Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons
Javad K. Mehr,Eddie Guo,Mojtaba Akbari,Vivian K. Mushahwar,Mahdi Tavakoli,Javad K. Mehr,Eddie Guo,Mojtaba Akbari,Vivian K. Mushahwar,Mahdi Tavakoli
This paper introduces intelligent central pattern generators (iCPGs) that can plan personalized walking trajectories for lower-limb exoskeletons. This can make walking more comfortable for the users by resolving one of the significant shortcomings of most commercially available exoskeletons, which is the use of pre-defined fixed trajectories for all users. The proposed method combines reinforcemen...
