Human reaching movement appears to consist of an initial ballistic segment that drives the hand toward the target, then a corrective segment that brings the hand into the target region. This article discusses how the motions produced by two different controllers, one guiding the ballistic portion and one directing the corrective potion, can be merged into a single smooth movement that is reminiscent of human reaching. Simulated movements based on the proposed methodology are shown to be consistent with human kinematic trajectories.

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