Sharif Digital Repository

A modular hierarchical structure is developed to describe human movement planning level. The modular feature of the proposed model enables it to generalize planning a task. The movements are planned based on decomposing a task into its corresponding subtasks (motion phases). There is a module responsible for one condition. The final plan is constructed using soft computing of the plans proposed by different modules. Each module estimates the kinematics of the joints at the end of each subtask; we call them kinematic estimator modules (KEMs). A timing module estimates the duration of motion and a gating module determines the responsibility of each KEM under different conditions. To evaluate...