Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
产业动态
来源：arXiv cs.RO发布时间待核实
arXiv:2608.26739v1 Announce Type: new Abstract: Accurate trajectory tracking in cable-driven lower-limb rehabilitation robots is challenging because model uncertainty, external disturbances, joint constraints, and pull-only cable actuation can degrade nominal control performance.