Data-Driven Reinforcement Learning for Walking Assistance Control of a Lower Limb Exoskeleton with Hemiplegic Patients
Zhinan Peng,Rui Luo,Rui Huang,Jiangping Hu,Kecheng Shi,Hong Cheng,Bijoy Kumar Ghosh,Zhinan Peng,Rui Luo,Rui Huang,Jiangping Hu,Kecheng Shi,Hong Cheng,Bijoy Kumar Ghosh
Lower limb exoskeleton (LLE) has received considerable interests in strength augmentation, rehabilitation and walking assistance scenarios. For walking assistance, the LLE is expected to have the capability of controlling the affected leg to track the unaffected leg’s motion naturally. An important issue in this scenario is that the exoskeleton system needs to deal with unpredictable disturbance f...
