Coordinate transformation learning of hand position feedback controller by using change of hand position error norm

We need to solve the inverse kinematics problem, i.e., the coordinate transformation from the visual coordinates to the joint angle vector coordinates. In human motion control, the learning function of the hand position error feedback controller in human inverse kinematics solver is important. This paper proposes a novel model of the coordinate transformation learning of the human visual feedback controller, which uses the change of the joint angle vector and the corresponding change of the square of the hand position error norm