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cs.RO2026
A Flow-Theoretic Multimodal Control Framework Fusing Mental and Physical Engagement for Upper-Limb Rehabilitation
Jun Leng, Pengcheng Li, Hanze Wang +2
While Assist-as-Needed (AAN) control aims to maximize user participation in robot-assisted training, existing methods relying solely on physical metrics cannot distinguish muscular…
cs.RO2026
Attribution-Gated Joint Estimation of Intention and Capability for Assist-as-Needed Upper-Limb Robots
Pengcheng Li, Shuxiang Guo, Hanze Wang +3
Assist-as-needed (AAN) control must distinguish between changes in intended motion and changes in effective voluntary torque capability, even though both can produce similar kinema…