Experiment-Free Reinforcement Learning for an Unobtrusive and Compact Hip Exoskeleton with High-Torque-Density Actuators
Jun-Cheng Zhou, Wei-Bo Gao, Yu-Ming Yan et al.
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Preprint
Sep 2026
Learning a Speed-adaptive Hip Exoskeleton Control Policy Via Sim-to-real Reinforcement Learning
Providing personalized exoskeleton assistance across varying walking speeds remains challenging. Existing online optimization methods are sample-inefficient, requiring extensive human-in-the-loop (HIL) evaluations to optimize the entire assistive torque profile. Sim-to-real reinforcement learning (RL) offers a promisin...
Bin Li, Zhi-Min Hou, Jia-Chen Hou et al.
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