{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T15:04:59Z","timestamp":1785855899704,"version":"3.56.0"},"reference-count":35,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T00:00:00Z","timestamp":1778112000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Industry 5.0 requires collaborative robots that can anticipate operator needs to improve fluency and safety in assembly. However, many human\u2013robot collaboration (HRC) systems still treat perception, intention inference, and control as separate components. This study presents a theoretical perception\u2013cognition\u2013action framework that explicitly couples multimodal intention prediction with proactive and adaptive control. Multimodal observations such as RGB-D vision, gaze, wrist force\/torque, robot joint state, and previous robot action are encoded by a hybrid Convolutional Neural Network (CNN)\u2013 Long Short-Term Memory (LSTM)\u2013Transformer to estimate (i) a probability distribution over future human intentions and (ii) a short-horizon motion trajectory, trained with a composite loss that jointly optimizes classification and regression with kinematic coherence. The predicted intention probability is embedded into an augmented Markov Decision Process state, enabling a Soft Actor\u2013Critic agent to learn continuous policies with rewards designed for synergy, efficiency, safety, and fluency. The main contributions of this study are the formal probabilistic linkage from intention prediction to adaptive control, the definition of a multi-output cognitive objective, and the design of an implementation-ready experimental protocol for future empirical validation. Overall, the proposed methodological framework and experimental protocol provide a reproducible basis for future empirical validation of proactive human\u2013robot collaboration in industrial assembly tasks.<\/jats:p>","DOI":"10.3389\/frobt.2026.1825254","type":"journal-article","created":{"date-parts":[[2026,5,7]],"date-time":"2026-05-07T04:57:08Z","timestamp":1778129828000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["A methodological framework and experimental protocol for proactive human\u2013robot collaboration with multimodal intention prediction and adaptive control"],"prefix":"10.3389","volume":"13","author":[{"given":"Juan","family":"Escobar-Naranjo","sequence":"first","affiliation":[{"name":"Faculty of Systems, Electronics and Industrial Engineering, Technical University of Ambato","place":["Ambato, Ecuador"]},{"name":"Faculty of Engineering, Andr\u00e9s Bello Catholic University","place":["Montalb\u00e1n, Venezuela"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Carlos","family":"Garc\u00eda-\u00c1vila","sequence":"additional","affiliation":[{"name":"Production Department, Electric Corporation of Ecuador","place":["Cuenca, Ecuador"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Iv\u00f3n O.","family":"Ben\u00edtez-Gonz\u00e1lez","sequence":"additional","affiliation":[{"name":"Higher School of Engineering and Technology, International University of La Rioja","place":["Logro\u00f1o, Spain"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pa\u00fal","family":"Balde\u00f3n-Egas","sequence":"additional","affiliation":[{"name":"Department of Engineering Sciences, Israel Technological University","place":["Quito, Ecuador"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wilmer","family":"Albarrac\u00edn-Guarochico","sequence":"additional","affiliation":[{"name":"Department of Engineering Sciences, Israel Technological University","place":["Quito, Ecuador"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2026,5,7]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"30633","DOI":"10.1038\/s41598-024-82624-z","article-title":"Multimodal data-based human motion intention prediction using adaptive hybrid deep learning network for movement challenged person","volume":"14","author":"Abidi","year":"2024","journal-title":"Sci. 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