Humans use minimum cost movements in a whole-body task.
Humans use minimum cost movements in a whole-body task.
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DOI：
10.1038/s41598-021-99423-5
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发表时间：
2021-10-11
影响因子：
4.6
通讯作者：
Ballard D
中科院分区：
文献类型：
--
作者：
Liu L;Ballard D
人类拥有优雅的身体，可以进行体操、钢琴演奏和工具使用，但很难详细了解他们是如何做到这一点的，因为他们的肌肉骨骼系统异常复杂。尽管如此，像走路和伸手这样的常见动作可能是刻板印象的，而且大量研究表明，它们的能量消耗是一个主要因素。相比之下，人们可能会认为一般的动作是非常个性化和难以处理的，但我们之前的研究表明，在用于追踪大规模闭合曲线的任意一组全身动作中，不同受试者选择的姿势序列几乎相同，无论是在身体四肢的平均轨迹上，还是在轨迹内的变化上。这一结果中的共性促使人们对其普遍性做出解释。一种解释可能是，人类也选择了成本较低的轨道。为了验证这一假设，我们将跟踪数据置于48个自由度的人体动力学模型中，该模型允许计算移动成本。使用该模型将名义痕迹的移动成本数据与各种扰动痕迹的移动成本数据进行比较，结果表明，后者的能量成本更高，从而推断原始痕迹是以最小成本为基础选择的。
Humans have elegant bodies that allow gymnastics, piano playing, and tool use, but understanding how they do this in detail is difficult because their musculoskeletal systems are extraordinarily complicated. Nonetheless, common movements like walking and reaching can be stereotypical, and a very large number of studies have shown their energetic cost to be a major factor. In contrast, one might think that general movements are very individuated and intractable, but our previous study has shown that in an arbitrary set of whole-body movements used to trace large-scale closed curves, near-identical posture sequences were chosen across different subjects, both in the average trajectories of the body’s limbs and in the variance within trajectories. The commonalities in that result motivate explanations for its generality. One explanation could be that humans also choose trajectories that are economical in cost. To test this hypothesis, we situate the tracing data within a forty eight degree of freedom human dynamic model that allows the computation of movement cost. Using the model to compare movement cost data from nominal tracings against various perturbed tracings shows that the latter are more energetically expensive, inferring that the original traces were chosen on the basis of minimum cost.
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