Skip to main content
placeholder image

Temporal Difference (TD) based critic-actor adaptive control for a hand motion rehabilitation robot

Conference Paper


Abstract


  • Robot assisted post-stroke rehabilitation training is an effective approach to deliver the highly intensive repetitive training, aiming to retrain the neural pathways in the brain thus to restore and improve the affected mobility skills. The adaptive control of robotic devices, especially assist-as-needed control providing exact assistive force intensity along the intended motion trajectory, can be a complex but effective method. A temporal difference (TD) based critic-actor reinforcement learning control method is explored in this study. The effectiveness of the method is verified through Matlab simulation and implemented on a hand rehabilitation robotic device. Results suggest that the control system can fulfil the control task with high performance and reliability, thus holding the promise of improving the fine hand motion rehabilitation training efficiency.

Publication Date


  • 2015

Citation


  • Huang, X., Naghdy, F., Du, H., Naghdy, G., & Todd, C. (2015). Temporal Difference (TD) based critic-actor adaptive control for a hand motion rehabilitation robot. In 22nd Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2015 (pp. 46-56).

Scopus Eid


  • 2-s2.0-84973607410

Web Of Science Accession Number


Start Page


  • 46

End Page


  • 56

Abstract


  • Robot assisted post-stroke rehabilitation training is an effective approach to deliver the highly intensive repetitive training, aiming to retrain the neural pathways in the brain thus to restore and improve the affected mobility skills. The adaptive control of robotic devices, especially assist-as-needed control providing exact assistive force intensity along the intended motion trajectory, can be a complex but effective method. A temporal difference (TD) based critic-actor reinforcement learning control method is explored in this study. The effectiveness of the method is verified through Matlab simulation and implemented on a hand rehabilitation robotic device. Results suggest that the control system can fulfil the control task with high performance and reliability, thus holding the promise of improving the fine hand motion rehabilitation training efficiency.

Publication Date


  • 2015

Citation


  • Huang, X., Naghdy, F., Du, H., Naghdy, G., & Todd, C. (2015). Temporal Difference (TD) based critic-actor adaptive control for a hand motion rehabilitation robot. In 22nd Annual International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2015 (pp. 46-56).

Scopus Eid


  • 2-s2.0-84973607410

Web Of Science Accession Number


Start Page


  • 46

End Page


  • 56