Kinematical Modeling of the Writing Process using Model Predictive Control

Writing is one of the high practiced and complex movement skills of human. Most of the proposed models for writing are bottom-up models, and therefore they could not reflect the biological aspects of movements in this process. Also there is not any model for illustrating the role of different parts of the brain in this task. In this paper we are going to describe some neurological and physiological aspects of the brain operation in the writing task. Then some evidence of prediction in writing and existence of internal models for limbs such as hand are presented. According to these, modeling of writing using model predictive control (MPC) is possible. Based on the presented simulations and experimental results it seems that the modeling of writing by MPC is very similar to the real skill, The proposed model has some advantages such as being consistent with the biological evidence, modeling prediction in writing and high correlation of the statical and dynamical features of the generated letters with those written by human.