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Mathematical modeling of 3d human arm movements

Sigal Berman1, Dario G. Liebermann2, Joseph McIntyre3
1 Dept. of Industrial Engineering & Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel
2 Dept. of Physical Therapy, Sackler Faculty of Medicine, Tel Aviv University, Tel Aviv, Israel
3 Centre d'Etude de la Sensorimotricité, Institut des Neurosciences et de la Cognition, CNRS - Université Paris Descartes, Paris, France


Many research questions remain open for 3D human arm movements. Accumulating evidence from 2D movement analysis supports the notion that human motion is comprised of discrete stereotyped fragments termed submovements. In this research we have examined submovements during arm movements in 3D from several perspectives. Specifically we have examined surface-constrained movement and reaching movement of patients with stroke in both virtual and physical environments.

​Selected Publications

>>  D.G. Liebermann, S. Berman, T. L. Weiss, M. F. Levin, 2012. Kinematics of Reaching Movements in a 2-D Virtual Environment in Adults With and Without Stroke, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 20(6):778-787.
>>  T. Merdler, D.G. Liebermann, M. F. Levin, S. Berman, 2013. Arm-plane representation of shoulder compensation during pointing movements in patients with stroke, Journal of Electromyography & Kinesiology, 23: 938-947.
>>  S. Berman, D.G. Liebermann, J. McIntyre, 2014. Constrained Motion Control on a Hemispherical Surface - Path Planning.Journal of Neurophysiology, 111(5): 954-68.


Funding: Israel–France Research Networks Program in Neuroscience and Robotics
Contact: Sigal Berman, email: