Robotic-Arm-Based Force Control by Deep Deterministic Policy Gradient in Neurosurgical Practice

Robotic-Arm-Based Force Control by Deep Deterministic Policy Gradient in Neurosurgical Practice

This research continues the previous work “Robotic-Arm-Based Force Control in Neurosurgical Practice”. In that study, authors acquired an optimal control arm speed shape for neurological surgery which minimized a cost function that uses an adaptive scheme to determine the brain tissue force. At the...

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Bibliographic Details
Main Authors: Ibai Inziarte-Hidalgo, Erik Gorospe, Ekaitz Zulueta, Jose Manuel Lopez-Guede, Unai Fernandez-Gamiz, Saioa Etxebarria
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Mathematics
Subjects:
neurosurgical robotics
optimal control
reinforcement learning
deep deterministic policy gradient
Online Access:https://www.mdpi.com/2227-7390/11/19/4133

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