Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 3
Model of the arm and definition of the parameters.
The extrinsic and intrinsic coordinates are denoted by and
, respectively.
is the total arm length, while
and
are the upper arm and forearm lengths. The subscript 1 denotes the shoulder joint. These segments have mass
, inertia
and distance to the center of mass
, with
. The Cartesian bar equation is given by
. The solid and dotted lines are the measured and simulated paths, respectively. The parameters RP, MV and sIPC are the reached point, movement vector angle and the signed index of path curvature.