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Reinforcement Learning Applied to a Human Arm Model

: Burger, M.; Gottschalk, S.; Roller, M.


Kecskeméthy, A.:
Multibody Dynamics 2019 : Proceedings of the 9th ECCOMAS Thematic Conference on Multibody Dynamics, 15-18 July 2019, Duisburg, Germany
Cham: Springer International Publishing, 2020 (Computational methods in applied sciences 53)
ISBN: 978-3-030-23131-6 (Print)
ISBN: 978-3-030-23132-3 (Online)
Thematic Conference on Multibody Dynamics <9, 2019, Duisburg>
Fraunhofer ITWM ()

In this contribution, we focus on a muscle actuated human arm model [1] and discuss the applicability of Reinforcement Learning (RL) [2] in order to control it. The content is divided into five sections. We start with the introduction of the human arm model and continue with the optimization method the authors of the model applied. Afterwards, we bring the optimization problem into a form such that RL can handle it and introduce the RL approach we are planning to apply. Before we close with the conclusion, we have a look at the results of the techniques in the numerics section.