3 accepted papers
Self-selected walking speed is a key outcome for exercise-based rehabilitation programs following lower-extremity trauma. This work introduces a novel reinforcement learning-based assist-as-needed (RL-AAN) controller for ankle exoskeletons, aimed at gait speed training. Built on an actor–critic arch
In robot-assisted rehabilitation, assist-as-needed (AAN) controllers have been proposed to promote subjects’ active participation, which is thought to lead to better training outcomes. Most of these AAN controllers require a patient-specific manual tuning of the parameters defining the underlying fo…
Transparency, defined as the ability of a robot to exert nil interaction force on the user, is a key requirement for any wearable robot for assistance, rehabilitation, or functional augmentation. In this study, we propose a new controller to improve the transparency of a powered orthosis. The propos