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2026 (English)In: International Journal of Human-Computer Interaction, ISSN 1044-7318, E-ISSN 1532-7590, p. 1-26Article in journal (Refereed) Epub ahead of print
Abstract [en]
Predicting human upper extremity reaching motion in 3D space can support adaptive interactions with computer-controlled systems (robots and virtual avatars), and applications in ergonomics and rehabilitation. This study compares two predictive approaches: an optimization-based method (OPM) and a proposed heuristic method (SFM) that integrates steering dynamics path planning, an adaptive velocity model, and inverse kinematics. Both methods were validated against motion capture data from ten participants performing four reach tasks. Predictions and inter-subject variability were evaluated for path, velocity, and upper extremity joint configuration using root mean square error and dynamic time warping. Results show that SFM more accurately predicts spatial path and velocity, whereas OPM achieves greater precision in joint angle estimation. As input, OPM requires the initial and end posturesand the task duration, while SFM needs the initial posture, initial and target end-effector positions, and initial and estimated peak velocity. These results highlight trade-offs between accuracy and behavioral variability when selecting motion prediction methods.
Place, publisher, year, edition, pages
Taylor & Francis, 2026
Keywords
human motion prediction, optimization, heuristic, time series, dynamic time warping
National Category
Production Engineering, Human Work Science and Ergonomics Control Engineering Robotics and automation
Research subject
User Centred Product Design; Interaction Lab (ILAB); VF-KDO
Identifiers
urn:nbn:se:his:diva-26204 (URN)10.1080/10447318.2026.2632154 (DOI)001716378800001 ()2-s2.0-105033005748 (Scopus ID)
Projects
IGP-HENCE – Användarcentrerad virtuell produktframtagning
Funder
Knowledge Foundation, 20200184Knowledge Foundation, 20200003
Note
CC BY 4.0
CONTACT Estela Perez Luque perezluque.estela1504@gmail.com School of Engineering Science, University of Skövde, Skövde, Sweden.
Received 09 Sep 2025, Accepted 10 Feb 2026, Published online: 16 Mar 2026
Taylor & Francis by informa
This work has been made possible with support from the Swedish Knowledge Foundation through projects entitled IGP-HENCE (20200184) and ADOPTIVE (20200003). This support is gratefully acknowledged.
2026-03-162026-03-162026-08-28Bibliographically approved