Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 2
A. Illustration of the experimental paradigm.
The reachable region from the sitting position is emphasized on the bar. The 5 initial postures under consideration are also shown (P1 to P5). B. Experimental trajectories for a representative subject. Dotted lines depict the initial arm posture of the subject (upper arm and forearm). The average fingertip path is shown in thick black line for each initial posture, from P1 to P5. The 20 trials are depicted in thin gray lines for every initial postures. C. Experimental angular displacements and finger velocity profiles for the most typical subject. First column: joint displacements at the shoulder and elbow joints; Second column: Finger velocity profiles with shaded areas indicating the standard deviation. Time is normalized, not amplitude.