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

doi:10.1371/journal.pcbi.1002183

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

Figure 6

Inverse optimal control results for the 20 subjects using metric 1.

A. Weighting coefficients, i.e. elements of the vector (normalized such that the sum equals 1). Each bar corresponds to one subject. B. Contribution of each cost ingredient to the total cost, for each subject. The energy and angle acceleration costs, which are predominant in the total movement cost, are highlighted with shaded areas. This result is not evident when looking only at the weighting vector.

doi: https://doi.org/10.1371/journal.pcbi.1002183.g006