Real-time prediction learning for the simultaneous actuation of multiple prosthetic joints

@article{Pilarski2013RealtimePL,
  title={Real-time prediction learning for the simultaneous actuation of multiple prosthetic joints},
  author={Patrick M. Pilarski and Travis B. Dick and Richard S. Sutton},
  journal={2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR)},
  year={2013},
  pages={1-8}
}
Integrating learned predictions into a prosthetic control system promises to enhance multi-joint prosthesis use by amputees. In this article, we present a preliminary study of different cases where it may be beneficial to use a set of temporally extended predictions - learned and maintained in real time - within an engineered or learned prosthesis controller. Our study demonstrates the first successful combination of actor-critic reinforcement learning with real-time prediction learning. We… CONTINUE READING
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