Minimum acceleration with constraints of center of mass: a unified model for arm movements and object manipulation

摘要

consider a waiter serving a full cup of coffee and his colleague reaching to grasp and lift an empty cup. Clearly, the tasks are different, because the first requires more dexterity than the second; however, the brain may employ similar principles in the motor planning of both tasks. In the motor control research, a simplified version of the second task is the well-studied unconstrained reaching movement (Abend et al. 1982; Flash and Hogan 1985; Morasso 1981), whereas a simplified version of the first task is the manipulation of mass-on-spring (see Fig. 1) during reaching movement (Din-gwell et al. 2002).