{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T00:27:32Z","timestamp":1759883252289,"version":"build-2065373602"},"reference-count":39,"publisher":"Wiley","issue":"9","license":[{"start":{"date-parts":[[2020,7,1]],"date-time":"2020-07-01T00:00:00Z","timestamp":1593561600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100000781","name":"European Research Council","doi-asserted-by":"publisher","award":["810346"],"award-info":[{"award-number":["810346"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2020,9]]},"abstract":"<jats:sec><jats:label\/><jats:p>In the execution of repetitive tasks, humans can capitalize on experience to improve their motor performance. Prominent examples of this ability can be recognized in our capacity of grasping and manipulating in uncertain conditions. With the aim of providing a mathematical description for such behavior, experiments are considered where participants are required to lift an object with an unexpected mass distribution. By repeating multiple times the same lifting action, participants can learn the correct motor command for task accomplishment. Three models are proposed that combine reactive terms and a learned anticipatory action to explain experimental data. The models feature intratrial and intertrial memory, and the effect of slowly and fast adaptive sensory receptors. The architectures\u2019 effectiveness in explaining experimental data is compared with a general\u2010purpose state of the art model. The proposed algorithms conspicuously outperform the state of the art in all the considered validation routines. Global and within\u2010trial human behavior is predicted with 88% of accuracy in nominal conditions. When the object's center of mass is moved, the accuracy is maintained up to 83%. Finally, convergence properties of proposed algorithms are analytically discussed, and their stability and robustness against measurement noise are evaluated in simulation.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.201900074","type":"journal-article","created":{"date-parts":[[2020,7,2]],"date-time":"2020-07-02T01:50:32Z","timestamp":1593654632000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Modeling Previous Trial Effect in Human Manipulation through Iterative Learning Control"],"prefix":"10.1002","volume":"2","author":[{"given":"Lorenzo","family":"Cenceschi","sequence":"first","affiliation":[{"name":"Research Center \u201cEnrico Piaggio\u201d University of Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1067-1134","authenticated-orcid":false,"given":"Cosimo","family":"Della Santina","sequence":"additional","affiliation":[{"name":"Computer Science and Artificial Intelligence Laboratory (CSAIL) Massachusetts Institute of Technology  32 Vassar Street Cambridge MA 02139 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1212-3465","authenticated-orcid":false,"given":"Giuseppe","family":"Averta","sequence":"additional","affiliation":[{"name":"Research Center \u201cEnrico Piaggio\u201d University of Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Department of Information Engineering University of Pisa  Via G. Caruso 16 Pisa 56122 Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Manolo","family":"Garabini","sequence":"additional","affiliation":[{"name":"Research Center \u201cEnrico Piaggio\u201d University of Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Department of Information Engineering University of Pisa  Via G. Caruso 16 Pisa 56122 Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiushi","family":"Fu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering University of Central Florida  12760 Pegasus Dr., Orlando FL 32816 USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Santello","sequence":"additional","affiliation":[{"name":"School of Biological and Health Systems Engineering Ira A. Fulton Schools of Engineering Arizona State University  Tempe AZ USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matteo","family":"Bianchi","sequence":"additional","affiliation":[{"name":"Research Center \u201cEnrico Piaggio\u201d University of Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Department of Information Engineering University of Pisa  Via G. Caruso 16 Pisa 56122 Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[{"name":"Research Center \u201cEnrico Piaggio\u201d University of Pisa  Largo Lucio Lazzarino 1 Pisa 56126 Italy"},{"name":"Department of Information Engineering University of Pisa  Via G. Caruso 16 Pisa 56122 Italy"},{"name":"School of Biological and Health Systems Engineering Ira A. Fulton Schools of Engineering Arizona State University  Tempe AZ USA"},{"name":"Istituto Italiano di Tecnologia  Via Morego 30 Genoa 16163 Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2020,7]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.14-05-03208.1994"},{"key":"e_1_2_12_3_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1994.72.1.299"},{"key":"e_1_2_12_4_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00364149"},{"key":"e_1_2_12_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/0893-6080(88)90030-5"},{"key":"e_1_2_12_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-6613(98)01221-2"},{"key":"e_1_2_12_7_1","doi-asserted-by":"publisher","DOI":"10.1016\/B978-0-444-52901-5.00008-3"},{"key":"e_1_2_12_8_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-012-0527-1"},{"key":"e_1_2_12_9_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00643.2016"},{"key":"e_1_2_12_10_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.01095.2006"},{"key":"e_1_2_12_11_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.2001.86.2.971"},{"key":"e_1_2_12_12_1","first-page":"3828","author":"Herreros I.","year":"2016","journal-title":"Adv. Neural Inf. Process. Syst."},{"key":"e_1_2_12_13_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4335-08.2008"},{"key":"e_1_2_12_14_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00060.2013"},{"key":"e_1_2_12_15_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.4159-09.2010"},{"key":"e_1_2_12_16_1","doi-asserted-by":"publisher","DOI":"10.1093\/cercor\/bhz296"},{"key":"e_1_2_12_17_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41583-018-0045-9"},{"key":"e_1_2_12_18_1","doi-asserted-by":"crossref","unstructured":"M.Liu K.Li N.Zhang N.Wei in2019 12th Int. Congress on Image and Signal Processing BioMedical Engineering and Informatics (CISP-BMEI) IEEE Suzhou China2019 pp.1\u20135.","DOI":"10.1109\/CISP-BMEI48845.2019.8965751"},{"key":"e_1_2_12_19_1","doi-asserted-by":"publisher","DOI":"10.1167\/19.5.4"},{"key":"e_1_2_12_20_1","doi-asserted-by":"crossref","unstructured":"W.Hu N.Wei K.Li S.Yue in2018 14th IEEE Int. Conf. on Signal Processing (ICSP) IEEE Beijing China2018 pp.1010\u20131014.","DOI":"10.1109\/ICSP.2018.8652435"},{"key":"e_1_2_12_21_1","doi-asserted-by":"crossref","unstructured":"H.Guang S.Bazzi D.Sternad N.Hogan in2019 Int. Conf. on Robotics and Automation (ICRA) IEEE Montreal QC Canada2019 pp.3783\u20133789.","DOI":"10.1109\/ICRA.2019.8793687"},{"key":"e_1_2_12_22_1","unstructured":"CasalinoG. BartoliniG.inIASTED Symp. on Robotics and Automation IASTED Amsterdam1984 pp.108\u2013111."},{"key":"e_1_2_12_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2006.1636313"},{"key":"e_1_2_12_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF00237997"},{"key":"e_1_2_12_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0959-4388(00)00234-8"},{"key":"e_1_2_12_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9244-1"},{"key":"e_1_2_12_27_1","doi-asserted-by":"publisher","DOI":"10.1080\/00222895.1986.10735369"},{"key":"e_1_2_12_28_1","doi-asserted-by":"publisher","DOI":"10.1038\/nrn2621"},{"key":"e_1_2_12_29_1","doi-asserted-by":"publisher","DOI":"10.1214\/aos\/1176344136"},{"key":"e_1_2_12_30_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2636360"},{"key":"e_1_2_12_31_1","doi-asserted-by":"publisher","DOI":"10.1002\/9780470549148"},{"key":"e_1_2_12_32_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207179608921630"},{"key":"e_1_2_12_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/9.333780"},{"key":"e_1_2_12_34_1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1011269516430"},{"key":"e_1_2_12_35_1","unstructured":"Y.Chen K. L.Moore inProc. of the 2002 American Control Conf. IEEE Anchorage AK USA2002 Vol.3 pp.2138\u20132143."},{"volume-title":"Regression and the Moore-Penrose Pseudoinverse","year":"1972","author":"Albert A.","key":"e_1_2_12_36_1"},{"key":"e_1_2_12_37_1","unstructured":"J.Shou D.Pi W.Wang inIEEE Int. Conf. on Systems Man and Cybernetics IEEE Washington DC USA2003 Vol.3pp.2557\u20132562."},{"key":"e_1_2_12_38_1","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.5406-09.2010"},{"key":"e_1_2_12_39_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00348.2014"},{"key":"e_1_2_12_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2018.2830351"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Faisy.201900074","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.201900074","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.201900074","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.201900074","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T16:05:22Z","timestamp":1759853122000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.201900074"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,7]]},"references-count":39,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2020,9]]}},"alternative-id":["10.1002\/aisy.201900074"],"URL":"https:\/\/doi.org\/10.1002\/aisy.201900074","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"type":"print","value":"2640-4567"},{"type":"electronic","value":"2640-4567"}],"subject":[],"published":{"date-parts":[[2020,7]]},"assertion":[{"value":"2019-07-10","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2020-07-01","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"1900074"}}