QUANTIZATION OF HUMAN MOTIONS AND LEARNING OF ACCURATE MOVEMENTS

This paper presents a mathematical model for the learning of accurate human arm movements. Its main features are that the movement is the su perposition of smooth submovements, the intrinsic deviation of arm mov ements is considered, visual and kinesthetic feedback are integrated i n the motion control, and the movement duration and accuracy are optim ized with practice. This model is consistent with the jerky arm moveme nts of infants, and may explain how the adult motion behavior emerges from the infant behavior. Comparison with measurements of adult moveme nts shows that the kinematics of accurate movements are well predicted by the model.