Reinforcement Q-Learning Control With Reward Shaping Function for Swing Phase Control in a Semi-active Prosthetic Knee
In this study, we investigated a control algorithm for a semi-active prosthetic knee based on reinforcement learning (RL). Model-free reinforcement Q-learning control with a reward shaping function was proposed as the voltage controller of a magnetorheological damper based on the prosthetic knee. Th...
Main Authors: | Yonatan Hutabarat, Kittipong Ekkachai, Mitsuhiro Hayashibe, Waree Kongprawechnon |
---|---|
Format: | Article |
Language: | English |
Published: |
Frontiers Media S.A.
2020-11-01
|
Series: | Frontiers in Neurorobotics |
Subjects: | |
Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2020.565702/full |
Similar Items
-
Design and Evaluation of Swing Phase Controllers for Single-axis Knee
by: Solomon Seid, et al.
Published: (2016-09-01) -
Design and Evaluation of a Novel Microprocessor-Controlled Prosthetic Knee
by: Wujing Cao, et al.
Published: (2019-01-01) -
Design and Trajectory Tracking Control of a Magnetorheological Prosthetic Knee Joint
by: Qiang Zuo, et al.
Published: (2021-09-01) -
The Mechanical Design and Analysis of an Active Prosthetic Knee
by: Lim, James
Published: (2008) -
The Mechanical Design and Analysis of an Active Prosthetic Knee
by: Lim, James
Published: (2008)