Multijoint Multimuscle Kinematics and Impedance

This chapter contains sections titled: 5.1 Kinematic Description, 5.2 Planar Arm Motion, 5.3 Direct and Inverse Kinematics, 5.4 Differential Kinematics and Force Relationships, 5.5 Mechanical Impedance, 5.6 Kinematic Transformations, 5.7 Impedance Geometry, 5.8 Redundancy, 5.9 Redundancy Resolution, 5.10 Optimization with Additional Constraints, 5.11 Posture Selection to Minimize Noise or Disturbance, 5.12 Summary