Minimum Jerk trajectories have been long thought to be the reference trajectories for human movements due to their impressive similarity with human movements. Nevertheless, minimum jerk trajectories are not the only choice for $C^\infty$ (i.e., smooth) functions. For example, harmonic trajectories are smooth functions that can be superimposed to describe the evolution of physical systems. This paper analyses the possibility that motor control plans using harmonic trajectories, will be experimentally observed to have a minimum jerk likeness due to control signals being transported through the Central Nervous System (CNS) and muscle-skeletal system. We tested our theory on a 3-link arm simulation using a recently developed planner that we reformulated into a motor control architecture, inspired by the passive motion paradigm. The arm performed 100 movements, reaching for each target defined by the clock experiment. We analysed the shape of the trajectory planned in the CNS and executed in the physical simulator. We observed that even under ideal conditions (i.e., absence of delays and noise) the executed trajectories are similar to a minimum jerk trajectory; thus, supporting the thesis that the human brain might plan harmonic trajectories.

翻译：长久以来,人们一直认为,最起码的Jerk轨迹是人类运动的参考轨迹,因为它们与人类运动有惊人的相似性。然而,最起码的混蛋轨迹并不是对$C ⁇ infty$(即光滑)函数的唯一选择。例如,协调轨迹功能是光滑的功能,可以被叠加来描述物理系统的演进。本文分析了运动控制计划使用合声轨迹,将实验性地观察到,由于控制信号通过中央神经系统(CNS)和肌肉骨骼系统传送,因此,运动轨迹将具有最起码的干燥相似性。我们用最近开发的三连臂模拟模型测试了我们的理论,我们根据被动运动模式,将其改制成运动控制结构。手臂进行了100次移动,达到时钟试验所定义的每个目标。我们分析了CNS计划并用物理模拟器执行的轨迹的轨迹形状。我们发现,即使在理想条件下(即没有延迟和噪音),所执行的大脑轨迹可能也与所执行的轨迹最接近。