Forward Inverse Relaxation Model Incorporating Movement Duration Optimization.

ABSTRACT: A computational trajectory formation model based on the optimization principle, which introduces the forward inverse relaxation model (FIRM) as the hardware and algorithm, represents the features of human arm movements well. However, in this model, the movement duration was defined as a given value and not as a planned value. According to considerable empirical facts, movement duration changes depending on task factors, such as required accuracy and movement distance thus, it is considered that there are some criteria that optimize the cost function. Therefore, we propose a FIRM that incorporates a movement duration optimization module. The movement duration optimization module minimizes the weighted sum of the commanded torque change term as the trajectory cost, and the tolerance term as

SUBMITTER: Takeda M 

PROVIDER: S-EPMC7912108 | biostudies-literature | 2021 Jan

REPOSITORIES: biostudies-literature