A computational model for arm trajectory formation by optimization of via-point time

Proposes a computational handwriting model based on the optimization principle. The computational theory, the representation level and the hardware involved are the minimum commanded torque-change criterion, a set of via-points extracted from handwritten characters and a forward-inverse-relaxation neural network model, respectively. However, for via-point representation in the model, both timing and spatial information are needed. In this paper, we propose a new model in which the time passing through via-points is estimated by optimizing the criterion. The model is studied theoretically, and it is shown that the trajectory generated by the model is the same as the data obtained from human subjects in experiments.