Psychophysical cost function of joint movement for arm reach posture prediction

Abstract

A psychophysical cost function was suggested in this study which defines a cost value for each joint movement angle, to solve the redundancy problem in human movement. The psychophysical cost function developed integrates the psychophysical discomfort of joints and the joint range availability concept which has been used for redundant arm manipulation in robotics to predict the arm reach posture. Results showed that the postures predicted by the psychophysical cost function closely simulated human postures and the predictivity was more accurate than that by the biomechanical cost function.