Abstract
Which criteria determine the formation of rest-to-rest arm movements when interacting with virtual mass-damper dynamics? A novel bilevel optimization approach is used to find the optimal linear combination of common optimization criteria for human trajectory formation such that the resulting trajectory comes closest to the human-performed one. The goal is to utilize this optimal combination to predict human motions in robot control. Experimental results show that subject-dependent criteria combinations can be found for different dynamics.
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Albrecht, S., Passenberg, C., Sobotka, M., Peer, A., Buss, M., Ulbrich, M. (2010). Optimization Criteria for Human Trajectory Formation in Dynamic Virtual Environments. In: Kappers, A.M.L., van Erp, J.B.F., Bergmann Tiest, W.M., van der Helm, F.C.T. (eds) Haptics: Generating and Perceiving Tangible Sensations. EuroHaptics 2010. Lecture Notes in Computer Science, vol 6192. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-14075-4_37
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DOI: https://doi.org/10.1007/978-3-642-14075-4_37
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