{"id":"https://openalex.org/W7125475519","doi":"https://doi.org/10.48550/arxiv.2601.15707","title":"D-Optimality-Guided Reinforcement Learning for Efficient Open-Loop Calibration of a 3-DOF Ankle Rehabilitation Robot","display_name":"D-Optimality-Guided Reinforcement Learning for Efficient Open-Loop Calibration of a 3-DOF Ankle Rehabilitation Robot","publication_year":2026,"publication_date":"2026-01-22","ids":{"openalex":"https://openalex.org/W7125475519","doi":"https://doi.org/10.48550/arxiv.2601.15707"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2601.15707","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.15707","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2601.15707","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5123653995","display_name":"Qifan Hu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Qifan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007973281","display_name":"Branko G. Celler","orcid":"https://orcid.org/0000-0003-3790-2895"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Celler, Branko","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123655553","display_name":"Weidong Mu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mu, Weidong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5055012056","display_name":"Steven W. Su","orcid":"https://orcid.org/0000-0002-5720-8852"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Steven W.","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.6090999841690063,"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":0.6090999841690063,"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":0.1143999993801117,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.09589999914169312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/calibration","display_name":"Calibration","score":0.6890000104904175},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6890000104904175},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6470000147819519},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.6470000147819519},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6227999925613403},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.6227999925613403},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5891000032424927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5891000032424927},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5430999994277954},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5430999994277954}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6890000104904175},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6890000104904175},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6470000147819519},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.6470000147819519},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6227999925613403},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.6227999925613403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036999821662903},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6036999821662903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.597100019454956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.597100019454956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5891000032424927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5891000032424927},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5430999994277954},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5430999994277954},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5360999703407288},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5360999703407288},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5123000144958496},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5123000144958496},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4740999937057495},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4740999937057495},{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C29406490","wikidata":"https://www.wikidata.org/wiki/Q1420659","display_name":"Fisher information","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.3305000066757202},{"id":"https://openalex.org/C2775862927","wikidata":"https://www.wikidata.org/wiki/Q7309766","display_name":"Rehabilitation robotics","level":3,"score":0.3305000066757202},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.31929999589920044},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.31929999589920044},{"id":"https://openalex.org/C534262118","wikidata":"https://www.wikidata.org/wiki/Q177719","display_name":"Medical diagnosis","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C534262118","wikidata":"https://www.wikidata.org/wiki/Q177719","display_name":"Medical diagnosis","level":2,"score":0.3059999942779541},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.303600013256073},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.27459999918937683},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.2709999978542328},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2694999873638153},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2694999873638153}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2601.15707","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.15707","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2601.15707","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2601.15707","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7596722841262817,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Accurate":[0],"alignment":[1,41,214],"of":[2,86,92,121,144,159,194,215],"multi-degree-of-freedom":[3],"rehabilitation":[4,27,217],"robots":[5],"is":[6,35,69,108,151],"essential":[7],"for":[8,21,212],"safe":[9],"and":[10,125],"effective":[11],"patient":[12],"training.":[13],"This":[14],"paper":[15],"proposes":[16],"a":[17,22,30,43,72,78,83,102,118,171,189],"two-stage":[18],"calibration":[19,33,66,202],"framework":[20,199],"self-designed":[23],"three-degree-of-freedom":[24],"(3-DOF)":[25],"ankle":[26],"robot.":[28],"First,":[29],"Kronecker-product-based":[31],"open-loop":[32],"method":[34],"developed":[36],"to":[37,112,153],"cast":[38],"the":[39,52,58,90,93,128,141,145],"input-output":[40],"into":[42],"linear":[44],"parameter":[45,172,207],"identification":[46],"problem,":[47],"which":[48],"in":[49,110],"turn":[50],"defines":[51],"associated":[53],"experimental":[54],"design":[55],"objective":[56],"through":[57],"resulting":[59],"information":[60,94,146],"matrix.":[61,95],"Building":[62],"on":[63],"this":[64],"formulation,":[65],"posture":[67,136],"selection":[68,99],"posed":[70],"as":[71],"combinatorial":[73],"design-of-experiments":[74],"problem":[75],"guided":[76],"by":[77,149],"D-optimality":[79],"criterion,":[80],"i.e.,":[81],"selecting":[82],"small":[84],"subset":[85],"postures":[87,116,179],"that":[88,170],"maximises":[89],"determinant":[91,143],"To":[96],"enable":[97],"practical":[98,210],"under":[100],"constraints,":[101],"Proximal":[103],"Policy":[104],"Optimization":[105],"(PPO)":[106],"agent":[107],"trained":[109],"simulation":[111,124],"choose":[113],"4":[114],"informative":[115,135],"from":[117,175,188],"candidate":[119],"set":[120,193],"50.":[122],"Across":[123],"real-robot":[126],"evaluations,":[127],"learned":[129],"policy":[130],"consistently":[131],"yields":[132],"substantially":[133],"more":[134,155],"combinations":[137],"than":[138,156,185],"random":[139],"selection:":[140],"mean":[142],"matrix":[147],"achieved":[148],"PPO":[150],"reported":[152],"be":[154],"two":[157],"orders":[158],"magnitude":[160],"higher":[161],"with":[162],"reduced":[163],"variance.":[164],"In":[165],"addition,":[166],"real-world":[167],"results":[168],"indicate":[169],"vector":[173],"identified":[174],"only":[176],"four":[177],"D-optimality-guided":[178],"provides":[180],"stronger":[181],"cross-episode":[182],"prediction":[183],"consistency":[184],"estimates":[186],"obtained":[187],"larger":[190],"but":[191],"unstructured":[192],"50":[195],"postures.":[196],"The":[197],"proposed":[198],"therefore":[200],"improves":[201],"efficiency":[203],"while":[204],"maintaining":[205],"robust":[206],"estimation,":[208],"offering":[209],"guidance":[211],"high-precision":[213],"multi-DOF":[216],"robots.":[218]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-01-24T00:00:00"}
