相关论文: A General Optimal Control Model of Human Movement …

While the use of technology to provide accurate and objective measurements of human movement performance is presently an area of great interest, efforts to quantify the performance of movement are hampered by the lack of a principled model…

The biomechanics of the human body gives subjects a high degree of freedom in how they can execute movement. Nevertheless, subjects exhibit regularity in their movement patterns. One way to account for this regularity is to suppose that…

The cause of the speed-accuracy tradeoff (typically quantified via Fitts' Law) is a debated topic of interest in motor neuroscience, and is commonly studied using tools from control theory. Two prominent theories involve the presence of…

The work presented in this report introduces a framework aimed towards learning to imitate human gaits. Humans exhibit movements like walking, running, and jumping in the most efficient manner, which served as the source of motivation for…

This article explores human-like movement from a fresh perspective on motion planning. We analyze the coordinated and compliant movement mechanisms of the human body from the perspective of biomechanics. Based on these mechanisms, we…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. One way to…

Human sensorimotor control exhibits remarkable speed and accuracy, and the tradeoff between them is encapsulated in Fitts' Law for reaching and pointing. While Fitts related this to Shannon's channel capacity theorem, despite widespread…

Trajectories in human aimed movements are inherently variable. Using the concept of positional variance profiles, such trajectories are shown to be decomposable into two phases: In a first phase, the variance of the limb position over many…

Motor control is a fundamental process that underlies all voluntary behavioral responses. Several different theories based on different principles (task dynamics, equilibrium-point theory, passive-motion paradigm, active inference, optimal…

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…

We study the problem of optimal oculomotor control during the execution of visual search tasks. We introduce a computational model of human eye movements, which takes into account various constraints of the human visual and oculomotor…

Human movements are physical processes combining the classical mechanics of the human body moving in space and the biomechanics of the muscles generating the forces acting on the body under sophisticated sensory-motor control. The…

We present a method to simulate movement in interaction with computers, using Model Predictive Control (MPC). The method starts from understanding interaction from an Optimal Feedback Control (OFC) perspective. We assume that users aim to…

Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…

Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…

Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and…

We discuss the control of a human crowd whose dynamics is governed by a regularized version of Hughes' model, cf. Hughes: A continuum theory for the flow of pedestrians. Transportation research part B: methodological, 36 (2002). We assume…

In this paper we explore the Linear-Quadratic Regulator (LQR) to model movement of the mouse pointer. We propose a model in which users are assumed to behave optimally with respect to a certain cost function. Users try to minimize the…

Collective migration of animals in a cohesive group is rendered possible by a strategic distribution of tasks among members: some track the travel route, which is time and energy-consuming, while the others follow the group by interacting…

Optimal feedback control (OFC) is a theory from the motor control literature that explains how humans move their body to achieve a certain goal, e.g., pointing with the finger. OFC is based on the assumption that humans aim to control their…