Corrigendum: Unifying Speed-Accuracy Trade-Off and Cost-Benefit Trade-Off in Human Reaching Movements

There were several minor typos present in the Methods section of the original article.

In the paper we defined variables C and B as torque vectors, i.e., already multiplied by $\stackrel{·}{q}$, and therefore they should not be multiplied by $\stackrel{·}{q}$ in Equation (5). The corrected formulation of equation is:

$$\ddot{q}=M{(q)}^{-1}(\tau -C(q,\dot{q})-g(q)-B(\dot{q}))$$ (5)

When reporting the model parameters in Table 4 in the paper, the values for inertia parameters I₁ and I₂ were accidentally switched with the values for center of mass distances s₁ and s₂. The corrected table is:

m1	Arm mass (kg)	1.4
m2	Forearm mass (kg)	1.1
l1	Arm length (m)	0.3
l2	Forearm length (m)	0.35
I1	Arm inertia (kg.m2)	0.025
I2	Forearm inertia (kg.m2)	0.045
s1	Distance from the center of segment 1 to its center of mass (m)	0.11
s2	Distance from the center of segment 2 to its center of mass (m)	0.16

Since we previously defined operator × as element-wise multiplication, the joint torque calculation equation (page 12) should have a regular multiplication between matrix f_max and vector ũ, and not × operator. The corrected equation in the text is: $\tau ={\mathbf{\text{A}}}^{\top }({\mathbf{\text{f}}}_{\mathbf{\text{max}}}ũ)$.

The authors apologize for these typos and state that they do not change the scientific conclusions in any way.

The original article has been updated.

Conflict of interest statement

The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.