The two-thirds power law derived from an higher-derivative action

The two-thirds power law is a link between angular speed ω and curvature κ observed in voluntary human movements: ω is proportional to κ2/3. Squared jerk is known to be a Lagrangian leading to the latter law. We propose that a broader class of higher-derivative Lagrangians leads to the two-thirds power law and we perform the Hamiltonian analysis leading to action-angle variables through Ostrogradski's procedure. In this framework, squared jerk appears as an action variable and its minimization may be related to power expenditure minimization during motion. The identified higher-derivative Lagrangians are therefore natural candidates for cost functions, i.e. movement functions that are targeted to be minimal when one individual performs a voluntary movement.