Fuzzy logic-driven reinforcement learning and force field-based tunnel effect for assist-as-needed impedance modulation in upper-limb human-robot interaction

TL;DR

A novel assist-as-needed control framework that integrates reinforcement learning with a fuzzy supervisor and a force field-based tunnel for upper-limb three-dimensional reaching tasks and demonstrates the feasibility of the proposed adaptive impedance modulation and supervisory assistance architecture in healthy-subject human-robot interaction.