Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 7
Predictions of the different tested models.
A. Typical experimental data in order to facilitate comparisons (already depicted in Figure 2). B–H. Predicted hand paths for each model. I. Hybrid model, maximizing smoothness and minimizing energy (with a ratio 10∶1 for the energy component). Black and white bars are reported to show the regions on the bar for which the cost is relatively close to the optimal one (here, black areas correspond to movement costs below the 10% threshold relative to the minimum cost value).