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Author Friedman, Jason; Flash, Tamar
Title Trajectory of the index finger during grasping Type Journal Article
Year 2009 Publication Experimental Brain Research Abbreviated Journal Exp Brain Res
Volume (down) 196 Issue 4 Pages 497-509
Abstract The trajectory of the index finger during grasping movements was compared to the trajectories predicted by three optimization-based models. The three models consisted of minimizing the integral of the weighted squared joint derivatives along the path (inertia-like cost), minimizing torque change, and minimizing angular jerk. Of the three models, it was observed that the path of the fingertip and the joint trajectories, were best described by the minimum angular jerk model. This model, which does not take into account the dynamics of the finger, performed equally well when the inertia of the finger was altered by adding a 20 g weight to the medial phalange. Thus, for the finger, it appears that trajectories are planned based primarily on kinematic considerations at a joint level.
Address Department of Computer Science and Applied Mathematics, Weizmann Institute of Science, Rehovot, Israel, write.to.jason@gmail.com
Corporate Author Thesis
Publisher Place of Publication Editor
Language English Summary Language Original Title
Series Editor Series Title Abbreviated Series Title
Series Volume Series Issue Edition
ISSN 1432-1106 ISBN Medium
Area Expedition Conference
Notes PMID:19521692 Approved no
Call Number Penn State @ write.to.jason @ Serial 17
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