Optimal reaching trajectories based on feedforward control.

In human upper-arm reaching movements, the variance of the hand position increases until the middle of the movement and then decreases toward the endpoint. Such decrease in positional variance has been suggested as an evidence to support the hypothesis that our nervous system uses feedback control, rather than feedforward control, for arm reaching tasks. In this study, we computed the optimal trajectories based on feedforward control under several criteria for a one-link two-muscle arm model with considering the stochastic property of muscle activities in order to reexamine the hypothesis. The results showed that the feedforward control also represents the decrease in positional variance in the latter half of the movement when the control signal is planned under the minimum energy cost and minimum variance models. Furthermore, the optimal trajectory that minimizes energy cost represents not only the decrease in positional variance but also many other characteristics of the human reaching movements, e.g., the three-phasic activity of antagonistic muscle, bell-shaped speed curve, N-shaped equilibrium trajectory, and bimodal profile of joint stiffness. These results suggest that minimum energy cost model well expresses the characteristics of hand reaching movements, and our central nervous system would make use of not only a feedback control but also feedforward control.