Angular trajectories are usually very consistent with a distinctive pattern for a given lifting task with predetermined starting and ending positions. This study derives a set of equations that can describe the joint trajectories during a para-sagittal lifting task. Three optimal motion patterns were also synthesized by the polynomials: minimal hand jerk, minimal center of gravity (CG) jerk, and minimal muscle utilization rate (MUR). The variability of the joint movements were synthesized by overlapping the optimal patterns.
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