{"id":"https://openalex.org/W3201521730","doi":"https://doi.org/10.1109/tcyb.2021.3109021","title":"Hierarchical Motion Learning for Goal-Oriented Movements With Speed\u2013Accuracy Tradeoff of a Musculoskeletal System","display_name":"Hierarchical Motion Learning for Goal-Oriented Movements With Speed\u2013Accuracy Tradeoff of a Musculoskeletal System","publication_year":2021,"publication_date":"2021-09-14","ids":{"openalex":"https://openalex.org/W3201521730","doi":"https://doi.org/10.1109/tcyb.2021.3109021","mag":"3201521730","pmid":"https://pubmed.ncbi.nlm.nih.gov/34520384"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2021.3109021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3109021","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102934269","display_name":"Junjie Zhou","orcid":"https://orcid.org/0000-0001-5389-689X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Junjie Zhou","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand&#x2013;Eye&#x2013;Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5389-689X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand&#x2013;Eye&#x2013;Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012120743","display_name":"Shanlin Zhong","orcid":"https://orcid.org/0000-0002-2132-064X"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shanlin Zhong","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand&#x2013;Eye&#x2013;Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-2132-064X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems and Beijing Key Laboratory of Research and Application for Robotic Intelligence of &#x201C;Hand&#x2013;Eye&#x2013;Brain&#x201D; Interaction, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100714561","display_name":"Wei Wu","orcid":"https://orcid.org/0000-0003-0748-4952"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wu","raw_affiliation_strings":["State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0748-4952","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102934269"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":1.0195,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.73483272,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"52","issue":"11","first_page":"11453","last_page":"11466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10510","display_name":"Stroke Rehabilitation and Recovery","score":0.9954000115394592,"subfield":{"id":"https://openalex.org/subfields/2742","display_name":"Rehabilitation"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6906578540802002},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5957390069961548},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5806079506874084},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43591395020484924},{"id":"https://openalex.org/keywords/motion-capture","display_name":"Motion capture","score":0.4302331507205963}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6906578540802002},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5957390069961548},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5806079506874084},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43591395020484924},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.4302331507205963}],"mesh":[{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000077321","descriptor_name":"Deep Learning","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D006040","descriptor_name":"Goals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006040","descriptor_name":"Goals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006040","descriptor_name":"Goals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009068","descriptor_name":"Movement","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D009141","descriptor_name":"Musculoskeletal System","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009141","descriptor_name":"Musculoskeletal System","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D009141","descriptor_name":"Musculoskeletal System","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2021.3109021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2021.3109021","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:34520384","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/34520384","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G3214453966","display_name":null,"funder_award_id":"61627808","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G471587438","display_name":null,"funder_award_id":"XDB32050100","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G5826505512","display_name":null,"funder_award_id":"2017YFB1300203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G6130823433","display_name":null,"funder_award_id":"91648205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8936065553","display_name":null,"funder_award_id":"91948303","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":63,"referenced_works":["https://openalex.org/W1965723165","https://openalex.org/W1990503235","https://openalex.org/W1991239966","https://openalex.org/W1993841629","https://openalex.org/W2006075800","https://openalex.org/W2025401188","https://openalex.org/W2030838627","https://openalex.org/W2067811155","https://openalex.org/W2078597358","https://openalex.org/W2097972725","https://openalex.org/W2103756351","https://openalex.org/W2104103806","https://openalex.org/W2109284574","https://openalex.org/W2113265921","https://openalex.org/W2115652936","https://openalex.org/W2119467934","https://openalex.org/W2127733921","https://openalex.org/W2129821652","https://openalex.org/W2137742659","https://openalex.org/W2142276590","https://openalex.org/W2146600920","https://openalex.org/W2149582968","https://openalex.org/W2151370270","https://openalex.org/W2153450181","https://openalex.org/W2155694557","https://openalex.org/W2156358275","https://openalex.org/W2167987951","https://openalex.org/W2169134378","https://openalex.org/W2169679358","https://openalex.org/W2171292876","https://openalex.org/W2343205789","https://openalex.org/W2495730383","https://openalex.org/W2612289068","https://openalex.org/W2736601468","https://openalex.org/W2764277968","https://openalex.org/W2766074576","https://openalex.org/W2776985587","https://openalex.org/W2785906185","https://openalex.org/W2797790466","https://openalex.org/W2799630844","https://openalex.org/W2807644697","https://openalex.org/W2810695956","https://openalex.org/W2883003190","https://openalex.org/W2888838050","https://openalex.org/W2944074711","https://openalex.org/W2952472513","https://openalex.org/W2953293408","https://openalex.org/W2960303376","https://openalex.org/W2973229164","https://openalex.org/W2980410359","https://openalex.org/W2981657570","https://openalex.org/W2983424251","https://openalex.org/W2996781963","https://openalex.org/W3003820461","https://openalex.org/W3012175404","https://openalex.org/W3031391912","https://openalex.org/W3034963685","https://openalex.org/W3099581246","https://openalex.org/W3111331478","https://openalex.org/W3128011616","https://openalex.org/W3128587100","https://openalex.org/W3131024764","https://openalex.org/W4239127880"],"related_works":["https://openalex.org/W1827696521","https://openalex.org/W2173450654","https://openalex.org/W2039848376","https://openalex.org/W2621720158","https://openalex.org/W2091722187","https://openalex.org/W2130272765","https://openalex.org/W4401486264","https://openalex.org/W2006196742","https://openalex.org/W2055991023","https://openalex.org/W2682927604"],"abstract_inverted_index":{"Generating":[0],"various":[1],"goal-oriented":[2,50],"movements":[3],"via":[4,139],"the":[5,10,26,44,53,58,74,94,105,115,119,132,136,140,165,172,181,186,190,195,203],"flexible":[6],"muscle":[7,133,142,173],"model":[8,81,160],"of":[9,28,48,101,135],"musculoskeletal":[11,54,120,158,204],"system":[12,55],"as":[13,17,34,90],"fast":[14,49],"and":[15,38,85,151,185],"accurately":[16],"possible":[18],"is":[19,24,96,128,161],"a":[20,63,91,99,156],"pressing":[21],"problem,":[22],"which":[23,145],"also":[25],"basis":[27],"most":[29,182],"human":[30],"adaptive":[31,45,86,166,191],"behaviors,":[32],"such":[33],"reaching,":[35],"catching,":[36],"interception,":[37],"pointing.":[39],"This":[40],"article":[41],"focuses":[42],"on":[43,52,118,202],"motion":[46,51,65,138,192],"generation":[47,193],"by":[56,104],"implementing":[57],"speed-accuracy":[59],"tradeoff":[60,116],"(SAT)":[61],"in":[62,189],"hierarchical":[64],"learning":[66,200],"framework.":[67],"First,":[68],"we":[69],"introduce":[70],"Fitts'":[71],"Law":[72],"into":[73,98],"modified":[75],"basal":[76],"ganglia":[77],"circuit-inspired":[78,110],"iterative":[79],"decision-making":[80],"for":[82],"achieving":[83],"dynamic":[84],"decision":[87,95],"making.":[88],"Then,":[89],"time":[92],"constraint,":[93],"decomposed":[97],"series":[100],"supervised":[102],"terms":[103],"proposed":[106,141],"striatal":[107],"FSI-SPN":[108],"interneuron":[109],"velocity":[111],"modulator":[112],"to":[113,130,163],"implement":[114],"smoothly":[117],"system.":[121],"Finally,":[122],"an":[123],"improved":[124],"policy":[125,175],"gradient":[126],"algorithm":[127,179],"suggested":[129],"generate":[131],"excitations":[134],"modulated":[137],"co-contraction":[143,174],"policy,":[144],"promotes":[146],"general":[147],"cooperation":[148],"between":[149],"flexor":[150],"extensor":[152],"muscles.":[153],"In":[154],"experiments,":[155],"redundant":[157],"arm":[159],"trained":[162],"perform":[164],"quick":[167],"pointing":[168],"movements.":[169],"By":[170],"combining":[171],"with":[176],"SAT,":[177],"our":[178],"shows":[180],"efficient":[183],"training":[184],"best":[187],"performance":[188],"among":[194],"other":[196],"three":[197],"popular":[198],"reinforcement":[199],"algorithms":[201],"model.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
