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

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

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...

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Bibliographic Details
Main Authors: Zhinan Peng, Rui Luo, Rui Huang, Tengbo Yu, Jiangping Hu, Kecheng Shi, Hong Cheng
Format: Article
Language:English
Published: Frontiers Media S.A. 2020-07-01
Series:Frontiers in Neurorobotics
Subjects:
walking assistance control
reinforcement learning
leader-follower multi-agent system
lower limb exoskeleton
hemiplegic patients
actor-critic neural network
Online Access:https://www.frontiersin.org/article/10.3389/fnbot.2020.00037/full

Internet

https://www.frontiersin.org/article/10.3389/fnbot.2020.00037/full

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