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cs.RO2026
Deep RL- Tuned Mo del-Free Adaptive Control for Lower-Limb Exoskeletons During Sit-to-Stand Transitions
Ranjeet Kumbhar, Appaso M. Gadade, Rajmeet Singh +2
Sit-to-stand (STS) transitions impose significant joint-loading demands on elderly individuals, making them a primary target for lower-limb exoskeleton assistance. However, accurat…
cs.RO2026
A Novel Hybrid PID-LQR Controller for Sit-To-Stand Assistance Using a CAD-Integrated Simscape Multibody Lower Limb Exoskeleton
Ranjeet Kumbhar, Rajmeet Singh, Appaso M Gadade +2
Precise control of lower limb exoskeletons during sit-to-stand (STS) transitions remains a central challenge in rehabilitation robotics owing to the highly nonlinear, time-varying…