Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm
Table 2
Summarized experimental results of five volunteers.
Sub.
Maximum
RMS error
NN + AC
NN + AHC
NN + AC
NN + AHC
PEr
PEr
PEr
PEr
Units
cm
N
cm
N
cm
N
cm
N
A (L)
2.12
9.96
2.02
9.33
0.67
0.26
0.66
0.26
A (R)
2.16
10.15
2.10
9.82
0.68
0.27
0.65
0.27
B (L)
1.92
7.08
1.71
6.36
0.75
0.28
0.56
0.19
B (R)
1.96
7.15
1.73
6.53
0.77
0.28
0.48
0.16
C (L)
2.33
9.13
2.23
8.70
0.86
0.34
0.73
0.27
C (R)
2.31
9.03
2.27
8.64
0.78
0.31
0.64
0.25
D (L)
1.78
4.64
1.73
4.53
0.42
0.11
0.56
0.16
D (R)
1.76
4.59
1.72
4.57
0.39
0.10
0.41
0.11
E (L)
2.02
5.83
2.02
5.62
0.62
0.23
0.56
0.17
E (R)
2.03
5.86
1.96
5.65
0.58
0.21
0.58
0.18
Mean
2.04
7.34
1.95
6.98
0.65
0.24
0.58
0.20
S.D.
0.20
2.34
0.16
1.98
0.12
0.07
0.09
0.05
Note: A-B denotes five volunteers, L represents left arm, R represents right arm, PEr represents position tracking error, and represents the result force; S.D. denotes statistically significant value.