Supplementary Information: Quantifying Generalization from Trial-by-Trial behavior of Adaptive Systems that Learn with Basis Functions
نویسندگان
چکیده
Where r is robot, s is subject, p is robot joint angles, q is subject joint angles, I is an inertial matrix, G is a coriolis-centripetal matrix, and E and C are forces actively generated by the robot and subject respectively. Fhandle is a coupling term that represents the force that the robot and subject apply to each other. The active subject torques, called the controller, are governed by both the actual position and velocity and the desired trajectory q(t). The desired trajectories we used were minimum-jerk for displacements of 10cm of 0.5s (Flash and Hogan, 1985).
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