{"id":"https://openalex.org/W4416750140","doi":"https://doi.org/10.1109/iros60139.2025.11247093","title":"Personalized Reinforcement Learning Control of Soft Robotic Exosuit for Assisting Human Normative Walking with Reduced Effort","display_name":"Personalized Reinforcement Learning Control of Soft Robotic Exosuit for Assisting Human Normative Walking with Reduced Effort","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416750140","doi":"https://doi.org/10.1109/iros60139.2025.11247093"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247093","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5014048806","display_name":"Emiliano Quinones Yumbla","orcid":"https://orcid.org/0000-0002-8450-7110"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Emiliano Quinones Yumbla","raw_affiliation_strings":["Arizona State University,School for Engineering of Matter, Transport and Energy,Tempe,AZ,USA,85287"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University,School for Engineering of Matter, Transport and Energy,Tempe,AZ,USA,85287","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103291486","display_name":"Junmin Zhong","orcid":"https://orcid.org/0009-0000-1728-620X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junmin Zhong","raw_affiliation_strings":["Arizona State University,School of Electrical, Computer and Energy Engineering,Tempe,AZ,USA,85281"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University,School of Electrical, Computer and Energy Engineering,Tempe,AZ,USA,85281","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119278453","display_name":"Seyed Yousef Soltanian","orcid":null},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Yousef Soltanian","raw_affiliation_strings":["Arizona State University,School for Engineering of Matter, Transport and Energy,Tempe,AZ,USA,85287"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University,School for Engineering of Matter, Transport and Energy,Tempe,AZ,USA,85287","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085653399","display_name":"Jennie Si","orcid":"https://orcid.org/0000-0002-0374-7404"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jennie Si","raw_affiliation_strings":["Arizona State University,School of Electrical, Computer and Energy Engineering,Tempe,AZ,USA,85281"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University,School of Electrical, Computer and Energy Engineering,Tempe,AZ,USA,85281","institution_ids":["https://openalex.org/I55732556"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040944809","display_name":"Wenlong Zhang","orcid":"https://orcid.org/0000-0002-9654-260X"},"institutions":[{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenlong Zhang","raw_affiliation_strings":["Arizona State University,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Arizona State University,School of Manufacturing Systems and Networks,Mesa,AZ,USA,85212","institution_ids":["https://openalex.org/I55732556"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55732556"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"18248","last_page":"18248"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9520000219345093,"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"}},"topics":[{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9520000219345093,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.022099999710917473,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.00839999970048666,"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/powered-exoskeleton","display_name":"Powered exoskeleton","score":0.7781999707221985},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5582000017166138},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5148000121116638},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.49880000948905945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4832000136375427},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4779999852180481},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.4390999972820282}],"concepts":[{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.7781999707221985},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5582000017166138},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5148000121116638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5121999979019165},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.49880000948905945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4832000136375427},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4779999852180481},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.4390999972820282},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40619999170303345},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3912999927997589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3847000002861023},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.36250001192092896},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29739999771118164},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2750000059604645},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2703000009059906},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.26750001311302185},{"id":"https://openalex.org/C44725695","wikidata":"https://www.wikidata.org/wiki/Q288156","display_name":"Normative","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25850000977516174},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.25209999084472656},{"id":"https://openalex.org/C2780347363","wikidata":"https://www.wikidata.org/wiki/Q601016","display_name":"Biceps femoris muscle","level":3,"score":0.25099998712539673}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247093","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247093","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1825869920","https://openalex.org/W2165501837","https://openalex.org/W2490084223","https://openalex.org/W2538885760","https://openalex.org/W2788331089","https://openalex.org/W2909711564","https://openalex.org/W2941405176","https://openalex.org/W2967902380","https://openalex.org/W3014885367","https://openalex.org/W3016896998","https://openalex.org/W3016992649","https://openalex.org/W3034289395","https://openalex.org/W3107239624","https://openalex.org/W3177181149","https://openalex.org/W3210408793","https://openalex.org/W4200087243","https://openalex.org/W4226334784","https://openalex.org/W4320712909","https://openalex.org/W4389609852"],"related_works":[],"abstract_inverted_index":{"Wearable":[0],"lower":[1],"limb":[2],"robots":[3,42],"are":[4,27,150],"promising":[5,16,95],"technologies":[6],"to":[7,37,107,122,152,178],"assist":[8],"human":[9,69,109,131],"locomotion.":[10],"Soft":[11],"robotic":[12],"exosuits":[13],"introduce":[14],"a":[15,87,93],"solution":[17],"for":[18,47,129,145,166,203,228],"reducing":[19],"muscle":[20,196],"effort":[21,197],"and":[22,30,43,70,201,207],"metabolic":[23],"cost":[24],"as":[25,210],"they":[26],"lightweight,":[28],"transparent":[29],"inherently":[31],"safe.":[32],"However,":[33],"it":[34],"is":[35,135],"challenging":[36],"effectively":[38],"control":[39,74,90,104,143,188],"such":[40],"soft":[41,225],"personalize":[44],"the":[45,51,59,64,68,71,139,154,186,190,204,219,224],"assistance":[46,227],"individual":[48,146,167,229],"users.":[49,147,230],"With":[50],"difficulty":[52],"in":[53,80,138,157,173,193],"developing":[54],"robust":[55],"dynamic":[56],"model":[57],"of":[58,142,189,199,222],"human-soft":[60],"robot":[61],"system,":[62],"especially":[63],"interacting":[65],"dynamics":[66],"between":[67],"robot,":[72],"traditional":[73],"methods":[75],"have":[76],"seen":[77],"limited":[78],"success":[79],"addressing":[81],"these":[82],"challenges.":[83],"Reinforcement":[84],"learning":[85],"(RL),":[86],"data-driven":[88],"optimal":[89],"method,":[91],"provides":[92],"naturally":[94],"alternative.":[96],"In":[97],"this":[98,118],"study,":[99],"we":[100,120],"propose":[101,121],"an":[102,126,180,194],"innovative":[103],"design":[105],"approach":[106],"enable":[108],"normative":[110,132],"walking":[111,133],"with":[112],"reduced":[113],"physical":[114],"effort.":[115],"To":[116],"achieve":[117],"goal,":[119],"first":[123,220],"offline":[124,182],"learn":[125],"exosuit":[127,155,191,226],"controller":[128,156],"typical":[130],"which":[134],"then":[136],"used":[137],"online":[140,164],"phase":[141],"tuning":[144,165],"Four":[148],"participants":[149],"recruited":[151],"test":[153],"treadmill":[158],"walking.":[159],"Our":[160],"results":[161,192,217],"show":[162],"that":[163],"users":[168],"reaches":[169],"convergence":[170],"quickly,":[171],"typically":[172],"one":[174],"experimental":[175],"trial":[176],"due":[177],"using":[179],"efficient":[181],"pre-trained":[183],"policy.":[184],"Furthermore,":[185],"RL":[187],"average":[195],"reduction":[198],"8.8%":[200],"2.8%":[202],"vastus":[205],"lateralis":[206],"biceps":[208],"femoris":[209],"measured":[211],"by":[212],"electromyography":[213],"(EMG)":[214],"sensors.":[215],"These":[216],"provide":[218],"evidence":[221],"customizing":[223]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-11-28T00:00:00"}
