{"id":"https://openalex.org/W7165841922","doi":"https://doi.org/10.3389/fncom.2026.1807958","title":"Design of dynamic adaptive control framework for exoskeleton robot driven by neuromuscular signal based on deep reinforcement learning","display_name":"Design of dynamic adaptive control framework for exoskeleton robot driven by neuromuscular signal based on deep reinforcement learning","publication_year":2026,"publication_date":"2026-06-25","ids":{"openalex":"https://openalex.org/W7165841922","doi":"https://doi.org/10.3389/fncom.2026.1807958","pmid":"https://pubmed.ncbi.nlm.nih.gov/42466445"},"language":"en","primary_location":{"id":"doi:10.3389/fncom.2026.1807958","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fncom.2026.1807958","pdf_url":"https://www.frontiersin.org/journals/computational-neuroscience/articles/10.3389/fncom.2026.1807958/pdf","source":{"id":"https://openalex.org/S19778766","display_name":"Frontiers in Computational Neuroscience","issn_l":"1662-5188","issn":["1662-5188"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computational Neuroscience","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/computational-neuroscience/articles/10.3389/fncom.2026.1807958/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139359193","display_name":"Kaidi Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I4210126406","display_name":"Xuzhou Construction Machinery Group (China)","ror":"https://ror.org/02y5rmj89","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210126406"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kaidi Ma","raw_affiliation_strings":["AI Institute, Jiangsu XCMG National Key Laboratory Technology Co., Ltd"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"AI Institute, Jiangsu XCMG National Key Laboratory Technology Co., Ltd","institution_ids":["https://openalex.org/I4210126406"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5139359193"],"corresponding_institution_ids":["https://openalex.org/I4210126406"],"apc_list":{"value":3295,"currency":"USD","value_usd":3295},"apc_paid":{"value":3295,"currency":"USD","value_usd":3295},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.65310461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"20","issue":null,"first_page":"1807958","last_page":"1807958"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9243000149726868,"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":0.9243000149726868,"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":0.03720000013709068,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.006300000008195639,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.7250000238418579},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6733999848365784},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5655999779701233},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5408999919891357},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5340999960899353},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4788999855518341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4496999979019165},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41819998621940613},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.3700000047683716}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.7250000238418579},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6883000135421753},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6733999848365784},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5655999779701233},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5408999919891357},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5340999960899353},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4788999855518341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4496999979019165},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41819998621940613},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3700000047683716},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.32269999384880066},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31529998779296875},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3133000135421753},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2946000099182129},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.28999999165534973},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.27880001068115234},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2712000012397766},{"id":"https://openalex.org/C45391945","wikidata":"https://www.wikidata.org/wiki/Q938523","display_name":"Powered exoskeleton","level":3,"score":0.26589998602867126},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2628999948501587},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.2612000107765198},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2581999897956848},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.25780001282691956},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.257099986076355}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fncom.2026.1807958","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fncom.2026.1807958","pdf_url":"https://www.frontiersin.org/journals/computational-neuroscience/articles/10.3389/fncom.2026.1807958/pdf","source":{"id":"https://openalex.org/S19778766","display_name":"Frontiers in Computational Neuroscience","issn_l":"1662-5188","issn":["1662-5188"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computational Neuroscience","raw_type":"journal-article"},{"id":"pmid:42466445","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/42466445","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":"Frontiers in computational neuroscience","raw_type":"Journal Article"},{"id":"pmh:oai:doaj.org/article:a92b56c7613c4b68a50d4f254b2407ff","is_oa":false,"landing_page_url":"https://doaj.org/article/a92b56c7613c4b68a50d4f254b2407ff","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Computational Neuroscience, Vol 20 (2026)","raw_type":"article"},{"id":"pmh:oai:pubmedcentral.nih.gov:13373953","is_oa":true,"landing_page_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC13373953/","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Comput Neurosci","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3389/fncom.2026.1807958","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fncom.2026.1807958","pdf_url":"https://www.frontiersin.org/journals/computational-neuroscience/articles/10.3389/fncom.2026.1807958/pdf","source":{"id":"https://openalex.org/S19778766","display_name":"Frontiers in Computational Neuroscience","issn_l":"1662-5188","issn":["1662-5188"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Computational Neuroscience","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.917614221572876,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7165841922.pdf","grobid_xml":"https://content.openalex.org/works/W7165841922.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W4322490246","https://openalex.org/W4327862110","https://openalex.org/W4360770747","https://openalex.org/W4381662832","https://openalex.org/W4386142339","https://openalex.org/W4388430275","https://openalex.org/W4389951994","https://openalex.org/W4392202831","https://openalex.org/W4392796728","https://openalex.org/W4394812064","https://openalex.org/W4403978128","https://openalex.org/W4407366612","https://openalex.org/W4407388600","https://openalex.org/W4408485500","https://openalex.org/W4408781769","https://openalex.org/W4409049487","https://openalex.org/W4409088549","https://openalex.org/W4409438943","https://openalex.org/W4410989968","https://openalex.org/W4411710065","https://openalex.org/W4412423271","https://openalex.org/W4412741625","https://openalex.org/W4413400847","https://openalex.org/W4415001994","https://openalex.org/W4415016737","https://openalex.org/W4416358311"],"related_works":[],"abstract_inverted_index":{"To":[0],"enhance":[1],"the":[2,81,86,96,102,123,135,166,169,176,190,203,228,232,236,241,266],"dynamic":[3],"adaptability":[4],"and":[5,32,46,74,109,134,149,160,175,209,224,249,260],"robustness":[6],"of":[7,89,101,119,189,235,268],"neuromuscular":[8,29,191],"signal-driven":[9],"exoskeleton":[10,23,270],"robots":[11],"in":[12,227],"complex":[13],"environments.":[14],"This":[15],"study":[16,246],"develops":[17],"a":[18,55,251],"Deep":[19,124],"Reinforcement":[20,125],"Learning":[21],"(DRL)-based":[22],"control":[24,59],"framework.":[25],"A":[26],"module":[27],"for":[28,129],"signal":[30],"processing":[31],"motion":[33],"intention":[34,75,192,194],"modeling":[35],"is":[36,61,172,179],"designed,":[37],"encompassing":[38],"band-pass":[39],"filtering,":[40],"local":[41],"normalization,":[42],"time-frequency":[43],"feature":[44],"extraction,":[45],"Bidirectional":[47],"Long":[48],"Short-Term":[49],"Memory":[50],"(BiLSTM)":[51],"time-series":[52],"encoding.":[53],"Additionally,":[54],"DRL-based":[56],"dynamically":[57],"adaptive":[58],"framework":[60],"established.":[62],"Trajectory":[63],"tracking":[64,99,167],"error,":[65,206],"torque":[66,143,170,207],"smoothness,":[67],"energy":[68,153,177,210],"consumption":[69,154,178,211],"agent,":[70],"joint":[71,97],"safety":[72,198],"constraint":[73,199],"consistency":[76,195],"are":[77,106,114,146,157,201],"comprehensively":[78],"introduced":[79],"into":[80],"reward":[82,196],"function":[83],"to":[84,215,240,265],"achieve":[85],"multi-objective":[87],"balance":[88],"\"accuracy-comfort-energy":[90],"consumption-safety.\"":[91],"Comparative":[92],"experiments":[93,183],"demonstrate":[94],"that":[95,163,186],"trajectory":[98,205],"errors":[100],"proposed":[103],"optimized":[104],"system":[105],"2.37\u00b0,":[107],"2.64\u00b0,":[108],"2.92\u00b0,":[110],"respectively.":[111],"These":[112],"values":[113],"significantly":[115],"lower":[116],"than":[117],"those":[118],"comparative":[120],"systems,":[121],"including":[122],"Learning-based":[126],"Robust":[127],"Controller":[128],"Lower-Limb":[130],"Rehabilitation":[131],"Exoskeletons":[132],"(DRL-RC-LLRE)":[133],"Learning-in-Simulation":[136],"Exoskeleton":[137],"Assistance":[138],"Framework":[139],"(LiS-EXO).":[140],"The":[141,151,181,218],"corresponding":[142],"smoothness":[144,208],"indicators":[145,156,212],"0.62,":[147],"0.68,":[148],"0.71.":[150],"mechanical":[152],"proxy":[155],"10.48,":[158],"11.39,":[159],"11.67,":[161],"indicating":[162],"while":[164],"improving":[165],"accuracy,":[168],"oscillation":[171],"effectively":[173],"suppressed":[174],"reduced.":[180],"ablation":[182],"further":[184],"show":[185],"when":[187],"any":[188],"embedding,":[193],"or":[197],"modules":[200,239],"removed,":[202],"average":[204],"all":[213],"deteriorate":[214],"varying":[216],"degrees.":[217],"complete":[219],"model":[220],"achieves":[221],"2.63\u00b0,":[222],"0.66,":[223],"11.17,":[225],"respectively,":[226],"three":[229,237],"indicators,":[230],"verifying":[231],"collaborative":[233],"contribution":[234],"key":[238],"overall":[242],"performance.":[243],"Overall,":[244],"this":[245],"has":[247],"constructed":[248],"verified":[250],"reproducible":[252],"\"neuromuscular":[253],"signal-motion":[254],"intention-reinforcement":[255],"learning":[256],"control\"":[257],"integrated":[258],"framework,":[259],"thus":[261],"having":[262],"certain":[263],"contributions":[264],"field":[267],"intelligent":[269],"control.":[271]},"counts_by_year":[],"updated_date":"2026-07-31T08:31:51.225901","created_date":"2026-06-26T00:00:00"}