Simulated movement of a 2-joint planar arm with a duration of 0.5 s and 1 s.

A linear movement with a duration between 0.5 s and 0.75 s using the shoulder and elbow joints is reproduced by the proposed control. A faster movement involves larger interaction forces. A comparable deviation is produced by the proposed control for both fast and slow movements, indicating that the proposed control successfully compensates for the interaction forces between the two joints.