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DDPG-based controlling algorithm for upper limb prosthetic shoulder joint

Guo, Yuting, Li, Baojiang, Spanogiannopoulos, Sotiris, Wang, Haiyan, Bai, Jibo (2023) DDPG-based controlling algorithm for upper limb prosthetic shoulder joint. International Journal of Control, 97 (5). pp. 1083-1093. ISSN 1366-5820. (doi:10.1080/00207179.2023.2201644) (KAR id:101038)


The development of intelligent prostheses has effectively improved the life of amputees. However, the current prosthetics mainly focus on restoring the basic mobility of amputees, without considering the use habits of the wearer and the diversity of arm movements, which makes the unknown interference and complex control requirements in daily life an obstacle to the use of prosthetics. To solve this problem, this paper proposes a combination method of adaptive control algorithms of bionic arm shoulder joint based on DDPG to realize intelligent control of the shoulder joint of upper limb prosthesis. Based on using adaptive control to reduce the interference of external variables, the accuracy of the joint module system is improved through reinforcement learning. The results show that the controller has a good effect on improving the dynamic performance of the mechanical system and can be widely used in bionic mechanical control.

Item Type: Article
DOI/Identification number: 10.1080/00207179.2023.2201644
Uncontrolled keywords: Reinforcement learning, Bionic arm, Adaptive control, Joint Module
Subjects: Q Science > QA Mathematics (inc Computing science)
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Computing
Funders: University of Kent (
SWORD Depositor: JISC Publications Router
Depositing User: JISC Publications Router
Date Deposited: 25 Apr 2023 09:12 UTC
Last Modified: 14 Apr 2024 23:00 UTC
Resource URI: (The current URI for this page, for reference purposes)

University of Kent Author Information

Spanogiannopoulos, Sotiris.

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