Xin Ma

A Sim-to-Real Approach towards Optimal Assistance Torque in Hip Exoskeleton with a Coupled Human-Exoskeleton Model

This study presents a comprehensive sim-to-real approach aimed at determining the optimal assistance torque for hip exoskeletons, based on reinforcement learning and musculoskeletal simulation. A coupled human-exoskeleton modeling framework was developed, in which a bilateral hip exoskeleton with dynamic properties was...