OLIVE: Online Low-Rank Incremental Learning for Efficient Adaptive Exoskeletons

Sicherheitsmeldung mit Schweregrad noch nicht bewertet. Technische Details im Tab „Originaltext“; empfohlene Schritte in der Checkliste.

Originaltext der Quelle (nicht übersetzt) – die deutsche Zusammenfassung findest du im Tab „Kurzfassung".

arXiv:2606.05234v3 Announce Type: replace-cross Abstract: Wearable exoskeleton systems hold promise for restoring mobility in individuals with physical impairments, yet most existing controllers rely on static gait policies that cannot adapt to dynamic real-world environments or individual user characteristics. We present OLIVE (Online Low-rank Incremental Learning for Efficient Adaptive Exoskeletons), a parameter-efficient online adaptation framework that continuously personalizes exoskeleton control during deployment. OLIVE decomposes the adaptive component of the control policy into a low-rank residual form $\Delta W = A_t B_t^\top$ with rank $r \ll \min(d,k)$, reducing the online update cost from $\mathcal{O}(dk)$ to $\mathcal{O}(r(d+k))$ while preserving the stability of a pretrained base controller $W_0$. Parameters are updated through a reward-shaped policy gradient driven purely by on-body sensor feedback, including EMG, IMU, and vibration signals, eliminating dependence on offline reference trajectories. A gating mechanism modulates the strength of personalization based on the contextual state, while a dynamic rank scheduler adapts the update dimensionality to terrain complexity. It allocates minimal capacity on simple flat terrain and expands to higher-rank updates on demanding uneven surfaces, enabling robust performance across flat walking, stair navigation, slopes, and uneven terrain. Experiments on the wearable platform demonstrate that OLIVE achieves improvements of 13, 22, and 15 percentage points in gait smoothness, effort reduction, and motion stability …

Vollständiger Originalartikel ↗

• Betroffenheit im eigenen Stack prüfen: Versionen/Komponenten abgleichen.
• Originalquelle / Hersteller-Advisory lesen: https://arxiv.org/abs/2606.05234
• Verfügbaren Patch oder Workaround einspielen und dokumentieren.