Task-space Separation Principle

From Human Postural Synergies to Bio-inspired Motion Planning for Redundant Manipulators

  • Paolo Tommasino

Part of the Springer Theses book series (Springer Theses)

Table of contents

  1. Front Matter
    Pages i-xvii
  2. Paolo Tommasino
    Pages 1-5
  3. Posture

  4. Movement

    1. Front Matter
      Pages 83-83
    2. Paolo Tommasino
      Pages 97-105

About this book


This book addresses two fundamental issues of motor control for both humans and robots: kinematic redundancy and the posture/movement problem. It blends traditional robotic constrained-optimal approaches with neuroscientific and evidence-based principles, proposing a “Task-space Separation Principle,” a novel scheme for planning both posture and movement in redundant manipulators. The proposed framework is first tested in simulation and then compared with experimental motor strategies displayed by humans during redundant pointing tasks. The book also shows how this model builds on and expands traditional formulations such as the Passive Motion Paradigm and the Equilibrium Point Theory. Lastly, breaking with the neuroscientific tradition of planar movements and linear(ized) kinematics, the theoretical formulation and experimental scenarios are set in the nonlinear space of 3D rotations which are essential for wrist motions, a somewhat neglected area despite its importance in daily tasks.


Passive Motion Paradigm Equilibrium Point Theory Nonlinear 3D Rotations Motor Redundancy Human Motor Control Postural Control Postural Muscular Synergies Mechanical Impedance Wrist Movement Wrist Pointing Tasks

Authors and affiliations

  • Paolo Tommasino
    • 1
  1. 1.Laboratory of Neuromotor PhysiologyIRCCS, Fondazione Santa LuciaRomeItaly

Bibliographic information