IEEE_NER2021_ReachingMovements.pdf (731.3 kB)
Theoretical evidence supporting harmonic reaching trajectories
conference contribution
posted on 2023-06-10, 02:02 authored by Carlo TiseoCarlo Tiseo, Sydney Rebecca Charitos, Michael MistryMinimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum jerk trajectories are not the only choice for C8 (i.e., smooth) functions. For example, harmonic trajectories are smooth functions that can be superimposed to describe the evolution of physical systems. This paper analyses the possibility that motor control plans using harmonic trajectories, will be experimentally observed to have a minimum jerk likeness due to control signals being transported through the Central Nervous System (CNS) and muscle-skeletal system. We tested our theory on a 3-link arm simulation using a recently developed planner that we reformulated into a motor control architecture, inspired by the passive motion paradigm. The arm performed 100 movements, reaching for each target defined by the clock experiment. We analysed the shape of the trajectory planned in the CNS and executed in the physical simulator. We observed that even under ideal conditions (i.e., absence of delays and noise) the executed trajectories are similar to a minimum jerk trajectory; thus, supporting the thesis that the human brain might plan harmonic trajectories.
History
Publication status
- Published
File Version
- Accepted version
Journal
2021 10th International IEEE/EMBS Conference on Neural Engineering (NER)ISSN
1948-3546Publisher
IEEEExternal DOI
Volume
2021-MPage range
823-827Event name
International IEEE/EMBS Conference on Neural EngineeringEvent location
ItalyEvent type
conferenceEvent date
4-6 May 2021ISBN
9781728143385Department affiliated with
- Engineering and Design Publications
Notes
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksFull text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2021-12-20First Open Access (FOA) Date
2021-12-20First Compliant Deposit (FCD) Date
2021-12-20Usage metrics
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