Reinforcement learning neural network (RLNN) based adaptive control of fine hand motion rehabilitation robot

摘要

Recent neural science research suggests that a robotic device can be an effective tool to deliver the repetitive movement training that is needed to trigger neuroplasticity in the brain following neurologic injuries such as stroke and spinal cord injury (SCI). In such scenario, adaptive control of the robotic device to provide assistance as needed along the intended motion trajectory with exact amount of force intensity, though complex, is a more effective approach. A critic-actor based reinforcement learning neural network (RLNN) control method is explored to provide adaptive control during post-stroke fine hand motion rehabilitation training. The effectiveness of the method is verified through computer simulation and implementation on a hand rehabilitation robotic device. Results suggest that the control system can fulfil the assist-as-needed (AAN) control with high performance and reliability. The method demonstrates potential to encourage active participation of the patient in the rehabilitation process and to improve the efficiency of the process.