摘要
Given a lifting task with predetermined starting and ending positions, the angular trajectories are usually very consistent with a distinctive pattern. This paper derives a set of equations that can describe the joint trajectories during a para-sagittal lifting task. Three optimal motion patterns were also expressed by the polynomials: minimal hand jerk, minimal center of gravity (CG) jerk, and minimal muscle utilization rate (MUR). The variability of the joint movements were synthesized by overlapping the optimal patterns. Copyright (C) 1999 Elsevier Science Ltd. Given a lifting task with predetermined starting and ending positions, the angular trajectories are usually very consistent with a distinctive pattern. This paper derives at set of equations that can describe the joint trajectories during a para-sagittal lifting task. Three optimal motion patterns were also expressed by the polynomials: minimal hand jerk, minimal center of gravity (CG) jerk, and minimal muscle utilization rate (MUR). The variability of the joint movements were synthesized by overlapping the optimal patterns.