{"id":"https://openalex.org/W4283691802","doi":"https://doi.org/10.1109/ismr48347.2022.9807562","title":"Deep Reinforcement Learning for EMG-based Control of Assistance Level in Upper-limb Exoskeletons","display_name":"Deep Reinforcement Learning for EMG-based Control of Assistance Level in Upper-limb Exoskeletons","publication_year":2022,"publication_date":"2022-04-13","ids":{"openalex":"https://openalex.org/W4283691802","doi":"https://doi.org/10.1109/ismr48347.2022.9807562"},"language":"en","primary_location":{"id":"doi:10.1109/ismr48347.2022.9807562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-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/A5041920015","display_name":"Martin Oghogho","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Martin Oghogho","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042545418","display_name":"Mojtaba Sharifi","orcid":"https://orcid.org/0000-0002-9363-0540"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]},{"id":"https://openalex.org/I51504820","display_name":"San Jose State University","ror":"https://ror.org/04qyvz380","country_code":"US","type":"education","lineage":["https://openalex.org/I51504820"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Mojtaba Sharifi","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","Department of Medicine, Division of Physical Medicine and Rehabilitation, University of Alberta, Edmonton, Alberta, Canada","Department of Mechanical Engineering, San Jose State University, San Jose, California","The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Medicine, Division of Physical Medicine and Rehabilitation, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"Department of Mechanical Engineering, San Jose State University, San Jose, California","institution_ids":["https://openalex.org/I51504820"]},{"raw_affiliation_string":"The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067836858","display_name":"Mia Vukadin","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mia Vukadin","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068862573","display_name":"Connor Chin","orcid":null},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Connor Chin","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028712125","display_name":"Vivian K. Mushahwar","orcid":"https://orcid.org/0000-0001-9873-611X"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Vivian K. Mushahwar","raw_affiliation_strings":["University of Alberta,Division of Physical Medicine and Rehabilitation,Department of Medicine,Edmonton,Alberta,Canada,T6G 2E1","The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Division of Physical Medicine and Rehabilitation,Department of Medicine,Edmonton,Alberta,Canada,T6G 2E1","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018636421","display_name":"Mahdi Tavakoli","orcid":"https://orcid.org/0000-0002-7427-6961"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mahdi Tavakoli","raw_affiliation_strings":["University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Alberta,Department of Electrical and Computer Engineering,Edmonton,Alberta,Canada,T6G 1H9","institution_ids":["https://openalex.org/I154425047"]},{"raw_affiliation_string":"The Sensory Motor Adaptive Rehabilitation Technology (SMART) Network, University of Alberta, Edmonton, Alberta, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1442,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74632691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9995999932289124,"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":0.9990000128746033,"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/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9803000092506409,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.9219242334365845},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6889216899871826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.609516441822052},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46917229890823364},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4515789747238159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43460729718208313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2421879768371582},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10198205709457397}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9219242334365845},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6889216899871826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.609516441822052},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46917229890823364},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4515789747238159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43460729718208313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2421879768371582},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10198205709457397}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ismr48347.2022.9807562","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ismr48347.2022.9807562","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Symposium on Medical Robotics (ISMR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7599999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320319952","display_name":"Canada Foundation for Innovation","ror":"https://ror.org/000az4664"},{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W41554520","https://openalex.org/W1771410628","https://openalex.org/W1970108221","https://openalex.org/W2157725521","https://openalex.org/W2158728671","https://openalex.org/W2593216051","https://openalex.org/W2736601468","https://openalex.org/W2742744172","https://openalex.org/W2768538534","https://openalex.org/W2787938642","https://openalex.org/W2788862220","https://openalex.org/W2800798277","https://openalex.org/W2887687214","https://openalex.org/W2904526301","https://openalex.org/W2910932367","https://openalex.org/W2966547864","https://openalex.org/W2976266234","https://openalex.org/W2996775387","https://openalex.org/W2999521518","https://openalex.org/W3000976187","https://openalex.org/W3005698582","https://openalex.org/W3018853031","https://openalex.org/W3029901419","https://openalex.org/W3033676906","https://openalex.org/W3045560189","https://openalex.org/W3080768274","https://openalex.org/W3119910833","https://openalex.org/W3183869404","https://openalex.org/W3185387488","https://openalex.org/W3195146316","https://openalex.org/W4226148091","https://openalex.org/W4287780908","https://openalex.org/W6638018090","https://openalex.org/W6741002519","https://openalex.org/W6748839928","https://openalex.org/W6772988078","https://openalex.org/W6776355998"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W2590554196","https://openalex.org/W2591464318"],"abstract_inverted_index":{"In":[0],"this":[1,78],"paper,":[2],"we":[3,80,193],"propose":[4],"a":[5,116,171,221,243],"deep":[6],"reinforcement":[7],"learning":[8,93],"(DRL)":[9],"method":[10,90,199],"to":[11,71,108,111,141,174,202],"control":[12],"the":[13,24,43,82,95,106,113,129,134,138,144,149,176,180,196,204,213,218,227,258],"assistance":[14,158],"level":[15,132,261],"of":[16,28,47,61,94,128,162,212,224,239,257],"an":[17,187],"upper-limb":[18],"exoskeleton":[19,107,188,214],"in":[20,31,115,126,215,242,249],"real-time":[21,216],"based":[22],"on":[23,183,186],"electromyo-graphic":[25],"(EMG)":[26],"activity":[27,131],"human":[29],"muscles":[30],"3D":[32,250],"point-to-point":[33],"reaching":[34],"movements.":[35],"The":[36],"proposed":[37,197],"autonomous":[38,154],"assistive":[39,103,207,232],"device":[40],"would":[41],"enhance":[42],"force":[44],"exertion":[45],"capability":[46],"individuals":[48],"by":[49,105,159],"resolving":[50],"major":[51],"challenges":[52],"such":[53],"as":[54],"identifying":[55],"scaling":[56],"factors":[57],"for":[58,91,209,217,236],"personalized":[59,102],"amplification":[60],"their":[62,73],"effort":[63,146],"and":[64,100,133,147,155,165],"not":[65],"requiring":[66],"lengthy":[67],"offline":[68],"training/adjustment":[69],"periods":[70],"perform":[72],"manual":[74],"tasks":[75],"comfortably.":[76],"To":[77],"end,":[79],"employed":[81],"Twin":[83],"Delayed":[84],"Deep":[85],"Deterministic":[86],"Policy":[87],"Gradient":[88],"(TD3)":[89],"rapid":[92,160],"appropriate":[96,206],"controller\u2019s":[97],"gain":[98,208],"values":[99,164],"delivering":[101],"torques":[104],"different":[109],"joints":[110],"assist":[112],"wearer":[114],"weight":[117,246],"handling":[118,247],"task.":[119],"A":[120],"nonlinear":[121],"reward":[122,163],"function":[123],"is":[124,200],"defined":[125],"terms":[127],"EMG":[130],"position":[135],"deviation":[136],"from":[137],"destination":[139],"point":[140],"simultaneously":[142],"minimize":[143],"muscle":[145,259],"maximize":[148,179],"positioning":[150],"accuracy.":[151],"This":[152],"facilitates":[153],"individualized":[156],"physical":[157],"exploration":[161],"adopting":[166],"various":[167],"action":[168],"gains":[169,233],"within":[170],"safe":[172],"range":[173],"exploit":[175],"ones":[177],"that":[178,192],"reward.":[181],"Based":[182],"experimental":[184],"studies":[185],"with":[189,220],"soft":[190],"actuators":[191],"have":[194],"developed,":[195],"DRL":[198],"able":[201],"identify":[203],"most":[205],"each":[210,237],"joint":[211],"user":[219],"fast":[222],"rate":[223],"convergence":[225],"(during":[226],"first":[228],"two":[229],"minutes).":[230],"Optimum":[231],"are":[234],"identified":[235],"degree":[238],"freedom":[240],"(DOF)":[241],"4":[244],"kg":[245],"task":[248],"space,":[251],"which":[252],"required":[253],"less":[254],"than":[255],"15%":[256],"contraction":[260],"(EMG":[262],"activity).":[263]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}