Using the humanoid robotics framework for testing different plausible control architectures of human reaching movements

摘要

Though the proposed robotics control schemes are far from representing the actual control architecture of reaching movements in humans, this study provides computational arguments in favour of the EC scheme. It appears that transforming the difference vector with respect to the body is not a necessary step for controlling the hand accurately and reduces the control robustness with respect to biases and sensory delays. Furthermore, this transformation should induce a stronger deviation of the trajectory and an increase of the curvature at the end that was never observed in humans.