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Volume 17, Number 4,
Issue of February 15, 1997
pp. 1519-1528
Copyright ©1997 Society for Neuroscience
The Role of Internal Models in Motion Planning and Control:
Evidence from Grip Force Adjustments during Movements of Hand-Held
Loads
Received Oct. 31, 1996; accepted Dec. 6, 1996.
J. Randall Flanagan1 and
Alan M. Wing2
1 Department of Psychology, Queen's University,
Kingston, Ontario, Canada K7L 3N6, and 2 Medical Research
Council Applied Psychology Unit, Cambridge CB2 2EF, United Kingdom
We investigated the issue of whether or not the CNS makes use of an
internal model of the motor apparatus in planning and controlling arm
movements. In particular, we tested the ability of subjects to predict
different hand-held loads by examining grip force adjustments used to
stabilize the load in the hand during arm movements.
Subjects grasped a manipulandum using a precision grip with the tips of
the thumb and index finger on either side. The grip force (normal to
the contact surfaces) and the load force (tangential to the surfaces)
were measured, along with the trajectory of the hand. The manipulandum
was attached to two servo-controlled linear motors used to create
inertial and viscous loads as well as a composite load, including
inertial, viscous, and elastic components.
The form of the hand trajectory was independent of load for some
subjects but varied systematically across load conditions in others.
Nevertheless, under all load conditions and in all subjects, grip force
was modulated in parallel with, and thus anticipated, fluctuations in
load force despite the marked variation in the form of the load
function. This indicates that the CNS is able to predict the load force
and the kinematics of hand movement on which the load depends. We
suggest this prediction is based on an internal model of the motor
apparatus and external load and is used to determine the grip forces
required to stabilize the load.
Key words:
internal model;
feedforward control;
reaching movement;
dynamics;
grip force;
load force;
hand trajectory
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