Plamondon's kinematic theory is very powerful from
a descriptive point of view. Unfortunately, the fact that it neglects
some fundamental features of the motor system, such as nonlinear
inertial torque interactions or joint redundancies, limits its
explanatory power and biological validity. As a consequence, the
data presented by Plamondon & Alimi should be analyzed and
interpreted with caution. There appears to be a gap between the
observations reported by the authors and some of the conclusions
they draw.