Trajectory Learning and Control Models: From Human to Robotic Arms

Abstract

Based upon combined experimental and modeling studies, in recent years computational models of different aspects of human arm trajectory control have been developed. These models have dealt with the topics of human arm trajectory planning, on-line trajectory modification, the control of contact tasks and motor learning and adaptation. In this paper we discuss several of these models and the corresponding motion control algorithms for robotic manipulators which were developed based on the insights gained from our human motor control studies.