Abstract
Minimal movement time for open-loop rotation of the human forearm, along with the associated input signal to the forearm muscles, is calculated using matrix multiplication. This permits rapid evaluation of movement times across a four-dimensional mesh of initial conditions, each moving to a common terminal state. The described discrete-time solution is based on the continuous-time solution of Tanaka et al., and the minimum-variance theory of Harris and Wolpert. Underlying algorithm concepts are discussed, and proofs of solution existence are provided.
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