|
Seungmoon Song
Assistant Professor |
I am looking for Ph.D. students to join my lab. Email me if you are interested in pursuing a Ph.D. in the following topics.
1. Developing versatile gait assistive exoskeleton controllers through neuromechanical simulations
2. Modeling human locomotion control using deep reinforcement learning
1. Developing versatile gait assistive exoskeleton controllers through neuromechanical simulations
- Keywords: rehabilitation robotics, biomechanics, leg exoskeleton, gait analysis, predictive neuromechanical simulation
- Example tasks
- Design and conduct exoskeleton-assisted gait experiments
- Validate and improve neuromechanical simulation framework
- Develop versatile exoskeleton controllers
- Related links:
- NIH R00 project
- Paper 1 (exoskeleton experiment, human-in-the-loop optimization)
- Paper 2 (predictive neuromechanical simulation, elderly gait)
2. Modeling human locomotion control using deep reinforcement learning
- Keywords: motor control, neuromechanical simulation, deep reinforcement learning, open-source software development, academic competition
- Example tasks
- Develop RL frameworks for training physiologically plausible motor control models
- Develop open-source neuromechanical simulation environments
- Organize academic RL competitions and workshops
- Related links:
- NeurIPS: Learn to Move competition, OpenSim-RL
- Paper 1 (neuromechanical simulation, deep RL)
- Paper 2 (physiologically plausible control model, neuromechanical simulation)
I am an assistant professor in Mechancial and Industrial Engineering at Northeastern University. The goal of my lab is to better understand and model the motor control and biomechanics of human locomotion and to apply the obtained knowledge to rehabilitation engineering. We develop computational models and conduct human experiments to propose and evaluate control hypotheses. I envision our research to bring about simulation testbeds (which I call digital locomotor clones) for training protocols and assistive devices as well as intelligent motion controllers for assistive and humanoid robots.
Journal papers
|
Optimized hip-knee-ankle exoskeleton assistance reduces the metabolic cost of walking with worn loads GM Bryan, PW Franks, S Song, R Reyes, MP O'Donovan, KN Gregorczyk & SH Collins Journal of NeuroEngineering and Rehabilitation, 2021 [paper] |
|
Optimized hip-knee-ankle exoskeleton assistance at a range of walking speeds GM Bryan, PW Franks, S Song, AS Voloshina, R Reyes, MP O'Donovan, KN Gregorczyk & SH Collins Journal of NeuroEngineering and Rehabilitation, 2021 [paper] |
|
Deep reinforcement learning for modeling human locomotion in neuromechanical simulation S Song, Ł Kidziński, XB Peng, C Ong, J Hicks, S Levine, CG Atkeson & SL Delp Journal of NeuroEngineering and Rehabilitation, 2021 [paper] [video 2017] [video 2018] [video 2019] |
|
Optimizing exoskeleton assistance for faster self-selected walking S Song & SH Collins IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2021 [paper] [video 1] [video 2] [video Stanford] [press] |
|
Using force data to self-pace an instrumented treadmill and measure self-selected walking speed S Song, H Choi & SH Collins Journal of NeuroEngineering and Rehabilitation, 2020 [paper] [code] [video] |
|
Predictive neuromechanical simulations indicate why walking performance declines with aging S Song & H Geyer The Journal of Physiology, 2018 [paper] [press] |
|
Evaluation of a Neuromechanical Walking Control Model Using Disturbance Experiments S Song & H Geyer Frontiers in Computational Neuroscience, 2017 [paper] [video 1] [video 2] |
|
A neural circuitry that emphasizes spinal feedback generates diverse behaviours of human locomotion S Song & H Geyer The Journal of Physiology, 2015 [paper] [video] [model] [journal cover] |
Conference papers
|
Bayesian optimization using domain knowledge on the ATRIAS biped A Rai, R Antonova, S Song, W Martin, H Geyer & CG Atkeson IEEE ICRA, 2018 [paper] [video] |
|
Towards a hierarchical neuromuscular control model with reflex-based spinal control
- A study with a simple running model S Song International Symposium on Advanced Intelligent Systems, 2015 [paper] [video] [best presentation award] |
|
Regulating speed in a neuromuscular human running model S Song & Hartmut Geyer IEEE Humanoids, 2015 [paper] [video] |
|
Toward a virtual neuromuscular control for robust walking in bipedal robots Z Batts, S Song & Hartmut Geyer IEEE IROS, 2015 [paper] [video] |
|
Development of a bipedal robot that walks like an animation character S Song, J Kim & K Yamane IEEE ICRA, 2015 [paper] [video] [talk] [press] |
|
Integration of an adaptive swing control into a neuromuscular human walking model S Song, R Desai & H Geyer IEEE EMBC, 2013 [paper] [video] |
|
Generalization of a muscle-reflex control model to 3D walking S Song & H Geyer IEEE EMBC, 2013 [paper] |
|
The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking S Song, C LaMontagna, SH Collins & H Geyer IEEE EMBC, 2013 [paper] [video] [project page] |
|
Regulating speed and generating large speed transitions in a neuromuscular human walking model S Song & H Geyer IEEE ICRA, 2012 [paper] [video] [slides] |
|
The energetic cost of adaptive feet in walking S Song & H Geyer IEEE ROBIO, 2011 [paper] [slides] [project page] |
|
Development of an omnidirectional walking engine for full-sized lightweight humanoid robots S Song, YJ Ryoo & DW Hong ASME IDETC, 2011 [paper] [video1] [video2] [slides] [project page] |
|
Linear-time encodable rate-compatible punctured LDPC codes with low error floors S Song, D Hwang, S Seo & J Ha IEEE VTC, 2008 [paper] |
Patents
J Kim, K Yamane & S Song, Method for developing and controlling a robot to have movements match-ing an animation character, United States Patent 9427868, 2016.
[link]
J Nam, J An, D Hwang, J Ha & S Song, Apparatus and method for encoding low density parity check code, Korean patent 10-0999272-00-00, 2010.
[link]