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Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach

Figure 5

Inverse optimal control results: details for the most typical subject.

A. Weighting coefficients, i.e., elements of the vector (normalized by the maximum value). B. Contribution of each cost ingredient with respect to the total cost, for each simulation. The contribution of the cost is computed as . It is visible that mainly the energy and the angle acceleration are involved in general, with low contributions of the hand and angle jerks and a residual contribution of the geodesic cost. Torque, torque change, and effort costs do not contribute at all. C. Finger paths obtained from the best cost combination found by the inverse optimal procedure. Errors between the measured paths and the simulated ones ( and parameters) are reported, for each initial posture. Note that this is the best criterion, and that any other cost combination would replicate the data less accurately with respect to metric 1.

doi: https://doi.org/10.1371/journal.pcbi.1002183.g005