Optimal gain schedules for visuomotor skill training using error-augmented feedback

@article{Parmar2015OptimalGS,
  title={Optimal gain schedules for visuomotor skill training using error-augmented feedback},
  author={Pritesh N. Parmar and James L. Patton},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={3809-3813}
}
Motor Learning is heavily governed by sensory feedback, and artificially enhancing feedback influences learning as seen in our previous works. This study provides a model-based approach in determining the optimal gain schedules for augmented feedback on a visuomotor learning task. Using Gaussian process regression, we modeled the phenomenological process of learning to operate a robot with visual rotation. We then used Pontryagin's minimum principle to achieve the optimal feedback gain… CONTINUE READING

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