What learning is there in learning control?
Grant number: DP160104018 | Funding period: 2016 - 2018
This project seeks to establish a meaningful definition and quantifiable measure of learning in the context of adaptive or learning control. The project is designed within the context of human motor skill learning, and assesses the speed of learning and the quality of learning (reflected by the accuracy of the motor task execution). The project plans to use measures to provide a mathematically precise meaning for the notion of learning. The outcome has the potential to be applied to the design of technology-assisted training of motor skills, from the recovery of lost motor skills after trauma to the development of elite athletes.
Related publications (16)
Interaction Force Estimation Using Extended State Observers: An Application to Impedance-Based Assistive and Rehabilitation Robotics
Gijo Sebastian, Zeyu Li, Vincent Crocher, Demy Kremers, Ying Tan, Denny Oetomo
This letter presents a force observer that estimates the external interaction forces from the measured joint position and joint ac..
Feedback-Based Iterative Learning Design and Synthesis With Output Constraints for Robotic Manipulators
Gijo Sebastian, Ying Tan, Denny Oetomo, Iven Mareels
Feedback-based iterative learning control (ILC) has been proposed to improve the unacceptable transient performance (either in sta..
Dual-loop iterative optimal control for the finite horizon LQR problem with unknown dynamics
Justin Fong, Ying Tan, Vincent Crocher, Denny Oetomo, Iven Mareels
Achieving optimal performance over a finite-time horizon has gained a lot of attention in many engineering applications. Among the..
Effect Of Arm Deweighting Using End-Effector Based Robotic Devices On Muscle Activity.
Justin Fong, Vincent Crocher, Raneem Haddara, David Ackland, Mary Galea, Ying Tan, Denny Oetomo
Deweighting of the limb is commonly performed for patients with a neurological injury, such as stroke, as it allows these patients..
Modeling of Endpoint Feedback Learning Implemented Through Point-to-Point Learning Control
Shou-Han Zhou, Ying Tan, Denny Oetomo, Chris Freeman, Etienne Burdet, Iven Mareels
In the last decade, several experiments were conducted to investigate human motor control behavior for the task of arm reaching, u..
Calibration Free Upper Limb Joint Motion Estimation Algorithm with Wearable Sensors
Max van Lith, Justin Fong, Vincent Crocher, Ying Tan, Iven Mareels, Denny Oetomo
This paper aims to establish a post processing algorithm to estimate the upper limb motion, given a set of measurements from weara..
Quantifying Task Similarity for Skill Generalisation in the Context of Human Motor Control
Gijo Sebastian, Justin Fong, Vincent Crocher, Ying Tan, Denny Oetomo, Iven Mareels
In this work, a simple model is used to characterize the learning behaviour of humans. Based on this model, it is possible to defi..