{"id":"https://openalex.org/W4417268785","doi":"https://doi.org/10.3390/robotics14120187","title":"Contrastive and Domain-Adaptive Evaluation of Control Laws Using Surface Electromyography During Exoskeleton-Assisted Walking","display_name":"Contrastive and Domain-Adaptive Evaluation of Control Laws Using Surface Electromyography During Exoskeleton-Assisted Walking","publication_year":2025,"publication_date":"2025-12-12","ids":{"openalex":"https://openalex.org/W4417268785","doi":"https://doi.org/10.3390/robotics14120187"},"language":"en","primary_location":{"id":"doi:10.3390/robotics14120187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120187","pdf_url":"https://www.mdpi.com/2218-6581/14/12/187/pdf?version=1765530382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/14/12/187/pdf?version=1765530382","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102847131","display_name":"Zhen Ding","orcid":"https://orcid.org/0000-0002-3271-9437"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhen Ding","raw_affiliation_strings":["College of Computer and Control Engineering, Northeast Forestry University, Harbin 150040, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Control Engineering, Northeast Forestry University, Harbin 150040, China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100718120","display_name":"Yanlong Li","orcid":"https://orcid.org/0000-0002-1414-6698"},"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":"Yanlong Li","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111355856","display_name":"Pengyu Jin","orcid":null},"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":"Pengyu Jin","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005309698","display_name":"Chunzhi Yi","orcid":"https://orcid.org/0000-0002-4180-1109"},"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":"Chunzhi Yi","raw_affiliation_strings":["School of Medicine and Health, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Medicine and Health, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101551094","display_name":"Chifu Yang","orcid":"https://orcid.org/0000-0002-6549-0958"},"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":"Chifu Yang","raw_affiliation_strings":["School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5102847131"],"corresponding_institution_ids":["https://openalex.org/I47689461"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.25761626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"12","first_page":"187","last_page":"187"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9122999906539917,"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":0.9122999906539917,"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":0.03819999843835831,"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":0.017400000244379044,"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":0.5781999826431274},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.553600013256073},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5314000248908997},{"id":"https://openalex.org/keywords/pairwise-comparison","display_name":"Pairwise comparison","score":0.5245000123977661},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.4871000051498413},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4422000050544739},{"id":"https://openalex.org/keywords/adversarial-system","display_name":"Adversarial system","score":0.4129999876022339},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.40470001101493835}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5853000283241272},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5781999826431274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.574400007724762},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.553600013256073},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5314000248908997},{"id":"https://openalex.org/C184898388","wikidata":"https://www.wikidata.org/wiki/Q1435712","display_name":"Pairwise comparison","level":2,"score":0.5245000123977661},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.4871000051498413},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4542999863624573},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4422000050544739},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.40470001101493835},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C2777515770","wikidata":"https://www.wikidata.org/wiki/Q507369","display_name":"Electromyography","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.34279999136924744},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3343999981880188},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.32690000534057617},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C2780898871","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Performance metric","level":2,"score":0.2924000024795532},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C2776434776","wikidata":"https://www.wikidata.org/wiki/Q19246213","display_name":"Domain adaptation","level":3,"score":0.27880001068115234},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2660999894142151},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.2565000057220459}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics14120187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120187","pdf_url":"https://www.mdpi.com/2218-6581/14/12/187/pdf?version=1765530382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:5a54820b8d93470d8f7926dbb11264e6","is_oa":true,"landing_page_url":"https://doaj.org/article/5a54820b8d93470d8f7926dbb11264e6","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 14, Iss 12, p 187 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics14120187","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics14120187","pdf_url":"https://www.mdpi.com/2218-6581/14/12/187/pdf?version=1765530382","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7359282141","display_name":null,"funder_award_id":"No. LH2024F004","funder_id":"https://openalex.org/F4320323085","funder_display_name":"Natural Science Foundation of Heilongjiang Province"}],"funders":[{"id":"https://openalex.org/F4320323085","display_name":"Natural Science Foundation of Heilongjiang Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4417268785.pdf"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1974860030","https://openalex.org/W2700163520","https://openalex.org/W2788331089","https://openalex.org/W2910481531","https://openalex.org/W2911803878","https://openalex.org/W2950049504","https://openalex.org/W2962687275","https://openalex.org/W2994642303","https://openalex.org/W3090334753","https://openalex.org/W3166976126","https://openalex.org/W4226377401","https://openalex.org/W4283752177","https://openalex.org/W4298395483","https://openalex.org/W4304777328","https://openalex.org/W4306769732","https://openalex.org/W4312115223","https://openalex.org/W4312327065","https://openalex.org/W4317915270","https://openalex.org/W4323652067","https://openalex.org/W4383899642","https://openalex.org/W4385307198","https://openalex.org/W4399567508","https://openalex.org/W4402592523","https://openalex.org/W4409892164","https://openalex.org/W4411458535","https://openalex.org/W4414659093"],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"and":[1,114,122,143,162],"real-time":[2],"evaluation":[3,41],"of":[4,49,60,137],"energy":[5,66],"expenditure":[6],"is":[7],"crucial":[8],"for":[9,165],"optimizing":[10,166],"exoskeleton":[11,167],"control":[12,62],"laws.":[13],"Conventional":[14],"regression-based":[15,133],"prediction":[16],"approaches":[17],"are":[18],"strongly":[19],"affected":[20],"by":[21],"inter-individual":[22],"variability":[23],"in":[24,172],"surface":[25],"electromyography":[26],"(sEMG)":[27],"signals,":[28],"limiting":[29],"their":[30],"generalization":[31],"across":[32,108,149],"subjects.":[33,151],"To":[34,90],"address":[35],"this":[36],"limitation,":[37],"we":[38,95],"reformulate":[39],"the":[40,54,127,140,146,156],"task":[42],"as":[43],"a":[44,70,78,97],"comparative":[45],"classification":[46],"problem,":[47],"instead":[48],"predicting":[50],"absolute":[51],"metabolic":[52],"values,":[53],"proposed":[55,128,157],"method":[56],"directly":[57],"judges":[58],"which":[59,81],"two":[61],"strategies":[63],"induces":[64],"lower":[65],"expenditure.":[67],"We":[68],"design":[69],"Control":[71],"Laws":[72],"Evaluation":[73],"Network":[74],"(CLEN)":[75],"based":[76],"on":[77,119,139,145],"Siamese":[79],"architecture,":[80],"captures":[82],"pairwise":[83],"sEMG":[84],"representations":[85],"to":[86],"compare":[87],"assistance":[88],"strategies.":[89],"further":[91],"mitigate":[92],"subject-specific":[93],"variability,":[94],"introduce":[96],"Dual":[98],"Adversarial":[99],"Adaptive":[100],"Optimization":[101],"Strategy":[102],"(DAAOS)":[103],"that":[104,126,155],"aligns":[105],"feature":[106],"distributions":[107],"domains":[109],"using":[110],"maximum":[111],"classifier":[112],"discrepancy":[113],"domain":[115],"confusion.":[116],"Experimental":[117],"results":[118],"both":[120],"public":[121,141],"local":[123,147],"datasets":[124],"demonstrate":[125],"domain-adaptive":[129],"framework":[130,158],"significantly":[131],"outperforms":[132],"approaches,":[134],"achieving":[135],"accuracies":[136],"77.6\u00b13.1%":[138],"dataset":[142,148],"73.3\u00b14.7%":[144],"unseen":[150],"The":[152],"findings":[153],"indicate":[154],"provides":[159],"an":[160],"effective":[161],"generalizable":[163],"metric":[164],"control,":[168],"with":[169],"potential":[170],"applications":[171],"mobility":[173],"assistance.":[174]},"counts_by_year":[],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-12-12T00:00:00"}