Figure 5
From: Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint
Local interaction torque indexes (ITl), averaged across all the subjects, displayed for the three speed and two load conditions.
From left to right: ITl of elbow extension/flexion, shoulder ulnar/radial, elevation/depression, internal/external, respectively. Noticeably, compared with shoulder-related DoFs, the ITl indexes at the elbow extension/flexion were considerably smaller. Between the three DoFs at the shoulder, the ITl indexes of shoulder ulnar/radial were smaller than the others. Statistical analyses showed significant effects of speed/load on the ITl index for these three DoFs, as indicated by horizontal bars
