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. 2021 Jul 19;8:702845. doi: 10.3389/frobt.2021.702845

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Copyright © 2021 Luo, Androwis, Adamovich, Su, Nunez and Zhou.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Snapshots of the squatting motion of the exoskeleton. This RL-based controller enables the lower extremity exoskeleton to perform the squatting skill under different types of external perturbations with various intensities. (A) Performing the squatting skill without perturbation forces. (B) Performing the squatting skill with large random perturbation forces. (Red, cyan and blue arrows show the random perturbation force applied on the hip, femur and tibia, respectively). (C) Performing the squatting skill with human interaction.