muscles: Toward Voluntary Postural Control, IEEE Trans Neural System and Rehabilitation, 27(7), 1473-82, 2019

T. Zhang, M. Tran, H. Huang, Admittance Shaping-based Assistive Control of SEA-driven Robotic Hip Exoskeleton, IEEE Trans Mechatronics, 24(4), pp. 1508 – 1519, 2019

S. Huang, H. Huang, Voluntary Control of Residual Antagonistic Muscles in Transtibial Amputees: Reciprocal Activation, Co-activation, and Implications for Direct Neural Control of Powered Lower Limb Prostheses, IEEE Transactions on Neural System and Rehabilitation Engineering, 27(1), pp. 85-95, 2019

Y. Wen, J Si, A. Brandt, X. Gao, H. Huang*, Online Reinforcement Learning Control for the Personalization of a Robotic Knee Prosthesis, IEEE Transactions on Cybernetics, 2019 (in press)

M. Zahabi, M White, W Zhang, AT. Winslow, F Zhang, H Huang, DB Kaber*, Application of Cognitive Task Performance Modeling for Assessing Usability of Transradial Prostheses, IEEE Human-Machine Systems, 49(4), 381-7; 2019

L. Vagars, G. Whitehouse, H. Huang, Y. Zhu, X. Hu, Evoked Haptic Sensation in the Hand with Concurrent Non- Invasive Nerve Simulation, IEEE Trans on Biomedical Engineering, 2019 (Accepted)

M. Li, X. Gao, Y. Wen, J. Si, H Huang, Offline policy interaction-based reinforcement learning controller for online robotic knee prosthesis parameter tuning, IEEE ICRA, 2019 (Accepted)

M. Li, et al. Gaze Fixation Comparisons Between Amputees and Able-bodied Individuals in Approaching Stairs and Level-ground Transitions: A pilot study, Conf Proc IEEE Eng Med Biol Soc, 2019 (Accepted)

M. Liu, A. Lupiani, H. Huang, Identify Kinematic Features for Powered Prosthesis Tuning, IEEE ICORR, 2019 (Accepted)

A Fleming, H. Huang, Proportional Myoelectric Control of a Powered Ankle Prosthesis for Postural Control under Expected Perturbation: A Pilot Study, IEEE ICORR, 2019 (Accepted)


DL Crouch, L. Pan, W. Filer, J. Stallings, H Huang, “Comparing Surface and Intramuscular Electromyography for Simultaneous and Proportional Control Based on a Musculoskeletal Model: A Pilot Study“, IEEE Transactions on Neural System and Rehabilitation,26(9), pp. 1735 – 1744,  2018

L. Pan, DL Crouch, H Huang*, “Myoelectric Control Based on A Generic Musculoskeletal Model: Towards A Multi-User Neural-Machine Interface“, IEEE Transactions on Neural System and Rehabilitation, 26(7), pp. 1435 – 1442, 2018

T. Zhang, H. Huang, “A Lower-Back Robotic Exoskeleton: Industrial Handling Augmentation Used to Provide Spinal Support“, IEEE Robotics and Automation Magazine, 2018 (Accepted)

H Shin, Z. Watkins, H. Huang, Y. Zhu, X. Hu*, “Evoked Haptic Sensations in the Hand via Non-Invasive Proximal Nerve Stimulation“, Journal of Neural Engineering, 15 046005, 2018

S. Huang*, H. Huang, “Voluntary Control of Residual Antagonistic Muscles in Transtibial Amputees: Feedforward Ballistic Contractions and Implications for Direct Neural Control of Powered Lower Limb Prostheses“, IEEE Transactions on Neural System and Rehabilitation, 26(4), 894-903, 2018

L. Resnik, H. Huang*, A. Winslow, D. Crouch, F. Zhang, N. Wolk, “Evaluation of EMG pattern recognition for upper limb prosthesis control: a case study in comparison with direct myoelectric control“, Journal of Neuroengineering and Rehabilitation, 15:23, 2018

T. Zhang*, Minh Tran, H. Huang, “Design and experimental verification of hip exoskeleton with balance capacities for walking assistance”, IEEE Transactions on Mechtronics, 23(1), pp. 274 – 285, 2018

L. Pan, A. Harmody, H. Huang, A Reliable Multi-User EMG Interface Based on A Generic-Musculoskeletal Model against Loading Weight Changes, Conf Proc IEEE Eng Med Biol Soc, 2018

L. Vargas, H. Huang, Y. Zhu, X. Hu, Merged Haptic Sensation in the Hand during Concurrent Non-Invasive Proximal Nerve Stimulation, Conf Proc IEEE Eng Med Biol Soc, 2018

A. Fleming, S. Huang, H. Huang, Coordination of Voluntary Residual Muscle Contractions in Transtibial Amputees: a Pilot Study, Conf Proc IEEE Eng Med Biol Soc, 2018

V. Vempalal, H. Huang, M. Liu, A Practical Approach for Pistoning Evaluation for Lower Limb Amputees, Conf Proc IEEE Eng Med Biol Soc, 2018

B. Fylstra, C. Dai, X. Hu, H. Huang, Characterizing Residual Muscle Properties in Lower Limb Amputees Using High Density EMG Decomposition: A Pilot Study, Conf Proc IEEE Eng Med Biol Soc, 2018

JP Diaz-Paz, RL da Silva, B. Zhong, H. Huang, E. Lobaton,Visual Terrain Identification and Surface Inclination Estimation for Improving Human Locomotion with a Lower-Limb Prosthetic, Conf Proc IEEE Eng Med Biol Soc, 2018


A. Brandt, Y. Wen, M. Liu, H. Huang, “Interactions between transfemoral amputees and a powered knee prosthesis during load carriage“, Scientific Reports, 7(1): 14480, 2017 (Featured on the front page of NSF Science 360 as a top story)

M. Liu, F. Zhang, H. Huang, “An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition”, Sensors 17(9), 2020, 2017

M White, W Zhang, M Zahabi, AT. Winslow, F Zhang, H Huang, D Kaber, “Usability comparison of conventional direct control versus pattern recognition control of transradial prostheses”, IEEE Transactions on Human-Machine Systems, 47(6), pp.1146-52, 2017

T. Zhang, Minh Tran, H. Huang, “NREL-Exo: a 4-DoFs Wearable Hip Exoskeleton for Walking and Balance Assistance in Locomotion“, Conf. Prof. IEEE IROS, 2017

T. Agcayazi, M. MaKnight, P. Sotory, H. Huang, T. Ghosh, A. Bozkurt, “A Scalable Shear and Normal Force Sensor for Prosthetic Sensing”,Conf. Prof. IEEE SENSORS, 2017

Y. Wen, A. Brandt, M. Liu, J. Si, H. Huang, Comparing Parallel and Sequential Control Parameter Tuning for a Powered Knee Prosthesis, Conf. Proc. IEEE Systems, Man, Cybernetics, 2017

S. Chang, D. Crouch, H. Huang, Effects of output speed threshold on real-time continuous EMG human-machine interface control, Conf. Proc. IEEE Systems, Man, Cybernetics, 2017

L. Pan, D. Crouch, H. Huang, Musculoskeletal Model for Simultaneous and Proportional Control of 3-DOF Hand and Wrist Movements from EMG Signals, Conf. Proc. IEEE Neural Engineering, 2017

D. Crouch, H. Huang, “Musculoskeletal model-based control interface mimics physiologic hand dynamics during path tracing task“, Journal of Neural Engineering, 14(3), 036008, 2017

F. Zhang, P. Bohlen, M. Lewek, H. Huang, “Prediction of intrinsically caused trips in individuals with stroke“, IEEE Trans Neural Syst Rehabil Eng, 25(8), pp.1202-10, 2017

Y. Wen, J. Si, X. Gao, S. Huang, H. Huang, “A new powered lower limb prosthesis control framework based on adaptive dynamic programming“, IEEE Trans on Neural Network and Learning Systems, 28(9), pp. 2215-20, 2017