Simulation study of exoskeleton–musculoskeletal coupling for exoskeleton assistance via multi-agent reinforcement learning

Robust Neural Network Controllers for Lower Limb Exoskeletons: A Deep Reinforcement Learning Approach

UniExo: Unified Multi-Skill Policies for Musculoskeletal Locomotion and Co-Adaptive Exoskeleton Control

Daily locomotion encompasses diverse activities and frequent transitions between them, yet most exoskeleton controllers are designed for a single activity or a narrow set of related movements. Changes in activity therefore typically require explicit mode switching and separately tuned or retrained controllers. Simulati...

Experiment-Free Reinforcement Learning for an Unobtrusive and Compact Hip Exoskeleton with High-Torque-Density Actuators

Objective- and Speed-Agnostic Human-in-the-Loop Reinforcement Learning Control of Hip Exoskeletons for Gait Assistance

Wearable robotic lower-limb exoskeletons have demonstrated significant potential for providing personalized walking assistance tailored to individual needs. However, achieving efficient personalization through a unified control framework across different walking conditions and control objectives remains challenging for...

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...

Upper-Limb Robotic Exoskeletons for Neuromuscular Rehabilitation: A Systematic Review on Lightweight Architectures and Bio-Cooperative Control

Stroke and neuromuscular trauma constitute a leading global cause of severe long-term upper-limb motor disability. Although rehabilitation robotics has proven effective in inducing activity-dependent cortical neuroplasticity through high-intensity training, a significant translational gap persists between complex labor...