Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 8
Areas between simulated and recorded finger paths.
This parameter qualifies as a general error measure. Values were first averaged across initial postures for each participant, and then, the mean and standard deviation were finally reported across participants. It is apparent that the energy and angle jerk/acceleration models performed quite well (with a lower standard deviation for the energy model), while the geodesic and hand jerk models performed moderately. The worst models were the torque change, effort and torque models, given in decreasing order of performance. The best model was the hybrid model, in agreement with the results provided by the inverse optimal control approach.