HRI
基于运动意图识别与DDPG自适应阻抗控制的机器人上肢外骨骼
Chen B, Sun Y, Xu Z, Zhou L, Zi B, Zhang J, Li Y, Li E
- 发表年份
- 2026
- 期刊
- IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
摘要
本文提出了一种结合运动意图识别与深度确定性策略梯度（DDPG）自适应阻抗控制的方法，用于机器人上肢外骨骼。该方法能够根据用户运动意图实时调整外骨骼的阻抗参数，提高人机交互的柔顺性和安全性。
关键词
motion intention recognitionDDPGadaptive impedance controlupper-limb exoskeletonhuman-robot interaction
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