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Journal of Neuroscience, Vol 5, 2732-2743, Copyright © 1985 by Society for Neuroscience
Neural, mechanical, and geometric factors subserving arm posture in humans
FA Mussa-Ivaldi, N Hogan and E Bizzi
When the hand is displaced from an equilibrium posture by an external
disturbance, a force is generated to restore the original position. We
developed a new experimental method to measure and represent the field of
elastic forces associated with posture of the hand in the horizontal plane.
While subjects maintained a given posture, small displacements of the hand
along different directions were delivered by torque motors. The hand was
held in the displaced positions and, at that time, we measured the
corresponding restoring forces before the onset of any voluntary reaction.
The stiffness in the vicinity of the hand equilibrium position was
estimated by analyzing the force and displacement vectors. We chose to
represent the stiffness both numerically, as a matrix, and graphically, as
an ellipse characterized by three parameters: magnitude (the area), shape
(the ratio of axis) and orientation (direction of the major axis). The
latter representation captures the main geometrical features of the elastic
force field associated with posture. We also evaluated the conservative and
nonconservative components of this elastic force field. We found that the
former were much larger than the latter and concluded that the behavior of
the neuromuscular system of the multiarticular arm is predominantly
spring-like. Our data indicated that the shape and orientation of the
stiffness were invariant over subjects and over time. We also investigated
the ability of our subjects to produce voluntary and adaptive changes in
the stiffness. Our findings indicated that, when a disturbance acting along
a fixed and predictable direction was imposed, the magnitude of the
stiffness was increased but only minor changes in shape and orientation
occurred. Taken together, all of these experiments represent a step toward
the understanding of the interactions between geometrical and neural
factors involved in maintaining hand posture and its interactions with the
environment.
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