This paper proposes that two-degree-of-freedom Curvature Theory provides a mathematical representation of the kinematics of planar human arm motion coordination. Arguing that an internal inverse, time-invariant kinematic model is fundamental to human motor coordination, Curvature Theory provides a concise, efficient mapping of a desired output trajectory geometry to the joint angles’ instantaneous speed ratios. If the speed ratios for a motion are learned through experience, one can subsequently execute the motion at different speeds. This formulation is consistent with a structure for the internal model that the central nervous system may use as a feed-forward element for planning motions. A simple example is presented to illustrate how the model works.
CITATION STYLE
Ambike, S., & Schmiedeler, J. P. (2006). Modeling time invariance in human arm motion coordination. In Advances in Robot Kinematics (pp. 177–184). Springer Netherlands. https://doi.org/10.1007/978-1-4020-4941-5_19
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