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
Robotic Assistance
Augmented Reality and Human–Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics
During percutaneous nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient’s back, align the needle to a preplanned path, and perform puncture operations afterward. The procedure is currently performed manually using ultrasound or fluoroscopy imaging for needle orientation, which, however, implies limited accuracy and low … [Read more...] about Augmented Reality and Human–Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics
