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Continuous actor-critic; stability; robustness; reinforcement learning; adaptive controller; functional electrical stimulation; human arm; artificial neural network; proportional derivative controller; proportional integral derivative controller; locally weighted regression
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Full-Text Articles in Engineering
Application Of The Actor-Critic Architecture To Functional Electrical Stimulation Control Of A Human Arm, Philip Thomas, Michael Branicky, Antonie Van Den Bogert, Kathleen Jagodnik
Application Of The Actor-Critic Architecture To Functional Electrical Stimulation Control Of A Human Arm, Philip Thomas, Michael Branicky, Antonie Van Den Bogert, Kathleen Jagodnik
Mechanical Engineering Faculty Publications
Clinical tests have shown that the dynamics of a human arm, controlled using Functional Electrical Stimulation (FES), can vary significantly between and during trials. In this paper, we study the application of the actor-critic architecture, with neural networks for the both the actor and the critic, as a controller that can adapt to these changing dynamics of a human arm. Development and tests were done in simulation using a planar arm model and Hill-based muscle dynamics. We begin by training it using a Proportional Derivative (PD) controller as a supervisor. We then make clinically relevant changes to the dynamics of …