arXiv subjects

Sangwoo Park

Publications and source records attributed to Sangwoo Park.

At least 91 records · Page 5Linked to original sources

arXiv2022

Design of Spiral-Cable Forearm Exoskeleton to Assist Supination for Hemiparetic Stroke Subjects

We present the development of a cable-based passive forearm exoskeleton that is designed to assist supination for hemiparetic stroke survivors. Our device uniquely provides torque sufficient for counteracting spasticity within a below-elbow apparatus. The mechanism consists of a spiral single-tendon routing embedded in a rigid forearm brace and terminated at the hand and upper-forearm. A spool with an internal releasable-ratchet mechanism allows the user to manually retract the tendon and rotate the hand to counteract involuntary pronation synergies due to stroke. We characterize the mechanism with benchtop testing and five healthy subjects, and perform a preliminary assessment of the exoskeleton with a single chronic stroke subject having minimal supination ability. The mechanism can be integrated into an existing active hand-opening orthosis to enable supination support during grasping tasks, and also allows for a future actuated supination strategy.

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arXiv2022

Thumb Stabilization and Assistance in a Robotic Hand Orthosis for Post-Stroke Hemiparesis

We propose a dual-cable method of stabilizing the thumb in the context of a hand orthosis designed for individuals with upper extremity hemiparesis after stroke. This cable network adds opposition/reposition capabilities to the thumb, and increases the likelihood of forming a hand pose that can successfully manipulate objects. In addition to a passive-thumb version (where both cables are of fixed length), our approach also allows for a single-actuator active-thumb version (where the extension cable is actuated while the abductor remains passive), which allows a range of motion intended to facilitate creating and maintaining grasps. We performed experiments with five chronic stroke survivors consisting of unimanual resistive-pull tasks and bimanual twisting tasks with simulated real-world objects; these explored the effects of thumb assistance on grasp stability and functional range of motion. Our results show that both active- and passive-thumb versions achieved similar performance in terms of improving grasp force generation over a no-device baseline, but active thumb stabilization enabled users to maintain grasps for longer durations.

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arXiv2022

Predicting Multi-Antenna Frequency-Selective Channels via Meta-Learned Linear Filters based on Long-Short Term Channel Decomposition

An efficient data-driven prediction strategy for multi-antenna frequency-selective channels must operate based on a small number of pilot symbols. This paper proposes novel channel prediction algorithms that address this goal by integrating transfer and meta-learning with a reduced-rank parametrization of the channel. The proposed methods optimize linear predictors by utilizing data from previous frames, which are generally characterized by distinct propagation characteristics, in order to enable fast training on the time slots of the current frame. The proposed predictors rely on a novel long-short-term decomposition (LSTD) of the linear prediction model that leverages the disaggregation of the channel into long-term space-time signatures and fading amplitudes. We first develop predictors for single-antenna frequency-flat channels based on transfer/meta-learned quadratic regularization. Then, we introduce transfer and meta-learning algorithms for LSTD-based prediction models that build on equilibrium propagation (EP) and alternating least squares (ALS). Numerical results under the 3GPP 5G standard channel model demonstrate the impact of transfer and meta-learning on reducing the number of pilots for channel prediction, as well as the merits of the proposed LSTD parametrization.

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arXiv2022

Predicting Flat-Fading Channels via Meta-Learned Closed-Form Linear Filters and Equilibrium Propagation

Predicting fading channels is a classical problem with a vast array of applications, including as an enabler of artificial intelligence (AI)-based proactive resource allocation for cellular networks. Under the assumption that the fading channel follows a stationary complex Gaussian process, as for Rayleigh and Rician fading models, the optimal predictor is linear, and it can be directly computed from the Doppler spectrum via standard linear minimum mean squared error (LMMSE) estimation. However, in practice, the Doppler spectrum is unknown, and the predictor has only access to a limited time series of estimated channels. This paper proposes to leverage meta-learning in order to mitigate the requirements in terms of training data for channel fading prediction. Specifically, it first develops an offline low-complexity solution based on linear filtering via a meta-trained quadratic regularization. Then, an online method is proposed based on gradient descent and equilibrium propagation (EP). Numerical results demonstrate the advantages of the proposed approach, showing its capacity to approach the genie-aided LMMSE solution with a small number of training data points.

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arXiv2022

Adaptive Semi-Supervised Intent Inferral to Control a Powered Hand Orthosis for Stroke

In order to provide therapy in a functional context, controls for wearable robotic orthoses need to be robust and intuitive. We have previously introduced an intuitive, user-driven, EMG-based method to operate a robotic hand orthosis, but the process of training a control that is robust to concept drift (changes in the input signal) places a substantial burden on the user. In this paper, we explore semi-supervised learning as a paradigm for controlling a powered hand orthosis for stroke subjects. To the best of our knowledge, this is the first use of semi-supervised learning for an orthotic application. Specifically, we propose a disagreement-based semi-supervision algorithm for handling intrasession concept drift based on multimodal ipsilateral sensing. We evaluate the performance of our algorithm on data collected from five stroke subjects. Our results show that the proposed algorithm helps the device adapt to intrasession drift using unlabeled data and reduces the training burden placed on the user. We also validate the feasibility of our proposed algorithm with a functional task; in these experiments, two subjects successfully completed multiple instances of a pick-and-handover task.

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arXiv2021

Information-Theoretic Analysis of Epistemic Uncertainty in Bayesian Meta-learning

The overall predictive uncertainty of a trained predictor can be decomposed into separate contributions due to epistemic and aleatoric uncertainty. Under a Bayesian formulation, assuming a well-specified model, the two contributions can be exactly expressed (for the log-loss) or bounded (for more general losses) in terms of information-theoretic quantities (Xu and Raginsky, 2020). This paper addresses the study of epistemic uncertainty within an information-theoretic framework in the broader setting of Bayesian meta-learning. A general hierarchical Bayesian model is assumed in which hyperparameters determine the per-task priors of the model parameters. Exact characterizations (for the log-loss) and bounds (for more general losses) are derived for the epistemic uncertainty -quantified by the minimum excess meta-risk (MEMR)- of optimal meta-learning rules. This characterization is leveraged to bring insights into the dependence of the epistemic uncertainty on the number of tasks and on the amount of per-task training data. Experiments are presented that use the proposed information-theoretic bounds, evaluated via neural mutual information estimators, to compare the performance of conventional learning and meta-learning as the number of meta-learning tasks increases.

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arXiv2021

Meta-ViterbiNet: Online Meta-Learned Viterbi Equalization for Non-Stationary Channels

Deep neural networks (DNNs) based digital receivers can potentially operate in complex environments. However, the dynamic nature of communication channels implies that in some scenarios, DNN-based receivers should be periodically retrained in order to track temporal variations in the channel conditions. To this aim, frequent transmissions of lengthy pilot sequences are generally required, at the cost of substantial overhead. In this work we propose a DNN-aided symbol detector, Meta-ViterbiNet, that tracks channel variations with reduced overhead by integrating three complementary techniques: 1) We leverage domain knowledge to implement a model-based/data-driven equalizer, ViterbiNet, that operates with a relatively small number of trainable parameters; 2) We tailor a meta-learning procedure to the symbol detection problem, optimizing the hyperparameters of the learning algorithm to facilitate rapid online adaptation; and 3) We adopt a decision-directed approach based on coded communications to enable online training with short-length pilot blocks. Numerical results demonstrate that Meta-ViterbiNet operates accurately in rapidly-varying channels, outperforming the previous best approach, based on ViterbiNet or conventional recurrent neural networks without meta-learning, by a margin of up to 0.6dB in bit error rate in various challenging scenarios.

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arXiv2020

Balance-Oriented Focal Loss with Linear Scheduling for Anchor Free Object Detection

Most existing object detectors suffer from class imbalance problems that hinder balanced performance. In particular, anchor free object detectors have to solve the background imbalance problem due to detection in a per-pixel prediction fashion as well as foreground imbalance problem simultaneously. In this work, we propose Balance-oriented focal loss that can induce balanced learning by considering both background and foreground balance comprehensively. This work aims to address imbalance problem in the situation of using a general unbalanced data of non-extreme distribution not including few shot and the focal loss for anchor free object detector. We use a batch-wise alpha-balanced variant of the focal loss to deal with this imbalance problem elaborately. It is a simple and practical solution using only re-weighting for general unbalanced data. It does require neither additional learning cost nor structural change during inference and grouping classes is also unnecessary. Through extensive experiments, we show the performance improvement for each component and analyze the effect of linear scheduling when using re-weighting for the loss. By improving the focal loss in terms of balancing foreground classes, our method achieves AP gains of +1.2 in MS-COCO for the anchor free real-time detector.

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arXiv2020

Learning to Demodulate from Few Pilots via Offline and Online Meta-Learning

This paper considers an Internet-of-Things (IoT) scenario in which devices sporadically transmit short packets with few pilot symbols over a fading channel. Devices are characterized by unique transmission non-idealities, such as I/Q imbalance. The number of pilots is generally insufficient to obtain an accurate estimate of the end-to-end channel, which includes the effects of fading and of the transmission-side distortion. This paper proposes to tackle this problem by using meta-learning. Accordingly, pilots from previous IoT transmissions are used as meta-training data in order to train a demodulator that is able to quickly adapt to new end-to-end channel conditions from few pilots. Various state-of-the-art meta-learning schemes are adapted to the problem at hand and evaluated, including Model-Agnostic Meta-Learning (MAML), First-Order MAML (FOMAML), REPTILE, and fast Context Adaptation VIA meta-learning (CAVIA). Both offline and online solutions are developed. In the latter case, an integrated online meta-learning and adaptive pilot number selection scheme is proposed. Numerical results validate the advantages of meta-learning as compared to training schemes that either do not leverage prior transmissions or apply a standard joint learning algorithms on previously received data.

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arXiv2020

User-Driven Functional Movement Training with a Wearable Hand Robot after Stroke

We studied the performance of a robotic orthosis designed to assist the paretic hand after stroke. It is wearable and fully user-controlled, serving two possible roles: as a therapeutic tool that facilitates device mediated hand exercises to recover neuromuscular function or as an assistive device for use in everyday activities to aid functional use of the hand. We present the clinical outcomes of a pilot study designed as a feasibility test for these hypotheses. 11 chronic stroke (> 2 years) patients with moderate muscle tone (Modified Ashworth Scale less than or equal to 2 in upper extremity) engaged in a month-long training protocol using the orthosis. Individuals were evaluated using standardized outcome measures, both with and without orthosis assistance. Fugl-Meyer post intervention scores without robotic assistance showed improvement focused specifically at the distal joints of the upper limb, suggesting the use of the orthosis as a rehabilitative device for the hand. Action Research Arm Test scores post intervention with robotic assistance showed that the device may serve an assistive role in grasping tasks. These results highlight the potential for wearable and user-driven robotic hand orthoses to extend the use and training of the affected upper limb after stroke.

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arXiv2020

End-to-End Fast Training of Communication Links Without a Channel Model via Online Meta-Learning

When a channel model is not available, the end-to-end training of encoder and decoder on a fading noisy channel generally requires the repeated use of the channel and of a feedback link. An important limitation of the approach is that training should be generally carried out from scratch for each new channel. To cope with this problem, prior works considered joint training over multiple channels with the aim of finding a single pair of encoder and decoder that works well on a class of channels. In this paper, we propose to obviate the limitations of joint training via meta-learning. The proposed approach is based on a meta-training phase in which the online gradient-based meta-learning of the decoder is coupled with the joint training of the encoder via the transmission of pilots and the use of a feedback link. Accounting for channel variations during the meta-training phase, this work demonstrates the advantages of meta-learning in terms of number of pilots as compared to conventional methods when the feedback link is only available for meta-training and not at run time.

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arXiv2020

From Learning to Meta-Learning: Reduced Training Overhead and Complexity for Communication Systems

Machine learning methods adapt the parameters of a model, constrained to lie in a given model class, by using a fixed learning procedure based on data or active observations. Adaptation is done on a per-task basis, and retraining is needed when the system configuration changes. The resulting inefficiency in terms of data and training time requirements can be mitigated, if domain knowledge is available, by selecting a suitable model class and learning procedure, collectively known as inductive bias. However, it is generally difficult to encode prior knowledge into an inductive bias, particularly with black-box model classes such as neural networks. Meta-learning provides a way to automatize the selection of an inductive bias. Meta-learning leverages data or active observations from tasks that are expected to be related to future, and a priori unknown, tasks of interest. With a meta-trained inductive bias, training of a machine learning model can be potentially carried out with reduced training data and/or time complexity. This paper provides a high-level introduction to meta-learning with applications to communication systems.

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arXiv2019

Meta-Learning to Communicate: Fast End-to-End Training for Fading Channels

When a channel model is available, learning how to communicate on fading noisy channels can be formulated as the (unsupervised) training of an autoencoder consisting of the cascade of encoder, channel, and decoder. An important limitation of the approach is that training should be generally carried out from scratch for each new channel. To cope with this problem, prior works considered joint training over multiple channels with the aim of finding a single pair of encoder and decoder that works well on a class of channels. As a result, joint training ideally mimics the operation of non-coherent transmission schemes. In this paper, we propose to obviate the limitations of joint training via meta-learning: Rather than training a common model for all channels, meta-learning finds a common initialization vector that enables fast training on any channel. The approach is validated via numerical results, demonstrating significant training speed-ups, with effective encoders and decoders obtained with as little as one iteration of Stochastic Gradient Descent.

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arXiv2019

Drivers Drowsiness Detection using Condition-Adaptive Representation Learning Framework

We propose a condition-adaptive representation learning framework for the driver drowsiness detection based on 3D-deep convolutional neural network. The proposed framework consists of four models: spatio-temporal representation learning, scene condition understanding, feature fusion, and drowsiness detection. The spatio-temporal representation learning extracts features that can describe motions and appearances in video simultaneously. The scene condition understanding classifies the scene conditions related to various conditions about the drivers and driving situations such as statuses of wearing glasses, illumination condition of driving, and motion of facial elements such as head, eye, and mouth. The feature fusion generates a condition-adaptive representation using two features extracted from above models. The detection model recognizes drivers drowsiness status using the condition-adaptive representation. The condition-adaptive representation learning framework can extract more discriminative features focusing on each scene condition than the general representation so that the drowsiness detection method can provide more accurate results for the various driving situations. The proposed framework is evaluated with the NTHU Drowsy Driver Detection video dataset. The experimental results show that our framework outperforms the existing drowsiness detection methods based on visual analysis.

cs.CV↗

arXiv2019

Learning How to Demodulate from Few Pilots via Meta-Learning

Consider an Internet-of-Things (IoT) scenario in which devices transmit sporadically using short packets with few pilot symbols. Each device transmits over a fading channel and is characterized by an amplifier with a unique non-linear transfer function. The number of pilots is generally insufficient to obtain an accurate estimate of the end-to-end channel, which includes the effects of fading and of the amplifier's distortion. This paper proposes to tackle this problem using meta-learning. Accordingly, pilots from previous IoT transmissions are used as meta-training in order to learn a demodulator that is able to quickly adapt to new end-to-end channel conditions from few pilots. Numerical results validate the advantages of the approach as compared to training schemes that either do not leverage prior transmissions or apply a standard learning algorithm on previously received data.

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arXiv2018

Multimodal Sensing and Interaction for a Robotic Hand Orthosis

Wearable robotic hand rehabilitation devices can allow greater freedom and flexibility than their workstation-like counterparts. However, the field is generally lacking effective methods by which the user can operate the device: such controls must be effective, intuitive, and robust to the wide range of possible impairment patterns. Even when focusing on a specific condition, such as stroke, the variety of encountered upper limb impairment patterns means that a single sensing modality, such as electromyography (EMG), might not be sufficient to enable controls for a broad range of users. To address this significant gap, we introduce a multimodal sensing and interaction paradigm for an active hand orthosis. In our proof-of-concept implementation, EMG is complemented by other sensing modalities, such as finger bend and contact pressure sensors. We propose multimodal interaction methods that utilize this sensory data as input, and show they can enable tasks for stroke survivors who exhibit different impairment patterns. We believe that robotic hand orthoses developed as multimodal sensory platforms with help address some of the key challenges in physical interaction with the user.

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arXiv2018

Design and Development of Effective Transmission Mechanisms on a Tendon Driven Hand Orthosis for Stroke Patients

Tendon-driven hand orthoses have advantages over exoskeletons with respect to wearability and safety because of their low-profile design and ability to fit a range of patients without requiring custom joint alignment. However, no existing study on a wearable tendon-driven hand orthosis for stroke patients presents evidence that such devices can overcome spasticity given repeated use and fatigue, or discusses transmission efficiency. In this study, we propose two designs that provide effective force transmission by increasing moment arms around finger joints. We evaluate the designs with geometric models and experiment using a 3D-printed artificial finger to find force and joint angle characteristics of the suggested structures. We also perform clinical tests with stroke patients to demonstrate the feasibility of the designs. The testing supports the hypothesis that the proposed designs efficiently elicit extension of the digits in patients with spasticity as compared to existing baselines.

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arXiv2018

EMG Pattern Classification to Control a Hand Orthosis for Functional Grasp Assistance after Stroke

Wearable orthoses can function both as assistive devices, which allow the user to live independently, and as rehabilitation devices, which allow the user to regain use of an impaired limb. To be fully wearable, such devices must have intuitive controls, and to improve quality of life, the device should enable the user to perform Activities of Daily Living. In this context, we explore the feasibility of using electromyography (EMG) signals to control a wearable exotendon device to enable pick and place tasks. We use an easy to don, commodity forearm EMG band with 8 sensors to create an EMG pattern classification control for an exotendon device. With this control, we are able to detect a user's intent to open, and can thus enable extension and pick and place tasks. In experiments with stroke survivors, we explore the accuracy of this control in both non-functional and functional tasks. Our results support the feasibility of developing wearable devices with intuitive controls which provide a functional context for rehabilitation.

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