2024
DOI: 10.3390/s24186014
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Research on the Motion Control Strategy of a Lower-Limb Exoskeleton Rehabilitation Robot Using the Twin Delayed Deep Deterministic Policy Gradient Algorithm

Yifeng Guo,
Min He,
Xubin Tong
et al.

Abstract: The motion control system of a lower-limb exoskeleton rehabilitation robot (LLERR) is designed to assist patients in lower-limb rehabilitation exercises. This research designed a motion controller for an LLERR-based on the Twin Delayed Deep Deterministic policy gradient (TD3) algorithm to control the lower-limb exoskeleton for gait training in a staircase environment. Commencing with the establishment of a mathematical model of the LLERR, the dynamics during its movement are systematically described. The TD3 a… Show more

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