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Continuous shared control in prosthetic hand grasp tasks by Deep Deterministic Policy Gradient with Hindsight Experience Replay
저자
Zhaolong Gao; Rongyu Tang; Luyao Chen; Qiang Huang; Jiping He
학술지명
International Journal of Advanced Robotic Systems
출판/발행연도
2020
주제
요약
의수 사용자는 도달 궤적 및 잡기 위치 선택은 가능하지만, 과도한 힘 없이 물체 표면에 맞춰 손가락을 움직이는 데 어려움을 겪습니다. 본 연구에서는 사용자의 의도와 계획 능력을 로봇 제어와 결합하기 위해 공동 제어를 제안하며, 이를 위해 심층 결정론적 정책 기울기와 회고적 경험 재생을 결합한 적응형 동적 프로그래밍 및 강화 학습 기반 제어 알고리즘을 사용했습니다. 시뮬레이션 환경에서 사용자의 의도를 따르고 안전을 위해 접촉력을 제한하는 시스템의 능력을 테스트했습니다.
학술지 영향력
[International Journal of Advanced Robotic Systems]
- ES
- 0.00354
- JCI
- 0.38
- JCR
- 2.1
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