Reinforcement Learning Enabled Automatic Impedance Control of a Robotic Knee Prosthesis to Mimic the Intact Knee Motion in a Co-Adapting Environment

2021/01/10 by Ruofan Wu, Minhan Li, Wu, Ruofan +8
Engineering · #FOS: Computer and information sciences #FOS: Electrical engineering #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2101.03487

openalex publication_date 2021/01/10 · openalex created_date 2021/01/18 · openalex updated_date 2026/07/28

Abstract

Automatically configuring a robotic prosthesis to fit its user's needs and physical conditions is a great technical challenge and a roadblock to the adoption of the technology. Previously, we have successfully developed reinforcement learning (RL) solutions toward addressing this issue. Yet, our designs were based on using a subjectively prescribed target motion profile for the robotic knee during level ground walking. This is not realistic for different users and for different locomotion tasks. In this study for the first time, we investigated the feasibility of RL enabled automatic configuration of impedance parameter settings for a robotic knee to mimic the intact knee motion in a co-adapting environment. We successfully achieved such tracking control by an online policy iteration. We demonstrated our results in both OpenSim simulations and two able-bodied (AB) subjects.

Citations

• From model-based control to data-driven control: Survey, classification and perspective
• OpenSim: Open-Source Software to Create and Analyze Dynamic Simulations of Movement

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