Modeling of endpoint feedback learning implemented through point-to-point learning control

Zhou, Shou-Han, Tan, Ying, Oetomo, Denny, Freeman, Chris, Burdet, Etienne, and Mareels, Iven (2016) Modeling of endpoint feedback learning implemented through point-to-point learning control. IEEE Transactions on Control Systems Technology, 25 (5). pp. 1576-1585.

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Abstract

n the last decade, several experiments were conducted to investigate human motor control behavior for the task of arm reaching, using only visual feedback of the final hand position at the end of each reaching motion. Current computational frameworks have yet to model that the humans learn to complete such a task by feedforward action based on the feedback of a displacement error at the end of past reaching motions. This paper demonstrates how such learning can be formulated as an optimization problem. By designing a cost function which weighs the tracking of the target and the smoothness of human motion, the constructed framework, implemented in the form of point-to-point learning control, inherently embeds the feedforward control and enables learning over repeated trials using only the available feedback from past observations, here the endpoint errors of a reaching motion trajectory. The proposed framework is able to reproduce the human learning behavior observed in experiments.

Item ID: 68407
Item Type: Article (Research - C1)
ISSN: 1558-0865
Copyright Information: © 2016 IEEE.
Funders: Australian Research Council (ARC), Cognitive Interaction in Motion (COGIMON)
Projects and Grants: ARC Project FT0991385, ARC Project DP130100849, ARC Project DP160104018, COGIMON Grant EU H2020 ICT-644727
Date Deposited: 28 Jun 2021 23:48
FoR Codes: 40 ENGINEERING > 4007 Control engineering, mechatronics and robotics > 400705 Control engineering @ 80%
52 PSYCHOLOGY > 5204 Cognitive and computational psychology > 520403 Learning, motivation and emotion @ 20%
SEO Codes: 28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280110 Expanding knowledge in engineering @ 80%
28 EXPANDING KNOWLEDGE > 2801 Expanding knowledge > 280121 Expanding knowledge in psychology @ 20%
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