Optimal Strategy for Sit-to-Stand Movement Using Reinforcement Learning
Journal Title: Journal of Rehabilitation Sciences and Research - Year 2017, Vol 4, Issue 3
Abstract
Background: Sit-to-stand motion is a frequent and challenging task in daily life activities especially for elderly and disabled people. Central nervous system uses several strategies for sit-to-stand movement. Many studies have been conducted to understand the underlying basis of the optimal approach. Reinforcement learning (RL) is a suitable method for modeling the control strategies that occur in neuro-musculoskeletal system. Methods: In this paper a dynamic model of human sit-to-stand was derived, and kinematic data of a healthy subject has been extracted in this task. An optimal control problem was formulated considering minimum energy and Q-Learning method has been utilized to find the optimal joint moments during sit to stand movement. Results: The simulation results have been compared to the experimental data. The lower extremity joint angles have been simulated and tracked the actual human angles extracted from the experiments. Also the joints moments showed a satisfactory precision by the proposed approach. Conclusion: An RL-based algorithm was used to model the human sit-to-stand, in which the model explores the state space with a Markov based approach and finds the best actions (joint moments) at each state (posture). In this approach the model successfully performs the task while consuming minimum energy. This was achieved by updating the algorithm in every trial using a Q-learning method.
Authors and Affiliations
Saeed Jamali, Sajjad Taghvaei, Seyyed Arash Haghpanah
Keywords
Related Articles
- EP ID EP374438
- DOI -
- Views 79
- Downloads 0
The Comparison of the Effects of Selective Pilate’s and Williams’ Exercises on Pain and Flexibility in Men with Chronic Non-Specific Low Back Pain: A Randomized Clinical Trial
Background: Chronic non-specific low back pain is a common disorder that often has no clear mechanism. Exercise therapy is an effective and safe method for treatment of chronic musculoskeletal disorders such as back pain...
Comparison of Muscle Recruitment Patterns During Sit-to-Stand and Stand-to-Sit in “Movement System Impairment” Subgroups of Low Back Pain and Healthy Women
Background: While various studies have examined motor control differences between subjects with and without low back pain (LBP), only a few have investigated the muscle recruitment pattern in classified LBP patients duri...
Comparison of Reading Comprehension Skill of Students with Severe to Profound Hearing Impairment from Second up to Fifth Grade of Exceptional Schools with Normal Hearing Students
Background: Reading is known as one of the most important learning tools. Research results consistently have shown that even a mild hearing impairment could affect the reading skills. Due to the reported differences in r...
Effect of Morningness-Eveningness Chronotype on Daily and Weekly Fluctuations in Aggression in Preschool Children
Background: The present study aimed at studying the morningness-eveningness chronotype (MEC) of daily and weekly biorhythm fluctuations in the aggression of preschool children. Methods: This was a causal-comparative stud...
Oropharyngeal Dysphagia in Elderly People
The number of elderlies in the world is increasing and healthy aging has become a salient issue. A health threatening factor quite prevalent among the elderlies is dysphagia. Dysphagia causes severe complications and may...