{"id":"https://openalex.org/W4413394191","doi":"https://doi.org/10.23919/acc63710.2025.11107845","title":"L-GraD: Lyapunov-based Gradient Descent of a DNN-based Hybrid Exoskeleton Controller<sup>\u2020</sup>","display_name":"L-GraD: Lyapunov-based Gradient Descent of a DNN-based Hybrid Exoskeleton Controller<sup>\u2020</sup>","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413394191","doi":"https://doi.org/10.23919/acc63710.2025.11107845"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107845","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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/A5013070422","display_name":"Jonathan T. Ting","orcid":"https://orcid.org/0000-0001-8266-0392"},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jonathan Ting","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001"],"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001","institution_ids":["https://openalex.org/I82497590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092385066","display_name":"Sujata Basyal","orcid":null},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sujata Basyal","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001"],"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001","institution_ids":["https://openalex.org/I82497590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113368757","display_name":"Kislaya Mishra","orcid":null},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kislaya Mishra","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001"],"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001","institution_ids":["https://openalex.org/I82497590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009852559","display_name":"Brendon C. Allen","orcid":"https://orcid.org/0000-0002-5994-0932"},"institutions":[{"id":"https://openalex.org/I82497590","display_name":"Auburn University","ror":"https://ror.org/02v80fc35","country_code":"US","type":"education","lineage":["https://openalex.org/I82497590"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brendon C Allen","raw_affiliation_strings":["Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001"],"affiliations":[{"raw_affiliation_string":"Auburn University,Department of Mechanical Engineering,Auburn,AL,USA,36849-0001","institution_ids":["https://openalex.org/I82497590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5013070422"],"corresponding_institution_ids":["https://openalex.org/I82497590"],"apc_list":null,"apc_paid":null,"fwci":0.699,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73850293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"140","last_page":"145"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.8510000109672546,"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":0.8510000109672546,"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":0.7275999784469604,"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/gradient-descent","display_name":"Gradient descent","score":0.7470840215682983},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6239771842956543},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5869240760803223},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5865489840507507},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5136096477508545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4519096612930298},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3215659260749817},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24954566359519958},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20721706748008728},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10176312923431396},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09693533182144165},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.08126303553581238},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.05848923325538635}],"concepts":[{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.7470840215682983},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6239771842956543},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5869240760803223},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5865489840507507},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5136096477508545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4519096612930298},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3215659260749817},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24954566359519958},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20721706748008728},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10176312923431396},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09693533182144165},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.08126303553581238},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.05848923325538635},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc63710.2025.11107845","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107845","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-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/W1499132668","https://openalex.org/W1972431176","https://openalex.org/W1976199972","https://openalex.org/W1990722769","https://openalex.org/W1998235755","https://openalex.org/W2021604281","https://openalex.org/W2088409084","https://openalex.org/W2109987654","https://openalex.org/W2112651507","https://openalex.org/W2113362840","https://openalex.org/W2138251506","https://openalex.org/W2147175557","https://openalex.org/W2148993855","https://openalex.org/W2593314316","https://openalex.org/W2622126529","https://openalex.org/W2745073858","https://openalex.org/W2919115771","https://openalex.org/W2969311375","https://openalex.org/W2972662585","https://openalex.org/W3010414049","https://openalex.org/W3045707663","https://openalex.org/W3128728543","https://openalex.org/W3160947429","https://openalex.org/W4213414657","https://openalex.org/W4391551126","https://openalex.org/W4402264787","https://openalex.org/W4402265399","https://openalex.org/W4413394849"],"related_works":["https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W2901258812","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W1998698147"],"abstract_inverted_index":{"Functional":[0],"electrical":[1],"stimulation":[2],"(FES)":[3],"is":[4,119],"widely":[5],"used":[6],"for":[7,131],"rehabilitating":[8],"individuals":[9],"with":[10,54,113],"total":[11],"or":[12],"partial":[13],"limb":[14],"paralysis,":[15],"but":[16],"challenges":[17],"like":[18],"muscle":[19],"fatigue":[20],"and":[21,34,76,95,142,154],"discomfort":[22],"limit":[23,146],"its":[24],"effectiveness.":[25],"Hybrid":[26],"exoskeletons":[27,33,45],"combine":[28],"the":[29,38,51,150,155,162,171,187,194],"rehabilitative":[30],"benefits":[31],"of":[32,40,126,186],"FES,":[35],"while":[36],"mitigating":[37],"drawbacks":[39],"each.":[41],"However,":[42],"despite":[43],"hybrid":[44,67,134,173],"being":[46],"highly":[47],"effective":[48],"in":[49,81,129],"rehabilitation,":[50],"dynamics":[52],"associated":[53],"these":[55,65],"systems":[56],"are":[57],"complex.":[58],"Deep":[59],"neural":[60],"networks":[61],"(DNNs)":[62],"can":[63],"approximate":[64],"complex":[66],"exoskeleton":[68,135,174],"dynamics;":[69],"however,":[70],"they":[71],"traditionally":[72],"lack":[73],"stability":[74,166],"guarantees":[75],"robustness,":[77],"hindering":[78,99],"their":[79],"application":[80],"real-world":[82],"systems.":[83],"Moreover,":[84],"traditional":[85],"training":[86],"methods":[87],"(e.g.,":[88],"gradient":[89,115],"descent)":[90],"require":[91],"an":[92,108],"extensive":[93],"dataset":[94],"offline":[96],"training,":[97],"further":[98],"a":[100,114,127,132,144],"DNNs":[101],"practical":[102],"use.":[103],"Therefore,":[104],"this":[105],"paper":[106],"presents":[107],"innovative":[109],"Lyapunov-based":[110,165],"adaptation":[111],"law,":[112],"descent-like":[116],"structure,":[117],"that":[118],"designed":[120,188],"to":[121,161,177,192],"update":[122],"all":[123],"layer":[124],"weights":[125],"DNN":[128],"real-time":[130],"DNN-based":[133,151,172],"control":[136,157,175],"framework.":[137],"To":[138],"promote":[139],"user":[140],"comfort":[141],"safety,":[143],"saturation":[145],"was":[147,159,168,190],"implemented":[148],"on":[149,170],"FES":[152],"controller":[153,189],"excess":[156],"effort":[158],"redirected":[160],"exoskeleton.":[163],"A":[164,183],"analysis":[167],"performed":[169,191],"system":[176],"prove":[178],"global":[179],"asymptotic":[180],"trajectory":[181],"tracking.":[182],"numerical":[184],"simulation":[185],"validate":[193],"results.":[195]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
