Humans use minimum cost movements in a whole-body task.

Humans have elegant bodies that allow gymnastics, piano playing, and tool use, but understanding how they do this in detail is difficult because their musculoskeletal systems are extraordinarily complicated. Nonetheless, common movements like walking and reaching can be stereotypical, and a very large number of studies have shown their energetic cost to be a major factor. In contrast, one might think that general movements are very individuated and intractable, but our previous study has shown that in an arbitrary set of whole-body movements used to trace large-scale closed curves, near-identical posture sequences were chosen across different subjects, both in the average trajectories of the body's limbs and in the variance within trajectories. The commonalities in that result motivate explanations for its generality. One explanation could be that humans also choose trajectories that are economical in cost. To test this hypothesis, we situate the tracing data within a forty eight degree of freedom human dynamic model that allows the computation of movement cost. Using the model to compare movement cost data from nominal tracings against various perturbed tracings shows that the latter are more energetically expensive, inferring that the original traces were chosen on the basis of minimum cost.