Energetic efficiency in human arm trajectories

摘要

Although human arm reaching movement has been widely studied in terms of optimality, the study in terms of energetic efficiency is few. In this paper, we assume that the energy consumption in muscles is composed of mechanical work and heat emission due to torque generation, and discuss the energetic efficiency in horizontal human arm trajectory planning. We will report the results of the calculation of the arm trajectory minimizing the energy consumption and compare the results with the trajectory given by the minimum commanded torque-change model which has been suggested as actual human arm trajectory.