Deep reinforcement learning-based anti-interference control of lower limb exoskeleton
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https://ieee-dataport.org/documents/deep-reinforcement-learning-based-anti-interference-control-lower-limb-exoskeleton
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资源简介：
In this paper, we propose a dual-loop control strategy to address the problems of the interference by the human-machine interaction of the lower limb exoskeleton movement. The outer ring adopts admittance control and the human-machine interaction torque is estimated by the generalized momentum observer based on Kalman filter. The inner ring adopts PID control based on DDPG.
提供机构：
IEEE DataPort
创建时间：
2024-01-26
