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- 2018
基于增强学习的下肢助力外骨骼虚阻抗控制
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Abstract:
提出了一种基于增强学习的变虚阻抗控制算法，其控制器设计为一个结合人机交互模型的虚阻抗控制器。为了适应不同穿戴者所产生的交互力，采用了PI2增强学习算法对控制器中的参数进行在线学习。该控制策略在一自由度外骨骼平台和HUALEX下肢助力外骨骼上进行了实验验证，证明了所提出控制算法的有效性。
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