Evidence for Composite Cost Functions in Arm Movement Planning An Inverse Optimal Control Approach 英文参考文献.docVIP

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Evidence for Composite Cost Functions in Arm Movement Planning An Inverse Optimal Control Approach 英文参考文献.doc

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Evidence for Composite Cost Functions in Arm Movement Planning An Inverse Optimal Control Approach 英文参考文献

EvidenceforCompositeCostFunctionsinArm MovementPlanning:AnInverseOptimalControl Approach BastienBerret1*,EnricoChiovetto1,2,FrancescoNori1,ThierryPozzo1,3,4 1Italian Institute of Technology, Department of Robotics, Brain and Cognitive Sciences, Genoa, Italy, 2University Clinic Tu¨bingen, Section for Computational Sensomotorics,DepartmentofCognitiveNeurology,HertieInstituteofClinicalBrainResearchandCenterforIntegrativeNeurosciences,Tu¨bingen,Germany,3Institut UniversitairedeFrance,Universite′ deBourgogne,CampusUniversitaire,UFRSTAPS,Dijon,France,4INSERM,U887,Motricite′-Plasticite′, Dijon,France Abstract An important issue in motor control is understanding the basic principles underlying the accomplishment of natural movements. According to optimal control theory, the problem can be stated in these terms: what cost function do we optimizetocoordinatethemanymoredegreesoffreedomthannecessarytofulfillaspecificmotorgoal?Thisquestionhas notreceivedafinalansweryet,sincewhatisoptimizedpartlydependsontherequirementsofthetask.Manycostfunctions wereproposedinthepast,andmostofthemwerefoundtobeinagreementwithexperimentaldata.Therefore,theactual principlesonwhichthebrainreliestoachieveacertainmotorbehaviorarestillunclear.Existingresultsmightsuggestthat movementsarenottheresultsoftheminimizationofsinglebutratherofcompositecostfunctions.Inordertobetterclarify thislastpoint,weconsideraninnovativeexperimentalparadigmcharacterizedbyarmreachingwithtargetredundancy. Withinthisframework, wemakeuseofaninverseoptimalcontroltechniquetoautomaticallyinferthe(combinationof) optimalitycriteriathatbestfittheexperimentaldata.Resultsshowthatthesubjectsexhibitedaconsistentbehaviorduring each experimental condition, even though the target point was not prescribed in advance. Inverse and direct optimal controltogetherrevealthattheaveragearmtrajectorieswerebestreplicatedwhenoptimizingthecombinationoftwocost functions,nominallyamixbetweentheabsoluteworkoftorquesandtheintegratedsquaredjointaccele