An upper-limb exoskeleton framework generates muscle-based torque references with reinforcement learning, refines them online, and delivers them via a passivity-preserving torque controller, with a pilot EMG study showing reduced muscle activity.
Task-agnostic exoskeleton control via biological joint moment estimation,
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ATP: Anatomical Torque with Passivity-based Control Framework for Safe Upper-Limb Exoskeleton Assistance
An upper-limb exoskeleton framework generates muscle-based torque references with reinforcement learning, refines them online, and delivers them via a passivity-preserving torque controller, with a pilot EMG study showing reduced muscle activity.