Minimum jerk theory revisited

Author

Vörös, T.

Author_Institution

Dept. of Autom., Tech. Univ. Budapest, Hungary

Volume

1

fYear

1999

fDate

1999

Abstract

This paper discusses the minimum jerk model in detail. Target function based models of the human arm movements are described and compared. One top level approach, the minimum jerk model, is selected and presented: different variations of boundary conditions and via point constraints are solved in 3D. Analytic and iterative (dynamic programming based) solutions are discussed and compared. The mathematical background and algorithmic solutions are given for easier application of this model. The best method to describe free movement by this model is given

Keywords

biocontrol; biomechanics; dynamic programming; iterative methods; muscle; physiological models; 3D solution; algorithmic solution; boundary conditions; curved free movement; dynamic programming based solution; human arm movements; iterative solution; minimum jerk model; motor control; point constraints; target function based models; Acceleration; Biological system modeling; Boundary conditions; Dynamic programming; Equations; Humans; Iterative algorithms; Kinematics; Muscles; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

[Engineering in Medicine and Biology, 1999. 21st Annual Conference and the 1999 Annual Fall Meetring of the Biomedical Engineering Society] BMES/EMBS Conference, 1999. Proceedings of the First Joint

Conference_Location

Atlanta, GA

ISSN

1094-687X

Print_ISBN

0-7803-5674-8

Type

conf

DOI

10.1109/IEMBS.1999.802610

Filename

802610