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Author

Yun Chen

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2026

Objective- and Speed-Agnostic Human-in-the-Loop Reinforcement Learning Control of Hip Exoskeletons for Gait Assistance

Wearable robotic lower-limb exoskeletons have demonstrated significant potential for providing personalized walking assistance tailored to individual needs. However, achieving efficient personalization through a unified control framework across different walking conditions and control objectives remains challenging for...

Qiang Zhang, Yun Chen · 0 citations
#machine learning Preprint Sep 2026

A Personalized Dynamic Balance Evaluation Paradigm for Hip Exoskeleton-Assisted Walking under Unexpected Ground Perturbations

Hip exoskeletons may improve recovery from unexpected gait perturbations, yet personalizing assistance remains difficult because balance is multidimensional and human-in-the-loop experiments are small-sample and noisy. We present a participant-specific composite balance cost that integrates seven biomechanical sub-metr...

Yun Chen, Oluwasegun Akinniyi, Qiang Zhang · 0 citations

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