A Lower Limb Exoskeleton Adaptive Control Method Based on Model-free Reinforcement Learning and Improved Dynamic Movement Primitives

• Published in: Journal of intelligent & robotic systems Vol. 111; no. 1; p. 24
• Main Authors: Huang, Liping, Zheng, Jianbin, Gao, Yifan, Song, Qiuzhi, Liu, Yali
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 11.02.2025; Springer Nature B.V
• Subjects: Adaptive control; Artificial Intelligence; Control; Control methods; Dynamic models; Electrical Engineering; Engineering; Exoskeletons; Human motion; Interactive control; Locomotion; Mechanical Engineering; Mechatronics; Oxygen consumption; Pattern recognition; Real time; Regular Paper; Robotics; Torque; Dynamic movement primitives; Human-exoskeleton interaction; Hierarchical interactive control; Lower limb exoskeleton; Reinforcement learning

Recent advancements in lower limb exoskeleton control have predominantly focused on enhancing walking capabilities across diverse terrains, such as level ground, stairs, and ramps. However, achieving seamless transitions between these terrains remains a significant challenge due to the unpredictabil...