This paper addresses the trajectory planning problem for a task which
requires positioning and orienting an object firmly grasped by two han
ds at a visually specified goal configuration in the horizontal plane.
The motor task involves three degrees of freedom (two translational a
nd one rotational), and the motions of the arms are constrained by the
physical coupling through the held object. Experimentally measured tr
ajectories of two arms in the coordinated positioning/orienting task a
re presented. The hypothesis that the rotational and translational com
ponents of motions are decoupled and independently planned is tested.
Two explicit mathematical models to account for the kinematic features
of the two-arm motions are formulated, and the predictions of the mod
els are compared with the experimental data. Both models extend the mi
nimum-jerk model to the two-arm coordinated motions case. The trajecto
ries predicted by the models were found to be in qualitative agreement
with the experimental data. However, neither model could account for
the observed configuration dependence of the motions, nor for some of
the properties of the measured velocity components of the motions. Our
findings support the idea that the rotational and translational compo
nents of two-arm motions in the positioning/orienting task are indepen
dently planned in extra-personal space, and are further combined in a
hierarchical fashion to produce the observed motions. The tested model
s may serve as a basis for further investigations of issues pertinent
to the generation of two-arm trajectories.