Rehabilitation robot trajectory planning method for upper limb based on healthy limb motion using multi-objective constrained reinforcement learningHaotian Xu, Bingjing Guo, Jianhai Han, Xiangpan Li and Zhenzhu LiInt. J. Simul. Multidisci. Des. Optim., 17 (2026) 1DOI: https://doi.org/10.1051/smdo/2025034
