Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 1
Proof of concept: illustration that the hand jerk and torque change costs are more discernible during reaching to a bar than to a point.
A. Simulated hand paths for point-to-point movements in the horizontal plane. Targets (T1 to T6) were located approximately as in [11]. B. Simulated hand paths for the point-to-bar case. The starting points are the same as in panel A, but we replaced the target points by target lines/bars. The shaded areas emphasize the amount of difference between these two cost functions.