Optimal trajectory formation of constrained human arm reaching movements

  title={Optimal trajectory formation of constrained human arm reaching movements},
  author={Ken Ohta and Mikhail M. Svinin and Zhiwei Luo and Shigeyuki Hosoe and Rafael Laboissi{\`e}re},
  journal={Biological Cybernetics},
Opening a door, turning a steering wheel, and rotating a coffee mill are typical examples of human movements that are constrained by the physical environment. The constraints decrease the mobility of the human arm and lead to redundancy in the distribution of actuator forces (either joint torques or muscle forces). Due to this actuator redundancy, there is an infinite number of ways to form a specific arm trajectory. However, humans form trajectories in a unique way. How do humans resolve the… CONTINUE READING


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