Evidence for Composite Cost Functions in Arm Movement Planning: An Inverse Optimal Control Approach
Figure 10
Simulated angular displacements and finger velocity profiles.
A. Angular displacements at the shoulder and elbow joints. B. Finger velocity profiles. In both graphs, solid lines correspond to the experimental data, which are recalled from Figure 10 to facilitate comparisons. Dashed lines correspond to the simulated data (averaged across subjects), for the hybrid model, mixing the minimization of the mechanical energy expenditure and the angle acceleration energy. Shaded areas indicate the standard deviation. Time is normalized, but not amplitude.