Exploiting the geometry of the solution space to reduce sensitivity to neuromotor noise
Fig 6
Skittles tasks represented in Cartesian coordinates.
(A) Work space of the skittles task with the two execution variables defined in Cartesian coordinates. The variables are now velocity in orthogonal x- and y-directions and also fully define the trajectory of the ball. (B) Solution spaces of the four tasks spanned by the two Cartesian velocity variables together with the same exemplary arm trajectories as in Fig 2. The nonlinear transformation of the variables also transforms the solution manifolds and the arm trajectories. However, as can be seen from the release points, their errors remain unaffected.