Artificial neural network-based control of powered knee exoskeletons for lifting tasks: design and experimental validation

This study introduces a hybrid model that utilizes a model-based optimization method to generate training data and an artificial neural network (ANN)-based learning method to offer real-time exoskeleton support in lifting activities. For the model-based optimization method, the torque of the knee ex...

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Bibliographic Details
Published in:	Robotica Vol. 42; no. 9; pp. 2949 - 2968
Main Authors:	Arefeen, Asif, Xiang, Yujiang
Format:	Journal Article
Language:	English
Published:	Cambridge, UK Cambridge University Press 01.09.2024
Subjects:	Age groups Algorithms Artificial neural networks Control methods Cost function Design optimization Exoskeletons General regression neural networks Hoisting Human mechanics Injuries Joints (anatomy) Kinematics Knee Machine learning Metabolism Neural networks Optimal control Optimization Parameters Quadratic programming Real time Regression models Rehabilitation Torque artificial neural network motion planning general regression neural network wearable robots gradient-based optimization lifting
ISSN:	0263-5747, 1469-8668
Online Access:	Get full text
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