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Robust neural network controller for a lower limb exoskeleton with minimal sensor configuration: a deep reinforcement learning approach with policy distillation

Crossref DOI link: https://doi.org/10.1186/s12984-025-01854-y

Published Online: 2025-12-31

Update policy: https://doi.org/10.1007/springer_crossmark_policy

Authors

Luo, Shuzhen

Feng, Ke

Androwis, Ghaith

Adamovich, Sergei

Nunez, Erick

Su, Hao

Zhou, Xianlian
Funding

Funding for this research was provided by:

Embry-Riddle Aeronautical University (Faculty Innovative Research in Science and Technology (FIRST))

Embry-Riddle Aeronautical University (Faculty Innovative Research in Science and Technology (FIRST))

National Institute on Disability, Independent Living, and Rehabilitation Research (90REGE0025-01-00)

National Institute on Disability, Independent Living, and Rehabilitation Research (90REGE0025-01-00)

New Jersey Health Foundation (PC 20-25)

National Science Foundation, United States (2524089)
License Information

Text and Data Mining valid from 2025-12-31

Version of Record valid from 2026-02-02
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Article History

Received: 2 July 2025

Accepted: 12 December 2025

First Online: 31 December 2025

Declarations

:

: Not applicable.

: Not applicable.

: The authors declare no competing interests.

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