Fig. 5: Experimental results of single-participant studies to test assistance optimization convergence with different learning rates and initial values.
From: Interaction-based rapid heuristic optimization of exoskeleton assistance during walking
a Stride-wise peak desired assistance torque during optimization with five different learning rates, i.e., weight of the tuning guide. b Routes of the position of peak desired assistance torque and the time it happens within the stride, starting from different initial values. Higher color saturation denotes later strides in optimization.
