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Structure Preserving Simulation of Optimal Index Finger Trajectories during Grasping
Author(s) -
Maas Ramona,
Leyendecker Sigrid
Publication year - 2010
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201010034
Subject(s) - jerk , trajectory , control theory (sociology) , torque , optimal control , computer science , motion (physics) , motion control , dissipation , mathematics , control (management) , artificial intelligence , mathematical optimization , physics , classical mechanics , robot , acceleration , astronomy , thermodynamics
Trajectory planning of human motion is done unconsciously by the central nervous system (CNS). To get a better understanding about how the human CNS controls movements in a particular example, we investigate the trajectory of the index finger during grasping. Varying forefinger movements are formulated as optimal control problems for constrained motion. For the solution of the optimal control problem, DMOCC (Discrete Mechanics and Optimal Control for Constrained Systems, introduced in [4]) is used. The structure preserving formulation distinguishes DMOCC from other direct transcription methods. It guarantees that certain characteristic properties of the real motion are inherited by the approximate trajectory. This is crucial, since numerical dissipation would lead to over‐ or underestimation of the joint torques. As in [2], the motion corresponding to different objective functions like total control effort, torque change, kinetic energy and jerk in the fingertip is compared. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)