Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties
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Source: arXiv cs.ROPublish time unverified
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.