Figure 1

Upper left and right panels) Elbow and shoulder joint angular position (blue lines) and velocity (green lines) during accurate reaching movements performed in the absence of torso rotation. Lower left panel) Hand trajectory during the simulated reaching movement. Lower right panel) Initial (black lines) and final (grey lines) arm positions. The shoulder joint is located at the origin of the Cartesian reference frame. The initial hand position is located at (−0.228 0.25) m and the final hand position is located at (−0.2258, 0.65) m.