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Journal of Neuroscience, Vol 4, 2745-2754, Copyright © 1984 by Society for Neuroscience
An organizing principle for a class of voluntary movements
N Hogan
This paper presents a mathematical model which predicts both the major
qualitative features and, within experimental error, the quantitative
details of a class of perturbed and unperturbed large-amplitude, voluntary
movements performed at intermediate speed by primates. A feature of the
mathematical model is that a concise description of the behavioral
organization of the movement has been formulated which is separate and
distinct from the description of the dynamics of movement execution. Based
on observations of voluntary movements in primates, the organization has
been described as though the goal were to make the smoothest movement
possible under the circumstances, i.e., to minimize the accelerative
transients. This has been formalized by using dynamic optimization theory
to determine the movement which minimizes the rate of change of
acceleration (jerk) of the limb. Based on observations of muscle mechanics,
the concept of a "virtual position" determined by the active states of the
muscles is rigorously defined as one of the mechanical consequences of the
neural commands to the muscles. This provides insight into the mechanics of
perturbed and unperturbed movements and is a useful aid in the separation
of the descriptions of movement organization and movement execution.
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