Robust walking control of a lower limb rehabilitation exoskeleton coupled with a musculoskeletal model via deep reinforcement learning

Table 1 Hyper-parameters settings for training

Parameters	Value	Parameters	Value
Discount factor	0.99	Epochs	10
Policy Adam learning rate	\(10^{-4}\)	Clip threshold	0.2
Batch size	128	Memory buffer	2048

ISSN: 1743-0003