3 papers
cs.RO2026
Staged Multi-Agent Training (SMAT) for Hip Exoskeletons: Metabolic and Biomechanical Validation of a Simulation-Trained Co-Adaptive Controller
Yifei Yuan, Jakob Wolf, Ghaith Androwis +1
Learning-based controllers can deliver exoskeleton assistance after training entirely in physics-based simulation, yet few controllers that address human-device co-adaptation have…
cs.RO2026
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…
cs.RO2026
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…