Human Performance Cost Functions
The Fundamentals: The Santos environment uses the theory of optimization to "predict" the motion. Given initial and final conditions, a cost function is used to drive the motion from one to the other. Indeed, it is the cost functions that make the resulting (predicted or calculated) motion as humanistic and as natural as possible. The optimization formulation also needs constraints.
Our cost functions are either mathematical, experimental, or a combination of both. One cost function that is used in many instances, for example, is called Energy. This cost function depends on many terms, one of which is the potential energy that is dependent on all masses associated with the body type chosen in this case.
Cost functions that are not used in the optimization can also track human performance, thus providing the user with a measure of performance. These cost functions are monitored in real time.