CUED Publications database

TOPS (Task optimization in the presence of signal-dependent noise) model

Miyamoto, H and Nakano, E and Wolpert, DM and Kawato, M (2004) TOPS (Task optimization in the presence of signal-dependent noise) model. Systems and Computers in Japan, 35. pp. 48-58. ISSN 0882-1666

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Abstract

This paper proposes a movement trajectory planning model, which is a maximum task achievement model in which signal-dependent noise is added to the movement command. In the proposed model, two optimization criteria are combined, maximum task achievement and minimum energy consumption. The proposed model has the feature that the end-point boundary conditions for position, velocity, and acceleration need not be prespecified. Consequently, the method can be applied not only to the simple point-to-point movement, but to any task. In the method in this paper, the hand trajectory is derived by a psychophysical experiment and a numerical experiment for the case in which the target is not stationary, but is a moving region. It is shown that the trajectory predicted from the minimum jerk model or the minimum torque change model differs considerably from the results of the psychophysical experiment. But the trajectory predicted from the maximum task achievement model shows good qualitative agreement with the hand trajectory obtained from the psychophysical experiment. © 2004 Wiley Periodicals, Inc.

Item Type: Article
Uncontrolled Keywords: Optimization Reaching movement Signal-dependent noise Unscented filter Variance
Subjects: UNSPECIFIED
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:31
Last Modified: 08 Dec 2014 02:34
DOI: 10.1002/scj.10377