{"id":"https://openalex.org/W2060263298","doi":"https://doi.org/10.1371/journal.pcbi.1000419","title":"Optimal Control Predicts Human Performance on Objects with Internal Degrees of Freedom","display_name":"Optimal Control Predicts Human Performance on Objects with Internal Degrees of Freedom","publication_year":2009,"publication_date":"2009-06-25","ids":{"openalex":"https://openalex.org/W2060263298","doi":"https://doi.org/10.1371/journal.pcbi.1000419","mag":"2060263298"},"language":"en","primary_location":{"id":"doi:10.1371/journal.pcbi.1000419","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pcbi.1000419","pdf_url":"https://journals.plos.org/ploscompbiol/article/file?id=10.1371/journal.pcbi.1000419&type=printable","source":{"id":"https://openalex.org/S86033158","display_name":"PLoS Computational Biology","issn_l":"1553-734X","issn":["1553-734X","1553-7358"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLoS Computational Biology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://journals.plos.org/ploscompbiol/article/file?id=10.1371/journal.pcbi.1000419&type=printable","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078444598","display_name":"Arne Nagengast","orcid":"https://orcid.org/0000-0002-9479-5371"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Arne J. Nagengast","raw_affiliation_strings":["Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","Department of Experimental Psychology, University of Cambridge, Cambridge, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]},{"raw_affiliation_string":"Department of Experimental Psychology, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101647210","display_name":"Daniel A. Braun","orcid":"https://orcid.org/0000-0002-8637-6652"},"institutions":[{"id":"https://openalex.org/I4210098324","display_name":"Bernstein Center for Computational Neuroscience Freiburg","ror":"https://ror.org/010p50m34","country_code":"DE","type":"government","lineage":["https://openalex.org/I4210092532","https://openalex.org/I4210098324"]},{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]},{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["DE","GB"],"is_corresponding":false,"raw_author_name":"Daniel A. Braun","raw_affiliation_strings":["Bernstein Center for Computational Neuroscience, Albert-Ludwigs Universit\u00e4t Freiburg, Freiburg, Germany","Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Bernstein Center for Computational Neuroscience, Albert-Ludwigs Universit\u00e4t Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I4210098324","https://openalex.org/I161046081"]},{"raw_affiliation_string":"Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024986150","display_name":"Daniel M. Wolpert","orcid":"https://orcid.org/0000-0003-2011-2790"},"institutions":[{"id":"https://openalex.org/I241749","display_name":"University of Cambridge","ror":"https://ror.org/013meh722","country_code":"GB","type":"education","lineage":["https://openalex.org/I241749"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Daniel M. Wolpert","raw_affiliation_strings":["Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Computational and Biological Learning Lab, Department of Engineering, University of Cambridge, Cambridge, United Kingdom","institution_ids":["https://openalex.org/I241749"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078444598"],"corresponding_institution_ids":["https://openalex.org/I241749"],"apc_list":{"value":2655,"currency":"USD","value_usd":2655},"apc_paid":{"value":2655,"currency":"USD","value_usd":2655},"fwci":4.5013,"has_fulltext":true,"cited_by_count":125,"citation_normalized_percentile":{"value":0.95013506,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"5","issue":"6","first_page":"e1000419","last_page":"e1000419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":1.0,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.996999979019165,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.7441250085830688},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6564122438430786},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.6349447965621948},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.549770712852478},{"id":"https://openalex.org/keywords/motor-control","display_name":"Motor control","score":0.5442869663238525},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.532752275466919},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5260336995124817},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.502403974533081},{"id":"https://openalex.org/keywords/linear-model","display_name":"Linear model","score":0.45637616515159607},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4280489385128021},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41065657138824463},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3501034379005432},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.2777954638004303},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15821650624275208},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.11593356728553772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09681746363639832},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09327247738838196}],"concepts":[{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.7441250085830688},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6564122438430786},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.6349447965621948},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.549770712852478},{"id":"https://openalex.org/C137813230","wikidata":"https://www.wikidata.org/wiki/Q2996165","display_name":"Motor control","level":2,"score":0.5442869663238525},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.532752275466919},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5260336995124817},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.502403974533081},{"id":"https://openalex.org/C163175372","wikidata":"https://www.wikidata.org/wiki/Q3339222","display_name":"Linear model","level":2,"score":0.45637616515159607},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4280489385128021},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41065657138824463},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3501034379005432},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.2777954638004303},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15821650624275208},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.11593356728553772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09681746363639832},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09327247738838196},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1371/journal.pcbi.1000419","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pcbi.1000419","pdf_url":"https://journals.plos.org/ploscompbiol/article/file?id=10.1371/journal.pcbi.1000419&type=printable","source":{"id":"https://openalex.org/S86033158","display_name":"PLoS Computational Biology","issn_l":"1553-734X","issn":["1553-734X","1553-7358"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLoS Computational Biology","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:plo:pcbi00:1000419","is_oa":false,"landing_page_url":"https://journals.plos.org/ploscompbiol/article?id=10.1371/journal.pcbi.1000419","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:1539334b039744d9ae3f10b8a1055567","is_oa":true,"landing_page_url":"https://doaj.org/article/1539334b039744d9ae3f10b8a1055567","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"PLoS Computational Biology, Vol 5, Iss 6, p e1000419 (2009)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/147323","is_oa":true,"landing_page_url":"https://figshare.com/articles/dataset/Optimal_Control_Predicts_Human_Performance_on_Objects_with_Internal_Degrees_of_Freedom/147323","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Dataset"},{"id":"pmh:oai:pubmedcentral.nih.gov:2694986","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/2694986","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"PLoS Comput Biol","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1371/journal.pcbi.1000419","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pcbi.1000419","pdf_url":"https://journals.plos.org/ploscompbiol/article/file?id=10.1371/journal.pcbi.1000419&type=printable","source":{"id":"https://openalex.org/S86033158","display_name":"PLoS Computational Biology","issn_l":"1553-734X","issn":["1553-734X","1553-7358"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLoS Computational Biology","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320311904","display_name":"Wellcome Trust","ror":"https://ror.org/029chgv08"},{"id":"https://openalex.org/F4320334626","display_name":"Medical Research Council","ror":"https://ror.org/03x94j517"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2060263298.pdf","grobid_xml":"https://content.openalex.org/works/W2060263298.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1608456742","https://openalex.org/W1875476075","https://openalex.org/W1885639605","https://openalex.org/W1922715780","https://openalex.org/W1956636948","https://openalex.org/W1980440818","https://openalex.org/W1981297107","https://openalex.org/W1986201898","https://openalex.org/W1991512494","https://openalex.org/W2009347922","https://openalex.org/W2029776687","https://openalex.org/W2036560603","https://openalex.org/W2062630941","https://openalex.org/W2067004470","https://openalex.org/W2067440245","https://openalex.org/W2084402145","https://openalex.org/W2087105454","https://openalex.org/W2093676966","https://openalex.org/W2119233587","https://openalex.org/W2132600173","https://openalex.org/W2133355507","https://openalex.org/W2155339399","https://openalex.org/W2167856595","https://openalex.org/W2198792286","https://openalex.org/W2238023652"],"related_works":["https://openalex.org/W1896148996","https://openalex.org/W2387641482","https://openalex.org/W2090117770","https://openalex.org/W1995243476","https://openalex.org/W2791538584","https://openalex.org/W2144717707","https://openalex.org/W2073421296","https://openalex.org/W2081817157","https://openalex.org/W1976239663","https://openalex.org/W2806808311"],"abstract_inverted_index":{"On":[0],"a":[1,7,21,46,74,111,116,126],"daily":[2],"basis,":[3],"humans":[4,62],"interact":[5,64],"with":[6,34,65,88,101,186],"vast":[8],"range":[9],"of":[10,16,37,53,60,104,145,160,176,198,207],"objects":[11,33,87,100,187],"and":[12,120,194],"tools.":[13],"A":[14],"class":[15],"tasks,":[17],"which":[18,80,140],"can":[19,106,188],"pose":[20],"serious":[22],"challenge":[23],"to":[24,57,83,124],"our":[25,183],"motor":[26,177,209],"skills,":[27],"are":[28],"those":[29],"that":[30,93,151,163,182],"involve":[31],"manipulating":[32],"internal":[35,102],"degrees":[36,103],"freedom,":[38],"such":[39,66],"as":[40],"when":[41,98],"folding":[42],"laundry":[43],"or":[44,172],"using":[45,125],"lasso.":[47],"Here,":[48],"we":[49,133],"use":[50,197],"the":[51,70,94,142,146,152,161,169,196,205],"framework":[52],"optimal":[54,130,137,155,201],"feedback":[55],"control":[56,84,131,138,156,202],"make":[58],"predictions":[59,71],"how":[61],"should":[63],"objects.":[67],"We":[68,91,149],"confirm":[69],"experimentally":[72],"in":[73,79],"two-dimensional":[75],"object":[76],"manipulation":[77],"task,":[78],"subjects":[81],"learned":[82],"six":[85],"different":[86],"complex":[89],"dynamics.":[90],"show":[92],"non-intuitive":[95],"behavior":[96],"observed":[97],"controlling":[99],"freedom":[105],"be":[107,165,189],"accounted":[108,166],"for":[109,167,204],"by":[110,168,191],"simple":[112,127],"cost":[113],"function":[114],"representing":[115],"trade-off":[117],"between":[118],"effort":[119],"accuracy.":[121],"In":[122],"addition":[123],"linear,":[128],"point-mass":[129],"model,":[132,139],"also":[134],"used":[135],"an":[136],"considers":[141],"non-linear":[143],"dynamics":[144],"human":[147,208],"arm.":[148],"find":[150],"more":[153,199],"realistic":[154,200],"model":[157,171],"captures":[158],"aspects":[159],"data":[162],"cannot":[164],"linear":[170],"other":[173],"previous":[174],"theories":[175],"control.":[178],"The":[179],"results":[180],"suggest":[181],"everyday":[184],"interactions":[185],"understood":[190],"optimality":[192],"principles":[193],"advocate":[195],"models":[203],"study":[206],"neuroscience.":[210]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":15}],"updated_date":"2026-04-21T08:09:41.155169","created_date":"2025-10-10T00:00:00"}