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Journal of Neuroscience, Vol 12, 1750-1762, Copyright © 1992 by Society for Neuroscience
Internal models of limb geometry in the control of hand compliance
F Lacquaniti, NA Borghese and M Carrozzo
Istituto di Fisiologia dei Centri Nervosi, CNR, Milan, Italy.
The aim of this article is to describe the role of some neural mechanisms
in the adaptive control of limb compliance during preplanned mechanical
interaction with objects. We studied the EMG responses and the kinematic
responses evoked by pseudorandom perturbations continuously applied by
means of a torque motor before and during a catching task. The temporal
changes of these responses were studied by means of an identification
technique for time-varying systems. We found a transient reversal of EMG
stretch reflex responses centered on the time of ball impact on the hand;
this reversal results in a transient coactivation of antagonist muscles at
both the elbow and the wrist. The kinematic responses describe the relation
between torque input and position output. Thus, they provide a global
measure of limb compliance. The changes in limb compliance during catching
were quantified by computing error criteria either in the Cartesian
coordinates of the hand or in the angular coordinates of the elbow and
wrist joints. We found that only the hand compliance in Cartesian
coordinates is consistently minimized around impact, in coincidence with
the transient reversal of the stretch reflex responses. By contrast, the
error criteria expressed in the angular coordinates of the joints have a
variable time course and are not minimized around impact. It is known that
hand compliance depends on both the pattern of muscle activities and the
geometrical configuration of the limb. Therefore, the lack of consistent
correlation between the changes in hand compliance and the changes in the
geometrical configuration of the limb during catching indicates that the
gating of the stretch reflex responses around impact time is based on an
internal model of limb geometry.
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