Optimizing human-in-the-loop training: Real-time personalized task scheduling via model predictive control

Area of Science:

• Motor learning and control
• Robotics and human-in-the-loop systems
• Rehabilitation engineering

Background:

• Effective motor learning is crucial for rehabilitation and professional training, with task scheduling impacting multi-task learning.
• The dual-rate motor learning model highlights a slow-learning, slow-forgetting state crucial for long-term retention.
• Existing task scheduling methods lack optimality or real-time applicability due to rule-based or offline optimization approaches.

Purpose of the Study:

• To develop a novel, control-theory-based framework for real-time optimization of task schedules in human-in-the-loop training.
• To integrate Moving Horizon Estimation (MHE) and Model Predictive Control (MPC) for optimizing task sequences to maximize the slow-learning state.
• To enhance long-term retention and adaptation in motor skill acquisition.

Main Methods:

• Leveraged Moving Horizon Estimation (MHE) for real-time state and parameter estimation of the dual-rate motor learning model.
• Employed Model Predictive Control (MPC) to utilize MHE estimates for selecting optimal task sequences.
• Benchmarked MPC against an Alternating schedule and offline optimization in simulations and experiments (n=20).

Main Results:

• MPC demonstrated superior performance in simulations, achieving up to 27% lower cost function values compared to the Alternating schedule.
• Experimental results showed the MPC group had up to 46% lower mean motor errors in later testing phases.
• The MPC group exhibited significantly faster adaptation and stronger long-term retention (p < 0.05).

Conclusions:

• The developed MHE-MPC framework enables real-time, personalized optimization of training schedules for motor learning.
• This approach significantly enhances adaptation and long-term retention compared to traditional methods.
• The findings indicate a transformative potential for next-generation rehabilitation and high-performance skill acquisition.