He (Helen) Huang

Helen’s research interest lies in science and technology that can establish and enhance a symbiotic relationship between humans and wearable assitive machines in order to augment motor function for individuals with disabilities. Her research goal is to create breakthroughs in human-machine symbiotic (HMS) systems that empower disabled people to lead more active and productive lives.






To achieve this overarching goal, her current research focuses on understanding how limb amputees and robotic prostheses interact with each other and their environments and development of advanced control for robotic prostheses, which are adaptive, efficient, and safe, in order to restore the motor function in individuals with limb amputations. Three research thrusts have been formulated in my lab:

Thrust 1: Investigation of neuromuscular control and sensorimotor integration in limb amputees and development of neural-machine interfaces for neural control of robotic prosthetic limbs

Thrust 2: Investigation of wearer-machine co-adaptation and development of optimal adaptive control for robotic prostheses that provide personalized assistance and can adapt to changes in wearers and environments.

Thrust 3: Investigation of error correction and tolerance in human-machine symbiotic (HMS) systems and development of fault tolerant control for robotic prosthetic legs to improve the wearer’s stability and safety

*For current projects and open opportunities, check our lab or CLEAR websites

Research Interests

Wearable robotics
Neural-machine interface
Robotic prosthetics and exoskeleton
Optimal adaptive control
Human-robot interaction


A New Robotic Knee Impedance Control Parameter Optimization Method Facilitated by Inverse Reinforcement Learning
Liu, W., Wu, R., Si, J., & Huang, H. (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(4), 10882–10889. https://doi.org/10.1109/LRA.2022.3194326
Characterizing Prosthesis Control Fault During Human-Prosthesis Interactive Walking Using Intrinsic Sensors
Naseri, A., Liu, M., Lee, I.-C., Liu, W., & Huang, H. (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(3), 8307–8314. https://doi.org/10.1109/LRA.2022.3186503
Evoked Tactile Feedback and Control Scheme on Functional Utility of Prosthetic Hand
Vargas, L., Huang, H., Zhu, Y., & Hu, X. (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 1300–1307. https://doi.org/10.1109/LRA.2021.3139147
Finger Force Estimation Using Motor Unit Discharges Across Forearm Postures
Rubin, N., Zheng, Y., Huang, H., & Hu, X. (2022), IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 69(9), 2767–2775. https://doi.org/10.1109/TBME.2022.3153448
Fusion of Human Gaze and Machine Vision for Predicting Intended Locomotion Mode
Li, M., Zhong, B., Lobaton, E., & Huang, H. (2022), IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 30, 1103–1112. https://doi.org/10.1109/TNSRE.2022.3168796
Human-prosthesis cooperation: combining adaptive prosthesis control with visual feedback guided gait
Fylstra, B. L., Lee, I.-C., Li, M., Lewek, M. D., & Huang, H. (2022), JOURNAL OF NEUROENGINEERING AND REHABILITATION, 19(1). https://doi.org/10.1186/s12984-022-01118-z
Inferring Human-Robot Performance Objectives During Locomotion Using Inverse Reinforcement Learning and Inverse Optimal Control
Liu, W., Zhong, J., Wu, R., Fylstra, B. L., Si, J., & Huang, H. (2022), IEEE ROBOTICS AND AUTOMATION LETTERS, 7(2), 2549–2556. https://doi.org/10.1109/LRA.2022.3143579
Introduction to the Special Section on Wearable Robots
Moreno, J. C., Vitiello, N., Walsh, C., Huang, H., & Mohammed, S. (2022, June), IEEE TRANSACTIONS ON ROBOTICS, Vol. 38, pp. 1338–1342. https://doi.org/10.1109/TRO.2022.3176744
Is there a trade-off between economy and task goal variability in transfemoral amputee gait?
Lee, I.-C., Fylstra, B. L., Liu, M., Lenzi, T., & Huang, H. (2022), JOURNAL OF NEUROENGINEERING AND REHABILITATION, 19(1). https://doi.org/10.1186/s12984-022-01004-8
Neural Coherence of Homologous Muscle Pairs During Direct EMG Control of Standing Posture in Transtibial Amputees
Fleming, A., Liu, W., & Huang, H. (2022), In Biosystems & Biorobotics (pp. 139–143). https://doi.org/10.1007/978-3-030-70316-5_23

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He (Helen) Huang