2026
Reinforcement Learning Control Outperforms Iterative Learning in Exoskeleton-Assisted Gait Training
ICRA 2026poster
Learning-based controllers are increasingly adopted in lower-extremity powered exoskeletons, yet their advantages over traditional adaptive approaches remain underexplored. We compared two adaptive assist-as-needed (AAN) controllers for gait training with an ankle exoskeleton: a reinforcement learni…