Adaptive Inverse Optimal Control for Rehabilitation Robot Systems Using Actor-Critic Algorithm

Table 1

Summarized simulation results.

Simulation	Position error (degree)		Torque (Nm)
	AC	AHC	AC	AHC
Maximum (TS)	9.163	7.491	1.163	0.531
Minimum (TS)	6.302	2.872	0.612	0.512
Mean (TS)	7.417	3.431	0.832	0.516
Adjusting time	7–11 s	3–7 s	7–11 s	3–7 s
Maximum (SS)	0.182	0.172	0.523	0.512
Minimum (SS)	0.076	0.057	0.506	0.500

Note: TS represents temporary state; SS denotes steady state.