Figure 10
From: Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint
Reconstruction errors for some relevant parameters (EIT, EKspeed, EKmass) for the composite and kinematic costs.
Error values were averaged across speeds, loads and then across subjects for EIT while averaged only across subjects for EKspeed/EKmass. Noticeably, in terms of EIT and EKspeed/EKmass errors, the composite cost performed much better than the kinematic cost, yielding to a conclusion that only composite cost could predict relatively well the IT index and its speed/mass dependencies as observed in the experimental movement.
