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Estimation of a human planned trajectory from a measured trajectory

Human movements are performed by the combination of feedforward control and feedback control. In order to extract a feedforward component we propose a method to estimate a planned trajectory from a measured trajectory in an actual human movement. Here two assumptions are used. (1) A feedback signal has time delay, and the start of a measured trajectory can be regarded as the part of a planned trajectory. (2) A planned trajectory can be expressed by a minimum command torque change trajectory. Using Euler-Lagrange equations, the whole of a planned trajectory can be calculated from the start of a measured trajectory