Motor impedance transformation in multi-joint arm movements

The authors propose a method to transform the motor impedance from the end-point into the joint. The central nervous system regulates the mechanical impedance of the end-point through the muscle and joint, which requires this kind of transformation of the motor impedance. It is shown that the redundancy of the musculoskeletal system allows selection of the impedance of each joint in order to maintain a specified end-joint impedance.<>