Abstract
This paper investigates the relationship between the upper limb movement and contact force at fingertip during tracing a polygonal trajectory by using a motion capture system and a pressure sensor plate. The experimental results show that contact friction occurred at fingertip is performed for motion control at corner part of the trajectory where manipulability measure is low. In the upper right and the lower left where manipulability of the upper limb changed obviously, results of distance defined from the position where the subject begins to slowdown to the corner point show a great difference. The upper-limbs movement is notably related by its manipulability.
