A four-layer neural network with 49 neurons trained on analytical dynamic model data predicts joint torques for 7-DOF exoskeleton trajectory tracking, augmented by a PD controller, achieving comparable performance to traditional controllers with reduced computation in simulations.
Robotics and Autonomous Systems
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Development of a Deep Learning-Driven Control Framework for Exoskeleton Robots
A four-layer neural network with 49 neurons trained on analytical dynamic model data predicts joint torques for 7-DOF exoskeleton trajectory tracking, augmented by a PD controller, achieving comparable performance to traditional controllers with reduced computation in simulations.