Optimization principle determines human arm postures and "comfort"

In this study, from the viewpoint of optimization principle, we investigate a selection mechanism of human arm postures for task execution because we can execute skillfully object manipulation by adjusting own arm postures. Moreover, when executing object manipulation, we feel comfort and/or discomfort for movements. Therefore, we investigate also a relationship between the selection mechanism and "comfort" during task execution. As a result, we found that an optimization principle based on a minimum muscle stress index determines human arm postures and also the comfort.

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