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Stabilizing function of the λ-model with the tiny moment of inertia in a single joint limb system

This short paper studies the properties of λ-model, which is a human motor control model derived from equilibrium point hypothesis. The stability of the λ-model in a single joint limb system based on Jacobian matrix is investigated, and some mathematical and simulation results are presented. Especially, the properties of the λ-model with the tiny moment of inertia are discussed. The results obtained in this paper suggest that the lambda-model is just stable and has a unique equilibrium point under certain condition, i.e., in the other situations, λ-model might trap in oscillation. However, when the physiological parameter of the moment of inertia is sufficiently small, the system will monotonically converge to the equilibrium point with any initial points.