Shaping Individualized Impedance Landscapes for Gait Training via Reinforcement Learning
Volume: 4, Issue: 1, Pages: 194 - 205
Published: Feb 1, 2022
Abstract
Assist-as-needed (AAN) control aims at promoting therapeutic outcomes in robot-assisted rehabilitation by encouraging patients’ active participation. Impedance control is used by most AAN controllers to create a compliant force field around a target motion to ensure tracking accuracy while allowing moderate kinematic errors. However, since the parameters governing the shape of the force field are often tuned manually or adapted online based on...
Paper Details
Title
Shaping Individualized Impedance Landscapes for Gait Training via Reinforcement Learning
Published Date
Feb 1, 2022
Volume
4
Issue
1
Pages
194 - 205
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