{"id":"https://openalex.org/W7147067726","doi":"https://doi.org/10.1109/toh.2026.3679965","title":"Human-in-the-Loop Pareto Optimization: Trade-Off Characterization for Assist-as-Needed Training and Performance Evaluation","display_name":"Human-in-the-Loop Pareto Optimization: Trade-Off Characterization for Assist-as-Needed Training and Performance Evaluation","publication_year":2026,"publication_date":"2026-04-01","ids":{"openalex":"https://openalex.org/W7147067726","doi":"https://doi.org/10.1109/toh.2026.3679965","pmid":"https://pubmed.ncbi.nlm.nih.gov/41921149"},"language":"en","primary_location":{"id":"doi:10.1109/toh.2026.3679965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2026.3679965","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Transactions on Haptics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2603.23777","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5116085827","display_name":"Harun Tolasa","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Harun Tolasa","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences at Sabanci University, Istanbul, Türkiye"],"raw_orcid":"https://orcid.org/0009-0001-1208-4817","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences at Sabanci University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017793258","display_name":"Volkan Pato\u011flu","orcid":"https://orcid.org/0000-0001-6644-3937"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Volkan Patoglu","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences at Sabanci University, Istanbul, Türkiye"],"raw_orcid":"https://orcid.org/0000-0001-6644-3937","affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences at Sabanci University, Istanbul, Türkiye","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.3404585,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"19","issue":"2","first_page":"339","last_page":"352"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.26420000195503235,"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"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.26420000195503235,"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"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.1868000030517578,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.09319999814033508,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6190000176429749},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.6169999837875366},{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.5877000093460083},{"id":"https://openalex.org/keywords/pareto-principle","display_name":"Pareto principle","score":0.5806999802589417},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5375999808311462},{"id":"https://openalex.org/keywords/session","display_name":"Session (web analytics)","score":0.5228000283241272},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.4986000061035156},{"id":"https://openalex.org/keywords/performance-metric","display_name":"Performance metric","score":0.4772999882698059}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6588000059127808},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6190000176429749},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.6169999837875366},{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.5877000093460083},{"id":"https://openalex.org/C137635306","wikidata":"https://www.wikidata.org/wiki/Q182667","display_name":"Pareto principle","level":2,"score":0.5806999802589417},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.572700023651123},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5375999808311462},{"id":"https://openalex.org/C2779182362","wikidata":"https://www.wikidata.org/wiki/Q17126187","display_name":"Session (web analytics)","level":2,"score":0.5228000283241272},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.4986000061035156},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.4772999882698059},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.46230000257492065},{"id":"https://openalex.org/C68781425","wikidata":"https://www.wikidata.org/wiki/Q2052203","display_name":"Multi-objective optimization","level":2,"score":0.4602999985218048},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4424000084400177},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.4050000011920929},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.3747999966144562},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3377000093460083},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.30799999833106995},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.3077999949455261},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C2780626000","wikidata":"https://www.wikidata.org/wiki/Q5936775","display_name":"Human-in-the-loop","level":2,"score":0.26030001044273376},{"id":"https://openalex.org/C91262260","wikidata":"https://www.wikidata.org/wiki/Q528074","display_name":"End user","level":2,"score":0.25040000677108765}],"mesh":[{"descriptor_ui":"D000089922","descriptor_name":"Haptic Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000089922","descriptor_name":"Haptic Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000089922","descriptor_name":"Haptic Interfaces","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001499","descriptor_name":"Bayes Theorem","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005260","descriptor_name":"Female","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009048","descriptor_name":"Motor Skills","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D009048","descriptor_name":"Motor Skills","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D009048","descriptor_name":"Motor Skills","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D013647","descriptor_name":"Task Performance and Analysis","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true},{"descriptor_ui":"D056228","descriptor_name":"Feedback, Sensory","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/toh.2026.3679965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/toh.2026.3679965","pdf_url":null,"source":{"id":"https://openalex.org/S38993383","display_name":"IEEE Transactions on Haptics","issn_l":"1939-1412","issn":["1939-1412","2329-4051","2334-0134"],"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 Transactions on Haptics","raw_type":"journal-article"},{"id":"pmid:41921149","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/41921149","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on haptics","raw_type":null},{"id":"pmh:oai:arXiv.org:2603.23777","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2603.23777","pdf_url":"https://arxiv.org/pdf/2603.23777","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2603.23777","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2603.23777","pdf_url":"https://arxiv.org/pdf/2603.23777","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G143443946","display_name":null,"funder_award_id":"120N523","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"},{"id":"https://openalex.org/G3786676085","display_name":null,"funder_award_id":"23AG003","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"During":[0],"human":[1],"motor":[2,64],"skill":[3,128],"training":[4,37,129,149,181,187],"and":[5,16,32,58,76,151,178],"physical":[6],"rehabilitation,":[7],"there":[8],"exists":[9],"an":[10],"inherent":[11],"trade-off":[12,21,54,140],"between":[13,55],"task":[14,130,201],"difficulty":[15],"user":[17,26,109],"performance.":[18],"Characterizing":[19],"this":[20,40],"is":[22,100],"crucial":[23],"for":[24],"evaluating":[25],"performance,":[27],"designing":[28],"assist-as-needed":[29],"(AAN)":[30],"protocols,":[31],"assessing":[33],"the":[34,53,56,59,96,113,116,123,138,153,157,174,180,200,208],"efficacy":[35,155],"of":[36,63,115,125,156,173,186],"protocols.":[38],"In":[39],"study,":[41],"we":[42,135,168,205],"propose":[43],"a":[44,86,92,103,126,146,163],"novel":[45],"human-in-the-loop":[46],"(HiL)":[47],"Pareto":[48,80],"optimization":[49,73,84],"approach":[50],"to":[51,74,144,162],"characterize":[52],"performance":[57,90,214,225],"perceived":[60,97],"challenge":[61,98],"level":[62,99],"learning":[65],"or":[66],"rehabilitation":[67],"tasks.":[68],"We":[69,111],"adapt":[70],"Bayesian":[71],"multi-criteria":[72],"systematically":[75],"efficiently":[77],"perform":[78,199],"HiL":[79,83],"characterizations.":[81],"Our":[82],"employs":[85],"hybrid":[87],"model":[88],"measuring":[89],"with":[91,102,131],"quantitative":[93],"metric,":[94],"while":[95],"captured":[101],"qualitative":[104],"metric":[105],"derived":[106],"from":[107],"preference-based":[108],"feedback.":[110,133],"demonstrate":[112,136,169],"utility":[114],"framework":[117],"through":[118],"three":[119],"use":[120],"cases":[121],"in":[122],"context":[124],"manual":[127],"haptic":[132],"First,":[134],"how":[137],"characterized":[139,176,209],"can":[141],"be":[142],"used":[143],"design":[145],"sample":[147],"AAN":[148,159],"protocol":[150,160],"evaluate":[152],"group-level":[154],"proposed":[158],"relative":[161],"baseline":[164],"assistance":[165,191,229],"protocol.":[166],"Second,":[167],"that":[170,207],"individual-level":[171],"comparisons":[172,215],"trade-offs":[175,210],"before":[177],"after":[179],"session":[182],"enable":[183,212],"fair":[184,213],"evaluation":[185],"progress":[188],"under":[189],"different":[190],"levels,":[192],"providing":[193],"insights":[194],"even":[195],"when":[196],"users":[197],"cannot":[198],"without":[202],"assistance.":[203],"Third,":[204],"show":[206],"also":[211],"across":[216],"users,":[217],"since":[218],"they":[219],"capture":[220],"each":[221],"user's":[222],"best":[223],"possible":[224],"at":[226],"all":[227],"feasible":[228],"levels.":[230]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-04-02T00:00:00"}