Research on the Motion Control Strategy of a Lower-Limb Exoskeleton Rehabilitation Robot Using the Twin Delayed Deep Deterministic Policy Gradient Algorithm.

Observing these plots, it can be concluded that all four curves exhibited a decreasing trend from a global perspective.

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When the number of learning iterations was less, the blue line in both (a) and (b) plots showed an increasing trend, which indicated that the learning direction of the left hip joint and the right knee joint was not accurate enough at the beginning of learning due to the lack of experience, but with the accumulation of experience, the learning direction was gradually adjusted to the correct direction.

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