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RISHierarchical Optimal Switching Tracking Control for Rehabilitative Walker Considering Human-Robot Interaction Environments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This study investigates a hierarchical optimal switching tracking control method intended to facilitate cyclic switching training in a rehabilitative walker. Reinforcement learning is utilized to optimize the ...
Data-Driven Tracking Control of a Cushion Robot With Safe Autonomous Motion Considering Human-Machine Interaction Environment
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study proposes a data-driven safety controller with velocity constraints for a cushion robot. We constructed a mathematical description of the human-machine interaction environment by decomposing the generalized input ...