相关论文: Fine-tuning Myoelectric Control through Reinforcem…

Achieving human-level dexterity in robotic grasping remains a challenging endeavor. Robotic hands frequently encounter slippage and deformation during object manipulation, issues rarely encountered by humans due to their sensory receptors,…

Myoelectric pattern recognition is one of the important aspects in the design of the control strategy for various applications including upper-limb prostheses and bio-robotic hand movement systems. The current work has proposed an approach…

Electric motors are crucial in many applications, but traditional control methods struggle with nonlinearities, parameter uncertainties, and external disturbances. Reinforcement Learning (RL) offers a promising solution as a data-driven…

One of the most elusive goals in myographic prosthesis control is the ability to reliably decode continuous positions simultaneously across multiple degrees-of-freedom. Goal: To demonstrate dexterous, natural, biomimetic finger and wrist…

Many real-world applications require an agent to make robust and deliberate decisions with multimodal information (e.g., robots with multi-sensory inputs). However, it is very challenging to train the agent via reinforcement learning (RL)…

In this work we explore the use of reinforcement learning (RL) to help with human decision making, combining state-of-the-art RL algorithms with an application to prosthetics. Managing human-machine interaction is a problem of considerable…

Functional Electrical Stimulation (FES) is a technique to evoke muscle contraction through low-energy electrical signals. FES can animate paralysed limbs. Yet, an open challenge remains on how to apply FES to achieve desired movements. This…

Robotic systems driven by artificial muscles present unique challenges due to the nonlinear dynamics of actuators and the complex designs of mechanical structures. Traditional model-based controllers often struggle to achieve desired…

State-of-the-art upper limb myoelectric prostheses often use pattern recognition (PR) control systems that translate electromyography (EMG) signals into desired movements. As prosthesis movement complexity increases, users often struggle to…

Reinforcement learning (RL) holds great promise for enabling autonomous acquisition of complex robotic manipulation skills, but realizing this potential in real-world settings has been challenging. We present a human-in-the-loop…

Neural control is an exciting mystery which we instinctively master. Yet, researchers have a hard time explaining the motor control trajectories. Physiologically accurate biomechanical simulations can, to some extent, mimic live subjects…

A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…

Reinforcement learning (RL) has helped improve decision-making in several applications. However, applying traditional RL is challenging in some applications, such as rehabilitation of people with a spinal cord injury (SCI). Among other…

This thesis work presents a more efficient and effective approach to training control-related tasks for humanoid robots using Reinforcement Learning (RL). The traditional RL methods are limited in adapting to real-world environments,…

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

Work-Related Musculoskeletal Disorders continue to be a major challenge in industrial environments, leading to reduced workforce participation, increased healthcare costs, and long-term disability. This study introduces a human-sensitive…

Deep reinforcement learning (RL) has emerged as a promising approach for autonomously acquiring complex behaviors from low level sensor observations. Although a large portion of deep RL research has focused on applications in video games…

Electric motors are used in many applications and their efficiency is strongly dependent on their control. Among others, PI approaches or model predictive control methods are well-known in the scientific literature and industrial practice.…

One of the most critical aspects of multimodal Reinforcement Learning (RL) is the effective integration of different observation modalities. Having robust and accurate representations derived from these modalities is key to enhancing the…

Imitation learning (IL) and reinforcement learning (RL) each offer distinct advantages for robotics policy learning: IL provides stable learning from demonstrations, and RL promotes generalization through exploration. While existing robot…