The control of hand equilibrium trajectories in multi-joint arm movements (Q1091986)

According to the equilibrium trajectory hypothesis, multi-joint arm movements are achieved by gradually shifting the hand equilibrium positions defined by the neuromuscular activity. The magnitude of the force exerted on the arm, at any time, depends on the difference between the actual and equilibrium hand positions and the stiffness and viscosity about the equilibrium position. The purpose of this paper is to test the validity and implications of this hypothesis in the context of reaching movements. A mathematical description of the behavior of an arm tracking the equilibrium trajectory was developed and implemented in computer simulations.