Javad Khodaei-Mehr — accepted AI-conference papers

2021

Adaptive CPG-Based Gait Planning With Learning-Based Torque Estimation and Control for Exoskeletons

Mojtaba Sharifi, Javad Khodaei-Mehr, Vivian K. Mushahwar, Mahdi Tavakoli

RA-L 2021

In this letter, a new adaptable gait trajectory shaping method is proposed for lower-limb exoskeletons by defining central pattern generators (CPGs). These CPGs are synchronized across different joints and updated online in response to the human users' physical behavior to enhance their safety and c

Cited by 42 Source ↗Scholar ↗

2021

Intelligent Locomotion Planning With Enhanced Postural Stability for Lower-Limb Exoskeletons

Javad Khodaei-Mehr, Mojtaba Sharifi, Vivian K. Mushahwar, Mahdi Tavakoli

RA-L 2021

In this letter, an integrated control strategy is developed for both locomotion trajectory planning and postural stability, enabling shared autonomy between the human and lower-limb exoskeleton. Divergent component of motion (DCM) analysis was employed previously based on the linear inverted pendulu

Cited by 22 Source ↗Scholar ↗