Optimal Control and Synergic Pattern Analysis of Upper Limb Reaching-Grasping Movements
A three-dimension, neuromusculoskeletal model of the human upper limb, consisting of 30 muscle–tendon systems, was combined with dynamic optimization theory to simulate reaching-grasping movements. The model was verified using experimental kinematics, muscle forces, and electromyographic(EMG) data from volunteer subjects performing reaching-grasping movements. Despite joint redundancy, the topological invariance was observed in the trajectories of different task performance, and the linear relationships between joints covariation were exhibited. Quantitative comparisons of the model predictions and muscle activations obtained from experiment show that the minimum torque-change criterion is a valid measure of reaching-grasping performance.
KeywordsSynergic Pattern Optimal Control Upper limb Reaching to grasp movements
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