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 87
- Downloads 0
Cone Beam CT Study of Temporal Crest Canal
Statement of the Problem: It is crucial for clinicians to be certain about the location of mandibular canal and determine any anatomical variants relevant to it. The temporal crest canal (TCC) is a rare anatomical varian...
Adenoid Squamous Cell Carcinoma of Oral Cavity: a Case Report
Adenoid squamous cell carcinoma is a rare variant of squamous cell carcinoma with features of adenoid pattern. It has been reported to originate in the sun- exposed skin of the head and neck region. Although rare, there...
Vestibular Migraine: from Differential Diagnosis and Pathophysiology to Treatment Options
Background: The occurrence of migraine and vertigo is common in the general population. Migraine vertigo is challenging and has several common symptoms with inner ear pathologies like Endolymphatic Hydropse. This paper p...
Effects of Short Term and Long Term Usage of Patellar Kinesio Taping on Patellar Position in Women with Patellofemoral Pain Syndrome
Background: Patellar mal tracking is responsible for pain and disability in patellofemoral pain syndrome (PFPS). Patellar kinesio taping may have different effects on short and long term usage. The aim of this study is t...
The Effect of Increasing Weight Bearing on the Paretic Side on Pattern of Muscular Activity During Walking in Stroke Patients
Background: Gait disorder is a common motor complication after stroke. Studies have revealed that conventional physiotherapy cannot manage this disorder efficiently; therefore, more studies regarding efficient treatment...