4 papers
Exoskeleton Control through Learning to Reduce Biological Joint Moments in Simulations
Zihang You, Xianlian Zhou
Data-driven joint-moment predictors offer a scalable alternative to laboratory-based inverse-dynamics pipelines for biomechanics estimation and exoskeleton control. Meanwhile, phys…
SMAT: Staged Multi-Agent Training for Co-Adaptive Exoskeleton Control
Yifei Yuan, Ghaith Androwis, Xianlian Zhou
Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning pr…
Gait Asymmetry from Unilateral Weakness and Improvement With Ankle Assistance: a Reinforcement Learning based Simulation Study
Yifei Yuan, Ghaith Androwis, Xianlian Zhou
Unilateral muscle weakness often leads to asymmetric gait, disrupting interlimb coordination and stance timing. This study presents a reinforcement learning (RL) based musculoskele…
Reinforcement-Learning-Based Assistance Reduces Squat Effort with a Modular Hip--Knee Exoskeleton
Neethan Ratnakumar, Mariya Huzaifa Tohfafarosh, Saanya Jauhri +1
Squatting is one of the most demanding lower-limb movements, requiring substantial muscular effort and coordination. Reducing the physical demands of this task through intelligent…