On the dynamic version of the minimum hand jerk criterion

M. M. Svinin, Y. Masui, Z. W. Luo, S. Hosoe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

The paper deals with the problem of trajectory formation of human reaching movements. First we review conventional criteria of optimality adopted in robotics and computational neuroscience and formulate a dynamic version of the minimum hand jerk criteria. We call it a minimum driving force change criterion. We compare this criterion with conventional ones and show that it can also be a good candidate to model unconstrained reaching movements. Next, we test the performance of the new criterion for the tasks where human movements are constrained by the external environment. The simulation and experimental results show feasibility of the new criterion.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages174-179
Number of pages6
Publication statusPublished - Dec 1 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume1

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/TerritoryJapan
CitySendai
Period9/28/0410/2/04

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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