Improving the Learning Rate, Accuracy, and Workspace of Reinforcement Learning Controllers for a Musculoskeletal Model of the Human Arm

Abstract

Cervical spinal cord injuries frequently cause paralysis of all four limbs - a medical condition known as tetraplegia. Functional electrical stimulation (FES), when combined with an appropriate controller, can be used to restore motor function by electrically stimulating the neuromuscular system. Previous works have demonstrated that reinforcement learning can be used to successfully train FES controllers. Here, we demonstrate that transfer learning and curriculum learning can be used to improve the learning rates, accuracies, and workspaces of FES controllers that are trained using reinforcement learning.

Keywords

• Reinforcement learning
• transfer learning
• curriculum learning
• musculoskeletal model
• functional electrical stimulation