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These methods can be used to compensate for nonlinear couplings between biological movement control and robot nonlinear dynamics, such as in soft robotic mechanisms for lightweight, low-cost rehabilitation exoskeletons. In our prior study, we presented NeuroGAIN \u2014 Neuromechanical Generative Autoencoding Impedance Network \u2014 an offline learning approach integrating Long-Short Term Memory (LSTM) and Variational Autoencoder (VAE) to forecast neuromuscular demand and the corresponding movement kinematics of a wearer using a neuromuscular measurement model conditioned on surface electromyography (sEMG) signals. In this work, we implement NeuroGAIN in an online sequential quadratic programming-based model-predictive control (MPC) framework for robust HRI optimization. We evaluate NeuroGAIN-MPC in an experiment with five healthy participants performing functional hand tasks while wearing a soft hand exoskeleton to find that NeuroGAIN-MPC enables robust optimal control of HRI dynamics with minimal analytical modeling, a key step toward developing individualized interventions. <\/jats:p>","DOI":"10.1142\/s2424905x25400057","type":"journal-article","created":{"date-parts":[[2025,5,28]],"date-time":"2025-05-28T01:08:16Z","timestamp":1748394496000},"source":"Crossref","is-referenced-by-count":1,"title":["Neuromechanical Generative Model-Predictive Control of a Soft Hand Exoskeleton for Assistance in Functional Tasks"],"prefix":"10.1142","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9888-4734","authenticated-orcid":false,"given":"Avinash","family":"Baskaran","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Auburn University, 1418 Wiggins Hall, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0002-2830-7103","authenticated-orcid":false,"given":"Sujata","family":"Basyal","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Auburn University, 1418 Wiggins Hall, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5994-0932","authenticated-orcid":false,"given":"Brendon C.","family":"Allen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Auburn University, 1418 Wiggins Hall, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8616-393X","authenticated-orcid":false,"given":"Chad G.","family":"Rose","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Auburn University, 1418 Wiggins Hall, Auburn, AL 36849, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2025,5,28]]},"reference":[{"key":"S2424905X25400057BIB001","doi-asserted-by":"publisher","DOI":"10.3390\/app12094540"},{"issue":"9","key":"S2424905X25400057BIB002","first-page":"S220","volume":"10","author":"Porciuncula F.","year":"2018","journal-title":"PM&R"},{"key":"S2424905X25400057BIB003","doi-asserted-by":"publisher","DOI":"10.1109\/TMRB.2021.3100625"},{"key":"S2424905X25400057BIB004","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2015-9790"},{"key":"S2424905X25400057BIB005","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2015.2417570"},{"key":"S2424905X25400057BIB006","doi-asserted-by":"publisher","DOI":"10.1142\/S0129065718500399"},{"key":"S2424905X25400057BIB007","doi-asserted-by":"publisher","DOI":"10.1109\/ISMR63436.2024.10585782"},{"key":"S2424905X25400057BIB008","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2021.742163"},{"key":"S2424905X25400057BIB009","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X20410044"},{"key":"S2424905X25400057BIB010","doi-asserted-by":"publisher","DOI":"10.1142\/S2424905X17400013"},{"key":"S2424905X25400057BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2737478"},{"key":"S2424905X25400057BIB012","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2019.104177"},{"key":"S2424905X25400057BIB013","doi-asserted-by":"publisher","DOI":"10.1109\/CDC42340.2020.9304441"},{"key":"S2424905X25400057BIB014","doi-asserted-by":"publisher","DOI":"10.1002\/mus.20564"},{"key":"S2424905X25400057BIB015","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2016.03.005"},{"key":"S2424905X25400057BIB016","doi-asserted-by":"publisher","DOI":"10.3390\/s21041024"},{"issue":"8","key":"S2424905X25400057BIB017","first-page":"933","volume":"3","author":"Singh R. 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