Human-in-the-loop Optimisation in Robot-assisted Gait Training Article Swipe

PDF

Andreas Christou , Andreas Sochopoulos , Elliot Lister , Sethu Vijayakumar ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2510.05780

Wearable robots offer a promising solution for quantitatively monitoring gait and providing systematic, adaptive assistance to promote patient independence and improve gait. However, due to significant interpersonal and intrapersonal variability in walking patterns, it is important to design robot controllers that can adapt to the unique characteristics of each individual. This paper investigates the potential of human-in-the-loop optimisation (HILO) to deliver personalised assistance in gait training. The Covariance Matrix Adaptation Evolution Strategy (CMA-ES) was employed to continuously optimise an assist-as-needed controller of a lower-limb exoskeleton. Six healthy individuals participated over a two-day experiment. Our results suggest that while the CMA-ES appears to converge to a unique set of stiffnesses for each individual, no measurable impact on the subjects' performance was observed during the validation trials. These findings highlight the impact of human-robot co-adaptation and human behaviour variability, whose effect may be greater than potential benefits of personalising rule-based assistive controllers. Our work contributes to understanding the limitations of current personalisation approaches in exoskeleton-assisted gait rehabilitation and identifies key challenges for effective implementation of human-in-the-loop optimisation in this domain.

Related Topics

Truth And Reconciliation Commission Of Canada

Alanis Morissette

2025 Nba Draft

28 Years Later

Reich Ministry Of Public Enlightenment And Propaganda

Mahmood Mamdani

Rick Hurst

Degenerate Art Exhibition

Mutual Aid

Concepts

No concepts available.

Metadata

Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2510.05780
PDF: https://arxiv.org/pdf/2510.05780
OA Status: green
OpenAlex ID: https://openalex.org/W4414978856

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W4414978856

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.48550/arxiv.2510.05780

Digital Object Identifier
Title: Human-in-the-loop Optimisation in Robot-assisted Gait Training

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2025

Year of publication
Publication date: 2025-10-07

Full publication date if available
Authors: Andreas Christou, Andreas Sochopoulos, Elliot Lister, Sethu Vijayakumar

List of authors in order
Landing page: https://arxiv.org/abs/2510.05780

Publisher landing page
PDF URL: https://arxiv.org/pdf/2510.05780

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2510.05780

Direct OA link when available
Cited by: 0

Total citation count in OpenAlex

Full payload

id	https://openalex.org/W4414978856
doi	https://doi.org/10.48550/arxiv.2510.05780
ids.doi	https://doi.org/10.48550/arxiv.2510.05780
ids.openalex	https://openalex.org/W4414978856
fwci
type	preprint
title	Human-in-the-loop Optimisation in Robot-assisted Gait Training
biblio.issue
biblio.volume
biblio.last_page
biblio.first_page
topics[0].id	https://openalex.org/T11023
topics[0].field.id	https://openalex.org/fields/22
topics[0].field.display_name	Engineering
topics[0].score	0.9947999715805054
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/2204
topics[0].subfield.display_name	Biomedical Engineering
topics[0].display_name	Prosthetics and Rehabilitation Robotics
topics[1].id	https://openalex.org/T10510
topics[1].field.id	https://openalex.org/fields/27
topics[1].field.display_name	Medicine
topics[1].score	0.9693999886512756
topics[1].domain.id	https://openalex.org/domains/4
topics[1].domain.display_name	Health Sciences
topics[1].subfield.id	https://openalex.org/subfields/2742
topics[1].subfield.display_name	Rehabilitation
topics[1].display_name	Stroke Rehabilitation and Recovery
topics[2].id	https://openalex.org/T10879
topics[2].field.id	https://openalex.org/fields/22
topics[2].field.display_name	Engineering
topics[2].score	0.9674000144004822
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/2204
topics[2].subfield.display_name	Biomedical Engineering
topics[2].display_name	Robotic Locomotion and Control
is_xpac	False
apc_list
apc_paid
language	en
locations[0].id	pmh:oai:arXiv.org:2510.05780
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4306400194
locations[0].source.issn
locations[0].source.type	repository
locations[0].source.is_oa	True
locations[0].source.issn_l
locations[0].source.is_core	False
locations[0].source.is_in_doaj	False
locations[0].source.display_name	arXiv (Cornell University)
locations[0].source.host_organization	https://openalex.org/I205783295
locations[0].source.host_organization_name	Cornell University
locations[0].source.host_organization_lineage	https://openalex.org/I205783295
locations[0].license
locations[0].pdf_url	https://arxiv.org/pdf/2510.05780
locations[0].version	submittedVersion
locations[0].raw_type	text
locations[0].license_id
locations[0].is_accepted	False
locations[0].is_published	False
locations[0].raw_source_name
locations[0].landing_page_url	http://arxiv.org/abs/2510.05780
locations[1].id	doi:10.48550/arxiv.2510.05780
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url
locations[1].version
locations[1].raw_type	article
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published
locations[1].raw_source_name
locations[1].landing_page_url	https://doi.org/10.48550/arxiv.2510.05780
indexed_in	arxiv, datacite
authorships[0].author.id	https://openalex.org/A5015748269
authorships[0].author.orcid	https://orcid.org/0000-0001-7018-7606
authorships[0].author.display_name	Andreas Christou
authorships[0].author_position	first
authorships[0].raw_author_name	Christou, Andreas
authorships[0].is_corresponding	False
authorships[1].author.id	https://openalex.org/A5045043372
authorships[1].author.orcid
authorships[1].author.display_name	Andreas Sochopoulos
authorships[1].author_position	middle
authorships[1].raw_author_name	Sochopoulos, Andreas
authorships[1].is_corresponding	False
authorships[2].author.id	https://openalex.org/A5114755896
authorships[2].author.orcid	https://orcid.org/0009-0002-6008-0287
authorships[2].author.display_name	Elliot Lister
authorships[2].author_position	middle
authorships[2].raw_author_name	Lister, Elliot
authorships[2].is_corresponding	False
authorships[3].author.id	https://openalex.org/A5069715982
authorships[3].author.orcid	https://orcid.org/0000-0003-0649-7241
authorships[3].author.display_name	Sethu Vijayakumar
authorships[3].author_position	last
authorships[3].raw_author_name	Vijayakumar, Sethu
authorships[3].is_corresponding	False
has_content.pdf	True
has_content.grobid_xml	False
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2510.05780
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	Human-in-the-loop Optimisation in Robot-assisted Gait Training
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T06:51:31.235846
primary_topic.id	https://openalex.org/T11023
primary_topic.field.id	https://openalex.org/fields/22
primary_topic.field.display_name	Engineering
primary_topic.score	0.9947999715805054
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/2204
primary_topic.subfield.display_name	Biomedical Engineering
primary_topic.display_name	Prosthetics and Rehabilitation Robotics
cited_by_count	0
locations_count	2
best_oa_location.id	pmh:oai:arXiv.org:2510.05780
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2510.05780
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2510.05780
primary_location.id	pmh:oai:arXiv.org:2510.05780
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4306400194
primary_location.source.issn
primary_location.source.type	repository
primary_location.source.is_oa	True
primary_location.source.issn_l
primary_location.source.is_core	False
primary_location.source.is_in_doaj	False
primary_location.source.display_name	arXiv (Cornell University)
primary_location.source.host_organization	https://openalex.org/I205783295
primary_location.source.host_organization_name	Cornell University
primary_location.source.host_organization_lineage	https://openalex.org/I205783295
primary_location.license
primary_location.pdf_url	https://arxiv.org/pdf/2510.05780
primary_location.version	submittedVersion
primary_location.raw_type	text
primary_location.license_id
primary_location.is_accepted	False
primary_location.is_published	False
primary_location.raw_source_name
primary_location.landing_page_url	http://arxiv.org/abs/2510.05780
publication_date	2025-10-07
publication_year	2025
referenced_works_count	0
abstract_inverted_index.a	3, 82, 90, 104
abstract_inverted_index.an	78
abstract_inverted_index.be	140
abstract_inverted_index.in	30, 63, 161, 175
abstract_inverted_index.is	34
abstract_inverted_index.it	33
abstract_inverted_index.no	112
abstract_inverted_index.of	47, 55, 81, 107, 130, 145, 157, 172
abstract_inverted_index.on	115
abstract_inverted_index.to	15, 24, 36, 43, 59, 75, 101, 103, 153
abstract_inverted_index.Our	93, 150
abstract_inverted_index.Six	85
abstract_inverted_index.The	66
abstract_inverted_index.and	10, 19, 27, 133, 165
abstract_inverted_index.can	41
abstract_inverted_index.due	23
abstract_inverted_index.for	6, 109, 169
abstract_inverted_index.key	167
abstract_inverted_index.may	139
abstract_inverted_index.set	106
abstract_inverted_index.the	44, 53, 98, 116, 122, 128, 155
abstract_inverted_index.was	73, 119
abstract_inverted_index.This	50
abstract_inverted_index.each	48, 110
abstract_inverted_index.gait	9, 64, 163
abstract_inverted_index.over	89
abstract_inverted_index.than	142
abstract_inverted_index.that	40, 96
abstract_inverted_index.this	176
abstract_inverted_index.work	151
abstract_inverted_index.These	125
abstract_inverted_index.adapt	42
abstract_inverted_index.gait.	21
abstract_inverted_index.human	134
abstract_inverted_index.offer	2
abstract_inverted_index.paper	51
abstract_inverted_index.robot	38
abstract_inverted_index.while	97
abstract_inverted_index.whose	137
abstract_inverted_index.(HILO)	58
abstract_inverted_index.CMA-ES	99
abstract_inverted_index.Matrix	68
abstract_inverted_index.design	37
abstract_inverted_index.during	121
abstract_inverted_index.effect	138
abstract_inverted_index.impact	114, 129
abstract_inverted_index.robots	1
abstract_inverted_index.unique	45, 105
abstract_inverted_index.appears	100
abstract_inverted_index.current	158
abstract_inverted_index.deliver	60
abstract_inverted_index.domain.	177
abstract_inverted_index.greater	141
abstract_inverted_index.healthy	86
abstract_inverted_index.improve	20
abstract_inverted_index.patient	17
abstract_inverted_index.promote	16
abstract_inverted_index.results	94
abstract_inverted_index.suggest	95
abstract_inverted_index.trials.	124
abstract_inverted_index.two-day	91
abstract_inverted_index.walking	31
abstract_inverted_index.(CMA-ES)	72
abstract_inverted_index.However,	22
abstract_inverted_index.Strategy	71
abstract_inverted_index.Wearable	0
abstract_inverted_index.adaptive	13
abstract_inverted_index.benefits	144
abstract_inverted_index.converge	102
abstract_inverted_index.employed	74
abstract_inverted_index.findings	126
abstract_inverted_index.observed	120
abstract_inverted_index.optimise	77
abstract_inverted_index.solution	5
abstract_inverted_index.Evolution	70
abstract_inverted_index.assistive	148
abstract_inverted_index.behaviour	135
abstract_inverted_index.effective	170
abstract_inverted_index.highlight	127
abstract_inverted_index.important	35
abstract_inverted_index.patterns,	32
abstract_inverted_index.potential	54, 143
abstract_inverted_index.promising	4
abstract_inverted_index.providing	11
abstract_inverted_index.subjects'	117
abstract_inverted_index.training.	65
abstract_inverted_index.Adaptation	69
abstract_inverted_index.Covariance	67
abstract_inverted_index.approaches	160
abstract_inverted_index.assistance	14, 62
abstract_inverted_index.challenges	168
abstract_inverted_index.controller	80
abstract_inverted_index.identifies	166
abstract_inverted_index.lower-limb	83
abstract_inverted_index.measurable	113
abstract_inverted_index.monitoring	8
abstract_inverted_index.rule-based	147
abstract_inverted_index.validation	123
abstract_inverted_index.contributes	152
abstract_inverted_index.controllers	39
abstract_inverted_index.experiment.	92
abstract_inverted_index.human-robot	131
abstract_inverted_index.individual,	111
abstract_inverted_index.individual.	49
abstract_inverted_index.individuals	87
abstract_inverted_index.limitations	156
abstract_inverted_index.performance	118
abstract_inverted_index.significant	25
abstract_inverted_index.stiffnesses	108
abstract_inverted_index.systematic,	12
abstract_inverted_index.variability	29
abstract_inverted_index.continuously	76
abstract_inverted_index.controllers.	149
abstract_inverted_index.exoskeleton.	84
abstract_inverted_index.independence	18
abstract_inverted_index.investigates	52
abstract_inverted_index.optimisation	57, 174
abstract_inverted_index.participated	88
abstract_inverted_index.personalised	61
abstract_inverted_index.variability,	136
abstract_inverted_index.co-adaptation	132
abstract_inverted_index.interpersonal	26
abstract_inverted_index.intrapersonal	28
abstract_inverted_index.personalising	146
abstract_inverted_index.understanding	154
abstract_inverted_index.implementation	171
abstract_inverted_index.quantitatively	7
abstract_inverted_index.rehabilitation	164
abstract_inverted_index.characteristics	46
abstract_inverted_index.personalisation	159
abstract_inverted_index.assist-as-needed	79
abstract_inverted_index.human-in-the-loop	56, 173
abstract_inverted_index.exoskeleton-assisted	162
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	4
citation_normalized_percentile