Mariana H. Rocha

Reinforcement Learning Assist-As-Needed Control Promotes Recovery of Walking Speed Following Ankle Weight Perturbations

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