Coordination of Focal Arm Movements and Postural Stabilization in Whole Body Reaching: a Computational Model

− In this paper, we present a biomimetic, force field based computational model for whole body reaching (WBR) using the approach known as passive motion paradigm. The proposed computational model is based on non-linear attractor dynamics where the attractor landscape is obtained by combining multiple force fields in different reference systems. Simulation results for a range of reaching tasks using a simplified body model composed of 5 joints (Ankle-Knee-Hip-Shoulder-Elbow) are presented. We compare the model-generated patterns (final posture, velocity profile and trajectories in the distal/proximal spaces) with the movements of a human subject performing similar WBR tasks.