Data-Driven Optimal Assistance Control of a Lower Limb Exoskeleton for Hemiplegic Patients

Zhinan Peng
Zhinan Peng
Rui Luo
Rui Luo
Tengbo Yu
Tengbo Yu
Kecheng Shi
Kecheng Shi

Frontiers in neurorobotics, pp. 372020.

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Keywords:
actor-critic neural networkhemiplegic patientsleader-follower multi-agent systemlower limb exoskeletonreinforcement learningMore(1+)

Abstract:

More recently, lower limb exoskeletons (LLE) have gained considerable interests in strength augmentation, rehabilitation, and walking assistance scenarios. For walking assistance, the LLE is expected to control the affected leg to track the unaffected leg's motion naturally. A critical issue in this scenario is that the exoskeleton system...More

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