The hand motions which are observed when one holds an object and transfers it to a specified position are analyzed and a proposed mathematical model is compared with the real movements. The functions of time of which the space trajectories of the hand are constructed are classified into five modes and are expressed as a group of stationary functions in a variational problem in which a quadratic integral cost function is to be minimized. Some relations between the model parameters and the kinematic features of the motion patterns are shown. A way of designating the desired inputs for the joint angle servosystems of a manipulator is also shown.

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