Learning a Speed-adaptive Hip Exoskeleton Control Policy Via Sim-to-real Reinforcement Learning

arXiv:2609.28027 · cs.RO · Submitted 2026-09-23 · Read on arXiv

cs.RO

Submitted: 2026-09-23

Updated: 2026-09-23

Terminology

• Reinforcement Learning — 8× in this paper · explained in 4 episodes
• Personalization — 7× in this paper · explained in 2 episodes
• Adaptation — 5× in this paper · explained in 1 episode
• Human-in-the-Loop — 5× in this paper · explained in 3 episodes
• Actor — 3× in this paper · explained in 3 episodes
• Distillation — 3× in this paper · explained in 2 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• International Conference On Rehabilitation Robotics — 2× in this paper
• Pairwise Comparisons — 2× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 2× in this paper · explained in 25 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Active Learning — 1× in this paper · explained in 6 episodes
• Bayesian Optimization — 1× in this paper · explained in 3 episodes
• Convolutional Neural Networks (CNNs) — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Latent Space — 1× in this paper · explained in 7 episodes

Sources

• Learning Hip Exoskeleton Control Policy via Predictive Neuromusculoskeletal Simulation

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