Trajectory of the index finger during grasping

Jason Friedman*, Tamar Flash

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    24 Citations (Scopus)
    7 Downloads (Pure)


    The trajectory of the index finger during grasping movements was compared to the trajectories predicted by three optimization-based models. The three models consisted of minimizing the integral of the weighted squared joint derivatives along the path (inertia-like cost), minimizing torque change, and minimizing angular jerk. Of the three models, it was observed that the path of the fingertip and the joint trajectories, were best described by the minimum angular jerk model. This model, which does not take into account the dynamics of the finger, performed equally well when the inertia of the finger was altered by adding a 20 g weight to the medial phalange. Thus, for the finger, it appears that trajectories are planned based primarily on kinematic considerations at a joint level.

    Original languageEnglish
    Pages (from-to)497-509
    Number of pages13
    JournalExperimental Brain Research
    Issue number4
    Publication statusPublished - Jul 2009


    • Finger
    • Grasping
    • Kinematics
    • Trajectory

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