A Reinforcement Learning Based Controller to Minimize Forces on the Crutches of a Lower-Limb Exoskeleton

Aydin Emre Utku, Suzan Ece Ada, Muhammet Hatipoglu +3

Metabolic energy consumption of a powered lower-limb exoskeleton user mainly comes from the upper body effort since the lower body is considered to be passive. However, the upper b…