Grip force adjustments during rapid hand movements suggest that detailed movement kinematics are predicted

Behavioral and Brain Sciences 18 (4):753-754 (1995)
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Abstract

The λ model suggests that detailed kinematics arise from changes in control variables and need not be explicitly planned. However, we have shown that when moving a grasped object, grip force is precisely modulated in phase with acceleration-dependent inertial load. This suggests that the motor system can predict detailed kinematics. This prediction may be based on a forward model of the dynamics of the loaded limb.

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