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Learning continuous coupled multi-controller coefficients based on actor-critic algorithm for lower-limb exoskeleton

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Science China(Information Sciences) 2021年第5期64卷 230-232页

作者： Guangkui SONG Rui HUANG Hong CHENG Jing QIU Qiming CHENG Shuai FAN Center for Robotics University of Electronic Science and Technology of China School of Mechanical and Electrical Engineering University of Electronic Science and Technology of China

Dear editor,Human-powered lower exoskeletons are widely studied by academia and industry with regard to human locomotion and strength augmentation. Technological developments have boosted the use of machine learning t... 详细信息

关键词： Interactive Learning Actor-Critic Reinforcement Learning Physical Human-Robot Interaction lower-limb exoskeleton Human-powered Augmentation Continuous Domain learning continuous coeﬃcient

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Adaptive Control of lower-limb exoskeletons for Walking Assistance Based on Inter-Joint Coordination

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Journal of Bionic Engineering 2024年第4期21卷 1775-1787页

作者： Chaoyang Li Lincong Luo Zhi Liu Tianchi Chen Songxiang Liu Ye He Xiaoan Chen Lei Li Wei Tech Ang School of Mechanical Engineering Chongqing UniversityChongqing400044China Rehabilitation Research Institute of Singapore Singapore308232Singapore Department of Orthopedics Union HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhan430022China School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingapore639798Singapore

Unilateral motor impairment can disrupt the coordination between the joints,impeding the patient’s normal *** assist such patients to walk normally and naturally,an adaptive control algorithm based on inter-joint coordination was proposed in this work for lower-limb *** control strategy can generate the reference trajectory of the affected leg in real time based on a motion coordination model between the joints,and adopt an adaptive controller with virtual windows to track the reference *** Short-Term Memory(LSTM)network was also adopted to establish the coordination model between the joints of both lower limbs,which was optimized by preprocessing angle information and adding gait phase *** the adaptive controller,the virtual windows were symmetrically distributed around the reference trajectory,and its width was adjusted according to the gait phase of the auxiliary *** addition,the impedance parameters of the controller were updated online to match the motion capacity of the affected leg based on the spatiotemporal symmetry factors between the bilateral *** LSTM coordination model demonstrated good accuracy and generality in the gait database of seven individuals,with an average root mean square error of 3.5 and 4.1 for the hip and knee joint angle estimation,*** further evaluate the control algorithm,four healthy subjects walked wearing the exoskeleton while additional weights were added around the ankle joint to simulate an asymmetric *** the experimental results,it was shown that the algorithm improved the gait symmetry of the subjects to a normal level while exhibiting great adaptability to different subjects.

关键词： lower-limb exoskeleton Adaptive control Gait symmetry Inter-joint coordination Motion estimation

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