Author

Mohammad-Hossein Fakouri

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Preprint Aug 2026

Residual Deep Reinforcement Learning-Based Computed Torque Control for a Cable-Driven Lower-Limb Rehabilitation Robot under Disturbances and Parametric Uncertainties

Bounded residual learning is supported as a practical robustness-enhancement strategy for simulation-based rehabilitation robot control and will motivate further constraint-aware and experimental validation.

Mohammad-Hossein Fakouri, Ali Keymasi‐Khalaji · 0 citations