Using Artificial Neuro-Molecular System in Robotic Arm Motion Control—Taking Simulation of Rehabilitation as an Example

Abstract

Under the delicate control of the brain, people can perform graceful movements through the coordination of muscles, bones, ligaments, and joints. If artificial intelligence can be used to establish a control system that simulates the movements of human arms, it is believed that the application scope of robotic arms in assisting people’s daily life can be greatly increased. The purpose of this study is to build a general system that can use intelligent techniques to assist in the construction of a personalized rehabilitation system. More importantly, this research hopes to establish an intelligent system that can be adjusted according to the needs of the problem domain, that is, the system can move toward the direction of problem-solving through autonomous learning. The artificial neural molecular system (ANM system), developed early in our laboratory, which captured the close structure/function relationship of biological systems, was used. The system was operated on the V-REP (Virtual Robot Experimentation Platform). The results show that the ANM system can use self-learning methods to adjust the start-up time, rotation angle, and the sequence of the motor operation of different motors in order to complete the designated task assignment.