The commentary firstly supports Smeets and Brenner in their choice of a kinematic trajectory, submitting that the challenge posed by the rival torque-change formulation is resolved by consideration of intermittency in human movement control. Second, it examines the choice of optimization criterion for trajectory planning, arguing in favor of minimum acceleration rather than minimum jerk. Third, using the notion of optimized trajectories in task-dependent coordinate space together with synergy generation, it suggests a formulation that reduces the processing load entailed in Smeets and Brenner's proposal of individual trajectories for each digit.
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