Abstract
The human hand motions which are observed when one holds an object and transfer it to a specified position, are well represented by a mathematical model which shows that the motion trajectories are composed of a set of stationary functions in a variation problem in which a quadratic integral cost function is to be minimized. The time functions of which the space trajectories are constructed are classified six modes. Some relations between the model parameters and the kinematic features of the motion patterns are shown. In order to realize motions of this kind through general dynamic systems, a method is proposed for performing motion control by feeding a compensation input which is arranged to satisfy the final condition of the feedback control system which has been properly designed ahead of time.
