AR3n: A Reinforcement Learning-based Assist-As-Needed Controller for Robotic Rehabilitation
In this paper, we present AR3n (pronounced as Aaron), an assist-as-needed (AAN) controller that utilizes reinforcement learning to supply adaptive assistance during a robot assisted handwriting rehabilitation task. Unlike previous AAN controllers, our method does not rely on patient specific controller parameters or physical models. We propose the use of a virtual patient model to generalize AR3n across multiple subjects. The system modulates robotic assistance in realtime based on a subject's tracking error, while minimizing the amount of robotic assistance. The controller is experimentally validated through a set of simulations and human subject experiments. Finally, a comparative study with a traditional rule-based controller is conducted to analyze differences in assistance mechanisms of the two controllers.
Code (0)
등록된 구현이 없습니다.
Tasks
reinforcement-learningReinforcement Learning (RL)Similar Papers 제목 키워드 기반
Learning a Shape-adaptive Assist-as-needed Rehabilitation Policy from Therapist-informed Input
Therapist-in-the-loop robotic rehabilitation has shown great promise in enhancing rehabilitation outcomes by integrating the strengths of therapists and robotic systems. However, its broader adoption remains limited due …
DRBA: Dynamic Robotic Balance Assistant -- An assist-as-needed gait and balance rehabilitation robot for versatile training
The decline of human balance control due to aging and pathological conditions increases fall risk, a major concern in geriatric care and rehabilitation. Gait training is essential for balance recovery, enhancing walking …
Imitation Learning for Adaptive Control of a Virtual Soft Exoglove
The use of wearable robots has been widely adopted in rehabilitation training for patients with hand motor impairments. However, the uniqueness of patients' muscle loss is often overlooked. Leveraging reinforcement learn…
Imitation LearningOptimal adaptive control of a knee joint exoskeleton for lower limb functional rehabilitation
Lower limb exoskeleton robots hold great potential for rehabilitation, movement assistance, and strength augmentation. Design control to guarantee optimal needed assistance is still a challenge considering the pathologic…
I-BaR: Integrated Balance Rehabilitation Framework
Neurological diseases are observed in approximately one billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders oft…