{"id":"https://openalex.org/W4383720760","doi":"https://doi.org/10.1017/s0263574723000899","title":"Bayesian optimization for assist-as-needed controller in robot-assisted upper limb training based on energy information","display_name":"Bayesian optimization for assist-as-needed controller in robot-assisted upper limb training based on energy information","publication_year":2023,"publication_date":"2023-07-10","ids":{"openalex":"https://openalex.org/W4383720760","doi":"https://doi.org/10.1017/s0263574723000899"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000899","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000899","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065871949","display_name":"Jianxi Zhang","orcid":"https://orcid.org/0000-0001-7052-9215"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxi Zhang","raw_affiliation_strings":["The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-7052-9215","affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001340667","display_name":"Hong Zeng","orcid":"https://orcid.org/0000-0002-4587-6263"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hong Zeng","raw_affiliation_strings":["The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100375308","display_name":"Xiao Li","orcid":"https://orcid.org/0000-0002-8227-6275"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao Li","raw_affiliation_strings":["The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101967305","display_name":"Guozheng Xu","orcid":"https://orcid.org/0000-0001-9973-8408"},"institutions":[{"id":"https://openalex.org/I41198531","display_name":"Nanjing University of Posts and Telecommunications","ror":"https://ror.org/043bpky34","country_code":"CN","type":"education","lineage":["https://openalex.org/I41198531"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guozheng Xu","raw_affiliation_strings":["College of Automation Engineering, Nanjing University of Posts and Telecommunications, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation Engineering, Nanjing University of Posts and Telecommunications, Nanjing, China","institution_ids":["https://openalex.org/I41198531"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100462248","display_name":"Yongqiang Li","orcid":"https://orcid.org/0009-0008-0658-4525"},"institutions":[{"id":"https://openalex.org/I4210152119","display_name":"Jiangsu Province Hospital","ror":"https://ror.org/04py1g812","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210152119"]},{"id":"https://openalex.org/I83519826","display_name":"Nanjing Medical University","ror":"https://ror.org/059gcgy73","country_code":"CN","type":"education","lineage":["https://openalex.org/I83519826"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongqiang Li","raw_affiliation_strings":["Center of Rehabilitation Medicine, The First Affiliated Hospital of Nanjing Medical University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Rehabilitation Medicine, The First Affiliated Hospital of Nanjing Medical University, Nanjing, China","institution_ids":["https://openalex.org/I83519826","https://openalex.org/I4210152119"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048327458","display_name":"Aiguo Song","orcid":"https://orcid.org/0000-0002-1982-6780"},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Digital Medical Engineering and Jiangsu Province Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001340667"],"corresponding_institution_ids":["https://openalex.org/I4387154005","https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.4836,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65624775,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"41","issue":"10","first_page":"3101","last_page":"3115"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6823724508285522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5538939237594604},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.537856936454773},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.468717485666275},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44703733921051025},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42181113362312317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4006499648094177},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36506950855255127},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34984177350997925},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13237273693084717},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08652690052986145}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6823724508285522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5538939237594604},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.537856936454773},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.468717485666275},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44703733921051025},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42181113362312317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4006499648094177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36506950855255127},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34984177350997925},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13237273693084717},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08652690052986145},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723000899","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723000899","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W1661565128","https://openalex.org/W1977872363","https://openalex.org/W2001383996","https://openalex.org/W2003775018","https://openalex.org/W2014794120","https://openalex.org/W2029776687","https://openalex.org/W2035466170","https://openalex.org/W2039527162","https://openalex.org/W2061144551","https://openalex.org/W2064335839","https://openalex.org/W2068793240","https://openalex.org/W2099201756","https://openalex.org/W2102000567","https://openalex.org/W2111878343","https://openalex.org/W2117561707","https://openalex.org/W2131241448","https://openalex.org/W2150535417","https://openalex.org/W2155477484","https://openalex.org/W2161839080","https://openalex.org/W2280792794","https://openalex.org/W2460200500","https://openalex.org/W2550290216","https://openalex.org/W2626944593","https://openalex.org/W2742654711","https://openalex.org/W2744214234","https://openalex.org/W2788331089","https://openalex.org/W2794754002","https://openalex.org/W2897873640","https://openalex.org/W2898559687","https://openalex.org/W2905340772","https://openalex.org/W2908444336","https://openalex.org/W2909423878","https://openalex.org/W2911400936","https://openalex.org/W2914908475","https://openalex.org/W2999534517","https://openalex.org/W3020990750","https://openalex.org/W3028515849","https://openalex.org/W3106097076","https://openalex.org/W3127311994","https://openalex.org/W3131407164","https://openalex.org/W3156467716","https://openalex.org/W3166976126","https://openalex.org/W3193718444","https://openalex.org/W3196296284","https://openalex.org/W3196316500","https://openalex.org/W3207311111","https://openalex.org/W3208038357","https://openalex.org/W4206903421","https://openalex.org/W4221058751","https://openalex.org/W4225682648","https://openalex.org/W4311846694","https://openalex.org/W4313065629","https://openalex.org/W4317383789","https://openalex.org/W4378388448","https://openalex.org/W6622812429","https://openalex.org/W6650598795","https://openalex.org/W6677764299","https://openalex.org/W6678911119","https://openalex.org/W6780053489"],"related_works":["https://openalex.org/W3006513224","https://openalex.org/W2046456988","https://openalex.org/W1941703695","https://openalex.org/W4323768008","https://openalex.org/W3131574667","https://openalex.org/W2357409937","https://openalex.org/W2978674666","https://openalex.org/W4248382324","https://openalex.org/W2903025760","https://openalex.org/W2018658498"],"abstract_inverted_index":{"Abstract":[0],"The":[1,172],"assist-as-needed":[2],"(AAN)":[3],"controller":[4,19,77,155],"is":[5,36,128,156,175],"effective":[6],"in":[7,91,191,197,209],"robot-assisted":[8],"rehabilitation.":[9,239],"However,":[10],"variations":[11],"of":[12,15,58,65,99,149,194,206,217,236],"the":[13,40,50,56,76,97,126,135,139,147,153,164,215,218,228,234],"engagement":[14,35,53,109,121,127],"subjects":[16,112,189],"with":[17,113,179,186],"fixed":[18],"often":[20],"lead":[21],"to":[22,38,84,107,145,162,168,221],"unsatisfying":[23],"results.":[24],"Therefore,":[25],"adaptive":[26,105],"AAN":[27,106,154],"that":[28,227],"adjusts":[29],"control":[30],"parameters":[31],"based":[32,118],"on":[33,49,71,119],"individualized":[34],"essential":[37],"enhance":[39],"training":[41],"effect":[42,235],"further.":[43],"Nevertheless,":[44],"current":[45],"approaches":[46],"mainly":[47],"focus":[48],"within-trial":[51],"real-time":[52],"estimation,":[54],"and":[55,123],"presence":[57],"measurement":[59,150],"noise":[60],"may":[61],"cause":[62],"improper":[63],"evaluation":[64],"engagement.":[66],"In":[67],"addition,":[68],"most":[69],"studies":[70,93],"human-in-loop":[72],"optimization":[73,160],"strategies":[74],"modulate":[75],"by":[78,110,138,158,203],"greedy":[79],"strategies,":[80],"which":[81,133],"are":[82],"prone":[83],"fall":[85],"into":[86],"local":[87],"optima.":[88],"These":[89,224],"shortcomings":[90],"previous":[92],"could":[94,231],"significantly":[95],"limit":[96],"efficacy":[98],"AAN.":[100],"This":[101],"paper":[102],"proposes":[103],"an":[104],"promote":[108],"providing":[111],"a":[114,142,192,204],"subject-adaptive":[115],"assistance":[116],"level":[117],"trial-wise":[120,170],"estimation":[122],"performance.":[124,171],"Firstly,":[125],"estimated":[129],"from":[130],"energy":[131,211],"information,":[132],"assesses":[134],"work":[136],"done":[137],"subject":[140],"during":[141],"full":[143],"trial":[144],"reduce":[146],"influence":[148],"outliers.":[151],"Secondly,":[152],"adapted":[157],"Bayesian":[159],"(BO)":[161],"maximize":[163],"subject\u2019s":[165],"performance":[166],"according":[167],"historical":[169],"BO":[173],"algorithm":[174],"good":[176],"at":[177],"dealing":[178],"noisy":[180],"signals":[181],"within":[182],"limited":[183],"steps.":[184],"Experiments":[185],"ten":[187],"healthy":[188],"resulted":[190],"decrease":[193],"34.59":[195],"$\\%$":[196,208],"their":[198,210],"average":[199],"trajectory":[200],"error,":[201],"accompanied":[202],"reduction":[205],"9.71":[207],"consumption,":[212],"thus":[213],"verifying":[214],"superiority":[216],"proposed":[219,229],"method":[220,230],"prior":[222],"work.":[223],"results":[225],"suggest":[226],"potentially":[232],"improve":[233],"upper":[237],"limb":[238]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}