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@Article{Keya_wearable_2025,
  author   = {Keya Ghonasgi and Reuth Mirsky  and Adrian M. Haith  and Peter Stone and Ashish D. Deshpande},
  title    = {Joint coordination constraints using an upper limb exoskeleton impact novel skill acquisition},
  journal = {Wearable Technologies},
  year     = {2025},
  abstract = {Robotic exoskeletons offer the potential to train novel motor skill acquisition and thus aid physical rehabilitation. Our prior work demonstrated that individuals converge to certain kinematic coordinations as they learn a novel task. An upper-limb exoskeleton controller that constrains individuals to this known coordination was also shown to significantly improve straight-line reaching task performance. This paper studies the impact of variations of this controller on novel skill acquisition. We quantify learning under three variations of the intervention (each group with N = 10 participants) against a control group (N = 13). Our results show that introducing any constraint during learning can hinder the learning process, as this alters the task dynamics that lead to success. However, when presented with a personalized constraint, participants still learn. When presented with a task-specific constraint, rather than a personalized one, participants cannot overcome the differences in the training and target task, suggesting exoskeleton-based training interventions should be personalized. The changes in kinematic behaviors during learning further suggest that participants do not have a statistically consistent performance. While participants respond more to exoskeleton intervention, others may not respond in short training sessions, necessitating further analysis of how strong a response can be encouraged. Our findings emphasize the need for further study of the effects of exoskeleton intervention for motor training and the potential need for personalization.},
}