Figure 3
From: Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint
Torque profiles (averaged across trials) of the representative subject at N speed for the no-load (top panel) and load (bottom panel) conditions.
From left to right, the four torque profiles are for the shoulder internal/external, elevation/depression, ulnar/radial and elbow extension/flexion DoFs, respectively. The dynamic muscle torque (defined as muscle torque deprived of gravity torque, denoted by dMT), interaction torque (denoted by IT) and net torque (denoted by NT) are plotted.
