Affine differential geometry and smoothness maximization as tools for identifying geometric movement primitives

TL;DR

This paper develops a mathematical framework using differential equations to identify geometric movement primitives that optimize smoothness and geometric invariance, linking neural movement representation to geometric and kinematic features.

Contribution

It introduces a new class of differential equations characterizing maximally smooth trajectories with constant geometric measurement rates, serving as candidates for movement primitives.

Findings

Derived differential equations for smooth, invariant movement trajectories.

Solutions in various geometries demonstrate geometric invariance.

Connection established between smoothness, invariance, and motor control efficiency.

Abstract

Neuroscientific studies of drawing-like movements usually analyze neural representation of either geometric (eg. direction, shape) or temporal (eg. speed) features of trajectories rather than trajectory's representation as a whole. This work is about empirically supported mathematical ideas behind splitting and merging geometric and temporal features which characterize biological movements. Movement primitives supposedly facilitate the efficiency of movements' representation in the brain and comply with different criteria for biological movements, among them kinematic smoothness and geometric constraint. Criterion for trajectories' maximal smoothness of arbitrary order $n$ is employed, $n = 3$ is the case of the minimum-jerk model. I derive a class of differential equations obeyed by movement paths for which $n$-th order maximally smooth trajectories have constant rate of accumulating geometric measurement along the drawn path. Constant rate of accumulating equi-affine arc corresponds to compliance with the two-thirds power-law model. Geometric measurement is invariant under a class of geometric transformations and may be chosen to be an arc in certain geometry. Equations' solutions presumably serve as candidates for geometric movement primitives. The derived class of differential equations consists of two parts. The first part is identical for all geometric parameterizations of the path. The second part enforces consistency with desired (geometric) parametrization of curves on solutions of the first part. Equations in different geometries in plane and in space and their known solutions are presented. Connection between geometric invariance, motion smoothness, compositionality and performance of the compromised motor control system is discussed. The derived class of differential equations is a novel tool for discovering candidates for geometric movement primitives.