Reinforcement Learning for Hand Grasp with Surface Multi-field Neuroprostheses

• Eukene Imatz-Ojanguren ^{[1] [2]} ; Eloy Irigoyen ^[1] ; Thierry Keller ^[2]
  1. [1] Universidad del País Vasco/Euskal Herriko Unibertsitatea

     Universidad del País Vasco/Euskal Herriko Unibertsitatea

     Leioa, España

     
  2. [2] TECNALIA Research and Innovation. Neurorehabilitation Area (Donostia-San Sebastián)
• Localización: International Joint Conference SOCO’16-CISIS’16-ICEUTE’16: San Sebastián, Spain, October 19th-21st, 2016 Proceedings / coord. por Manuel Graña Romay, José Manuel López Guede, Oier Etxaniz, Álvaro Herrero Cosío, Héctor Quintián Pardo, Emilio Santiago Corchado Rodríguez, 2017, ISBN 978-3-319-47364-2, págs. 313-322
• Idioma: inglés
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• Resumen

  • Hand grasp is a complex system that plays an important role in the activities of daily living. Upper-limb neuroprostheses aim at restoring lost reaching and grasping functions on people suffering from neural disorders. However, the dimensionality and complexity of the upper-limb makes the neuroprostheses modeling and control challenging. In this work we present preliminary results for checking the feasibility of using a reinforcement learning (RL) approach for achieving grasp functions with a surface multi-field neuroprosthesis for grasping. Grasps from 20 healthy subjects were recorded to build a reference for the RL system and then two different award strategies were tested on simulations based on neuro-fuzzy models of hemiplegic patients. These first results suggest that RL might be a possible solution for obtaining grasp function by means of multi-field neuroprostheses in the near future.