Trajectory of the index finger during grasping

Jason Friedman*, Tamar Flash

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


The trajectory of the index finger during grasping movements was compared to the trajectories predicted by three optimization-based models. The three models consisted of minimizing the integral of the weighted squared joint derivatives along the path (inertia-like cost), minimizing torque change, and minimizing angular jerk. Of the three models, it was observed that the path of the fingertip and the joint trajectories, were best described by the minimum angular jerk model. This model, which does not take into account the dynamics of the finger, performed equally well when the inertia of the finger was altered by adding a 20 g weight to the medial phalange. Thus, for the finger, it appears that trajectories are planned based primarily on kinematic considerations at a joint level.

Original languageEnglish
Pages (from-to)497-509
Number of pages13
JournalExperimental Brain Research
Issue number4
StatePublished - Jul 2009
Externally publishedYes


FundersFunder number
German–Israeli Project Cooperation
Moross Laboratory
Weizmann Institute of Science


    • Finger
    • Grasping
    • Kinematics
    • Trajectory


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