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.
User's mass and length were varied and the effects on the trajectory tracking errors were observed to evaluate the robustness of the designed controller
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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.