Extending the kinematic theory of rapid movements with new primitives
This work addresses the modeling of spatiotemporal movements for researchers in robotics and biomechanics, but it is incremental as it builds upon an existing theory.
The paper extended the Kinematic Theory of rapid movements by introducing a mathematical framework, the Kinematic Theory Transform, to incorporate new primitives like Euler curves for trajectories and various functions for velocity profiles, and reported reconstruction results on trajectories from humans, animals, and robots.
The Kinematic Theory of rapid movements, and its associated Sigma-Lognormal, model 2D spatiotemporal trajectories. It is constructed mainly as a temporal overlap of curves between virtual target points. Specifically, it uses an arc and a lognormal as primitives for the representation of the trajectory and velocity, respectively. This paper proposes developing this model, in what we call the Kinematic Theory Transform, which establishes a mathematical framework that allows further primitives to be used. Mainly, we evaluate Euler curves to link virtual target points and Gaussian, Beta, Gamma, Double-bounded lognormal, and Generalized Extreme Value functions to model the bell-shaped velocity profile. Using these primitives, we report reconstruction results with spatiotemporal trajectories executed by human beings, animals, and anthropomorphic robots.