Searcharxiv⌕ Search
Home/Archive/arXiv

arXiv · 2610.21590

A Flow-Theoretic Multimodal Control Framework Fusing Mental and Physical Engagement for Upper-Limb Rehabilitation

Jun Leng·Pengcheng Li·Hanze Wang·Shuxiang Guo·Junlin Jiang
View original source ↗Read source document ↗Export metadata ↓

Abstract

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 inability from mental disengagement, leading to suboptimal interventions. To address this ambiguity, a Flow-theoretic multimodal AAN framework is proposed, fusing EEG-based mental engagement and sEMG-based physical engagement into an adaptive impedance control strategy. A four-quadrant fuzzy decision engine translates these dual physiological metrics into continuous control policies. This enables the upper-limb exoskeleton to inject feedforward assistance during intent-execution mismatch (e.g., motor output attenuation despite mental focus) and escalate guiding stiffness to penalize mental distraction. The framework was validated with healthy participants against a state-of-practice sEMG-only AAN baseline. Kinematically and mechanically, the proposed framework reduced robotic energy expenditure by 71.9\% while maintaining precise trajectory tracking, confirming it elicited greater voluntary human effort. Physiologically, the system increased the time spent in the neuroplasticity zone (Flow State Ratio) from 4.6% to 42.8%. These results validate that decoupling and jointly regulating mental and physical states enhances the selectivity of robotic assistance, mitigating user passivity and sustaining the engagement crucial for motor learning.

Explore related subjects

cs.RO

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Jun Leng, Pengcheng Li, Hanze Wang, Shuxiang Guo, Junlin Jiang. 2026-10-15. A Flow-Theoretic Multimodal Control Framework Fusing Mental and Physical Engagement for Upper-Limb Rehabilitation. https://arxiv.org/abs/2610.21590

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Design of an Underwater Vehicle With Orientation-Adjustable Thrusters and Adaptive Tracking Control

Unmanned underwater vehicles (UUVs) are essential for marine exploration and research. However, conventional designs often struggle with limited maneuverability in complex and dynamic underwater environments. This paper presents an orientation-adjustable thruster UUV (OAT-UUV) with vector thrusters, enabling full six-degree-of-freedom (6-DOF) motion. and composite maneuvers. To overcome challenges associated with uncertain model parameters and environmental disturbances, a vision-based tracking control system based on a novel feedforward adaptive model predictive controller (FF-AMPC) is proposed to achieve robust object tracking, which integrates realtime state feedback with adaptive parameter updating. Extensive experiments, including closed-loop tracking and composite motion tests in real-world environment, have been conducted. The obtained results demonstrate that the orientation-adjustable propulsion design significantly improves the underwater maneuverability, while the FF-AMPC controller achieves a 49.1% hovering improvement compared to conventional controller.

cs.RO↗
arXiv2026

FlowDrive: moderated flow matching with data balancing for trajectory planning

Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbalance can bias models toward the frequent cases and degrade performance on critical scenarios. To tackle this problem, we compare balancing strategies for sampling training data and find reweighting by trajectory pattern an effective approach. We then present FlowDrive, a flow-matching trajectory planner that learns a conditional rectified flow to map noise directly to trajectory distributions with few flow-matching steps. We further introduce moderated, in-the-loop guidance that injects small perturbation between flow steps to systematically increase trajectory diversity while remaining scene-consistent. On nuPlan and the interaction-focused interPlan benchmarks, FlowDrive achieves state-of-the-art results among learning-based planners and approaches methods with rule-based refinements. After adding moderated guidance and light post-processing (FlowDrive*), it achieves overall state-of-the-art performance across nearly all benchmark splits. Our code is available at https://github.com/einsteinguang/flow_drive_planner.

cs.RO↗
arXiv2026

DexCanvas: Bridging Human Demonstrations and Robot Learning for Dexterous Manipulation

A dexterous hand succeeds or fails through contact, yet every scalable record of human manipulation (video, vision-based hand tracking, motion capture) observes how the hand moves and misses how it pushes. We present DexCanvas, a hybrid real-synthetic dataset of 7,000 hours of dexterous hand-object interaction with per-frame contact points and contact forces, grown from 70 hours of optical motion capture that spans 21 manipulation types, from power and precision grasps to in-hand manipulation. The forces come from a real-to-sim pipeline: one reinforcement learning (RL) policy, conditioned on object geometry and manipulation type, drives an actuated MANO hand in physics simulation to reproduce each captured object trajectory, and the simulator measures the contacts that produce the reproduced motion. The policy reproduces 87.5% of the demonstrations and still succeeds on 80.9% of rollouts from perturbed initial object poses; these perturbed rollouts expand the 70 captured hours a hundredfold. On six YCB objects absent from the capture set it succeeds 72.5% of the time. The contact channels make better policies: a Diffusion Policy that observes DexCanvas contact features succeeds 82.2% of the time, against 67.5% without them, over 18,522 trials. Contact-driven retargeting carries the same demonstrations to two dexterous robot hands, where the RL stage again produces stable rollouts. A first release of 111,857 force-annotated trajectories is publicly available on Hugging Face.

cs.RO↗