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movement, as demonstrated by the joint-space model. Alternatively, intra-limb coordination can be accomplished by just controlling the trajectory of an end-effector, such as a hand. An example of such concept is the minimum-jerk model proposed by Neville Hogan and Tamar Flash, which suggests that the parameter the nervous system controls is the spatial path of the hand, ensuring that it is maximally smooth. Francesco Lacquaniti,

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