{"id":"https://openalex.org/W4409560539","doi":"https://doi.org/10.1109/lra.2025.3562014","title":"An Investigation Into the Application of an RL-GA-Based Multi-Modal Motion Somatosensory Optimization Control Strategy for a Novel Rehabilitation Robot","display_name":"An Investigation Into the Application of an RL-GA-Based Multi-Modal Motion Somatosensory Optimization Control Strategy for a Novel Rehabilitation Robot","publication_year":2025,"publication_date":"2025-04-17","ids":{"openalex":"https://openalex.org/W4409560539","doi":"https://doi.org/10.1109/lra.2025.3562014"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3562014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562014","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5037819508","display_name":"Junyu Wu","orcid":"https://orcid.org/0000-0002-4968-4787"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyu Wu","raw_affiliation_strings":["State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-4968-4787","affiliations":[{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"He Wang","orcid":"https://orcid.org/0009-0006-0293-2153"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"He Wang","raw_affiliation_strings":["College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0009-0006-0293-2153","affiliations":[{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060635911","display_name":"Gongzi Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gongzi Zhang","raw_affiliation_strings":["Department of Rehabilitation Medicine, Chinese People&#x0027;s Liberation Army (PLA) General Hospital, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-6955-7021","affiliations":[{"raw_affiliation_string":"Department of Rehabilitation Medicine, Chinese People&#x0027;s Liberation Army (PLA) General Hospital, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100685976","display_name":"Yubin Liu","orcid":"https://orcid.org/0000-0002-7908-853X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yubin Liu","raw_affiliation_strings":["State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-7908-853X","affiliations":[{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jie Zhao","orcid":"https://orcid.org/0000-0002-6086-9387"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Zhao","raw_affiliation_strings":["State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0000-0002-6086-9387","affiliations":[{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":null,"display_name":"Hegao Cai","orcid":"https://orcid.org/0009-0005-3232-9980"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hegao Cai","raw_affiliation_strings":["State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"raw_orcid":"https://orcid.org/0009-0005-3232-9980","affiliations":[{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"State Key Laboratory - Robot Research Institute, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06484077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"9","first_page":"8778","last_page":"8785"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8184000253677368,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8184000253677368,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12005","display_name":"Spaceflight effects on biology","score":0.7128999829292297,"subfield":{"id":"https://openalex.org/subfields/2737","display_name":"Physiology"},"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/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.6985999941825867,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6733559370040894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5363695621490479},{"id":"https://openalex.org/keywords/rehabilitation","display_name":"Rehabilitation","score":0.5314496755599976},{"id":"https://openalex.org/keywords/somatosensory-system","display_name":"Somatosensory system","score":0.5268158912658691},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5116427540779114},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4616488516330719},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.4523542523384094},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4218441843986511},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3256916403770447},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32015442848205566},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.230013906955719},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.2112845778465271},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.1414661407470703},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0695314109325409}],"concepts":[{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6733559370040894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5363695621490479},{"id":"https://openalex.org/C2778818304","wikidata":"https://www.wikidata.org/wiki/Q1819478","display_name":"Rehabilitation","level":2,"score":0.5314496755599976},{"id":"https://openalex.org/C172497186","wikidata":"https://www.wikidata.org/wiki/Q328835","display_name":"Somatosensory system","level":2,"score":0.5268158912658691},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5116427540779114},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4616488516330719},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.4523542523384094},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4218441843986511},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3256916403770447},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32015442848205566},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.230013906955719},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.2112845778465271},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.1414661407470703},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0695314109325409},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3562014","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3562014","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W43028073","https://openalex.org/W642779341","https://openalex.org/W1562376020","https://openalex.org/W2762013224","https://openalex.org/W2883492526","https://openalex.org/W2889220390","https://openalex.org/W2923974459","https://openalex.org/W4224279102","https://openalex.org/W4364322131","https://openalex.org/W4380046451","https://openalex.org/W4382047812","https://openalex.org/W4386523218","https://openalex.org/W4387673398","https://openalex.org/W4389675864","https://openalex.org/W4389862737","https://openalex.org/W4390017887","https://openalex.org/W4391352077","https://openalex.org/W4395098070","https://openalex.org/W4400375636","https://openalex.org/W4400866126","https://openalex.org/W4402610042","https://openalex.org/W4402978221","https://openalex.org/W4403918169","https://openalex.org/W4404278397","https://openalex.org/W4405130218","https://openalex.org/W4405657772","https://openalex.org/W4407023937","https://openalex.org/W6940671305"],"related_works":["https://openalex.org/W3197743961","https://openalex.org/W3147271662","https://openalex.org/W2802576082","https://openalex.org/W3119036072","https://openalex.org/W2066263898","https://openalex.org/W2051204854","https://openalex.org/W2012409681","https://openalex.org/W3113281068","https://openalex.org/W4234243450","https://openalex.org/W2044900919"],"abstract_inverted_index":{"The":[0,116,160,173],"increasing":[1],"prevalence":[2],"of":[3,15,66,92,169,179],"balance":[4],"disorders":[5],"presents":[6],"significant":[7],"challenges":[8],"to":[9,71,76,148,156],"rehabilitation":[10,16,30,58,99,128,153,190],"therapy,":[11],"prompting":[12],"the":[13,26,67,80,85,90,134,165,170,177,189],"development":[14],"robots":[17],"as":[18,113],"effective":[19],"tools":[20],"for":[21,119],"motion":[22,37,77,95],"training.":[23],"To":[24],"enhance":[25],"patient":[27],"experience":[28],"and":[29,44,53,78,94,104,167,187],"outcomes":[31],"in":[32,55,126],"human-robot":[33],"collaborative":[34],"training,":[35],"a":[36,56,63],"control":[38,87],"strategy":[39],"based":[40],"on":[41],"reinforcement":[42],"learning":[43],"genetic":[45],"algorithms":[46],"(RL-GA)":[47],"with":[48,108],"somatosensory":[49,73,143],"enhancement":[50],"is":[51],"proposed":[52,171,174],"implemented":[54],"novel":[57],"robot.":[59],"This":[60],"study":[61],"introduces":[62],"mathematical":[64],"model":[65],"human":[68],"sensory":[69],"system":[70],"quantify":[72],"feedback":[74],"related":[75],"integrates":[79],"washout":[81,135],"algorithm":[82],"(WA)":[83],"into":[84],"robot's":[86],"system,":[88],"facilitating":[89],"reproduction":[91],"somatosensation":[93],"simulation.":[96],"Three":[97],"typical":[98],"modes\u2014level":[100],"walking,":[101],"stair":[102,105],"climbing,":[103],"descending\u2014are":[106],"selected,":[107],"natural":[109],"gait":[110],"features":[111],"extracted":[112],"predefined":[114],"trajectories.":[115],"WA":[117],"parameters":[118],"each":[120],"mode":[121],"are":[122],"optimized":[123],"using":[124,139],"RL-GA":[125,140],"various":[127],"scenarios.":[129],"Simulation":[130],"results":[131,162],"demonstrate":[132],"that":[133],"filtering":[136],"optimization":[137],"method":[138],"reduces":[141],"theoretical":[142],"error":[144],"by":[145],"approximately":[146],"10%":[147],"20%":[149],"across":[150],"all":[151],"three":[152],"modes,":[154],"compared":[155],"traditional":[157],"GA":[158],"optimization.":[159],"experimental":[161],"further":[163],"confirm":[164],"reliability":[166],"feasibility":[168],"method.":[172],"approach":[175],"enhances":[176],"realism":[178],"robot-assisted":[180],"motion,":[181],"thereby":[182],"theoretically":[183],"improving":[184],"training":[185],"effectiveness":[186],"accelerating":[188],"process.":[191]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
