Figure 9.

Minimum dimensional control on the kinematic chain for reaching various positions using Legendre basis synergy (order 7). Minimum dimensional trajectories were obtained for targets (0.7, 0.2), (0.6, 0.4), (0.6, 0.2), and (0.5, 0.1) in a duration of 2.5, (0.6, 0.0) in 3.5 s and (0.4, 0.2) in 4 s, respectively. (A) Near straight lines seen in the Cartesian endpoint trajectories. (B) Trajectory of endpoint is sigmoidal, and (C) time-normalized velocity profiles show slightly skewed bell shapes. The peaks of the velocity profiles, however, are close match to the minimum acceleration (MA) criterion result.