In this article, we present AR3n (pronounced as Aaron), an assist-as-needed (AAN) controller that utilizes reinforcement learning (RL), to supply adaptive assistance during a robot-assisted handwriting rehabilitation task. Unlike previous AAN controllers, our method does not rely on patient-specific controller parameters or physical models. We propose the use of a virtual … [Read more...] about AR3n: A Reinforcement Learning-Based Assist-as-Needed Controller for Robotic Rehabilitation
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