The Inactivation Principle: Mathematical Solutions Minimizing the Absolute Work and Biological Implications for the Planning of Arm Movements
Figure 8
Mechanical model of the 2-dof human arm.
The subscripts 1 and 2 denote the shoulder and elbow joints respectively. Generalized coordinates θ, joint torque τ, moment of inertia I, segment mass m, segment length to the center of mass lc, and gravity acceleration g are denoted.