Figure 11
From: Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint
Cost contribution analyses.
The contribution of elementary cost to the composite cost, averaged across all the subjects, is reported for the three speed and two load conditions. Left: cost contribution of kinematic cost; Right: cost contribution of dynamic cost. It is visible that the contribution of kinematic cost tended to decreased while those of dynamic cost increased with respect to the increase of movement speed and load.
