Abstract
The muscle-reflex mechanisms form a feedback system called the motor servo (Houk and Rymer, 1981; Gielen and Houk, 1987), which consists of a muscle, its spindle receptors, and the corresponding reflex pathways back to the muscle. This neuromuscular system mediates the stretch and unloading reflex of the muscle by the feedback. Motivated by a desire to understand the capabilities of biological arms, many researchers have studied limb movements (Asatryan and Feldman, 1965; Feldman, 1966; Freund and Budingen, 1978; Gottlieb et al., 1989a,b; Hasan, 1983,, 1985,, 1986; Hogan, 1984a,b; Polit and Bizzi, 1979; Stein, 1982) and findings have been applied to arm control and task planning (Atkeson and Hollerbach, 1985; Bizzi et al., 1978,, 1982,, 1984; Flash, 1987; Flash and Hogan, 1985; Hogan, 1985; Hollerbach, 1982; Hollerbach and Flash, 1982; Mussa-Ivaldi et al., 1985,, 1988; Uno et al., 1989).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Asatryan, D.G. and Feldman, A.G. (1985) “Functional Tuning of the Nervous System with Control of Movement or Maintenance of a Steady Posture # I. Mechanographic Analysis of the Work of the Joint on Execution of a Postural Task,” Biophysics USSR 10: 925–935.
Atkeson, C.G. and Hollerbach, J.M. (1985) “Kinematic Features of Unrestrained Vertical Aim Movements,” J. Neuroscience 5: 2318–2330.
Bawa, P., Mannard, A., and Stein, R.B. (1976) “Predictions and Experimental Tests of a Visco- Elastic Muscle Model Using Elastic and Inertial Loads,” Biol. Cybern. 22: 139–145.
Bizzi, E., Accornero, N., Chappie, W., and Hogan, N. (1984) “Posture Control and Trajectoiy Formation During Arm Movement,” J. Neuroscience 4: 2738–2744.
Bizzi, E., Chappie, W., and Hogan, N. (1982) “Mechanical Properties of Muscles, Implication for Motor Control,” Trends Neurosci. 5: 395–398.
Bizzi, E., Dev, P., Morasso, P., and Polit, A. (1978) “Effect of Load Disturbances During Centrally Initiated Movements,” J. Neurophys. 41: 542: 556.
Feldman, A.G. (1966) “Functional Tuning of the Nervous System with Control of Movement or Maintenance of a Steady Posture, II. Controllable Parameters of the Muscles,” Biophysics USSR 11: 565: 578.
Flash, T. (1987) “The Control of Hand Equilibrium Trajectories in Multi-Joint Arm Movements,” Biol. Cybern. 57: 257: 274.
Flash, T. and Hogan, N. (1985) “The Coordination of Arm Movements: An Experimentally Confirmed Mathematical Model,” J. Neuroscience 5: 1688–1703.
Freund, H.J. and Budingen, H.J. (1978) “The Relationship Between Speed and Amplitude of the Fastest Voluntary Contractions of Human Arm Muscles,” Exp. Brain Res. 31: 1–12.
Gielen, C.C.A.M. and Houk, J.C. (1984) “Nonlinear Viscosity of Human Wrist,” J. Neurophys. 52 (3): 553–569.
Gielen, C.C.A.M., Houk, J.C., Marcus, S.L., and Miller, L.E. (1984) “Viscoelastic Properties of the Wrist Motor Servo in Man,” Annals of Biomedical Engineering 12: 599–620.
Gielen, C.C.A.M. and Houk, J.C. (1987) “A Model of the Motor Servo: Incorporating Nonlinear Spindle Receptor and Muscle Mechanical Properties,” Biol. Cybern. 57: 217–231.
Gottlieb, G.L., Corcos, D.M., and Agarwal, G.C. (1989a) “Organizing Principles for Single-Joint Movements. I. A Speed-Insensitive Strategy,” J. Neurophysiology 62 (3): 342–357.
Gottlieb, G.L., Corcos, D.M., and Agarwal, G.C. (1989b) “Organizing Principles for Single-Joint Movements. II. A Speed-Sensitive Strategy,” J. Neurophysiology 62 (3): 358–368.
Hasan, Z. (1983) “A Model of Spindle Afferent Response to Muscle Stretch,” J. Neurophys. 49: 989–1006.
Hasan, Z. and Enoka, R.M. (1985) “Isometric Torque- Angle Relationship and Movement-Related Activity of Human Elbow Flexors: Implications for the Equilibrium-Point Hypothesis,” Exp. Brain Res. 59: 441–450.
Hasan, Z. (1986) “Optimized Movement Trajectories and Joint Stiffness in Unperturbed, Inertially Loaded Movements,” Biol. Cybern. 53: 373–382.
Hogan, N. (1984) “An Organizing Principle for a Qass of Voluntary Movements,” J. Neuroscience 4: 2745–2754.
Hogan, N. (1984) “Adaptive Control of Mechanical Impedance by Coactivation of Antagonist Muscles,” IEEE Trans. Automatic Control AC-29, no. 8, pp. 681–690.
Hogan, N. (1985) “The Mechanics of Multi-Joint Posture and Movement Control,” Biol. Cybern. 52: 315: 331.
Hollerbach, J.M. (1982) “Computers, Brains, and the Control of Movement,” Trends Neurosci. 5: 189–192.
Hollerbach, J.M. and Flash, T. (1982) “Dynamic Interactions Between Limb Segments During Planar Arm Movement,” Biol. Cybern. 44: 67: 77.
Houk, J.C., Crago, P.E., and Rymer, W.Z. (1981) “Function of the Spindle Dynamic Response in Stiffness Regulation — A Predicative Mechanism Provided by Nonlinear Feedback,” Muscle Receptors and Movement, edited by Taylor, A. and Prochazka, A., Macmillan, London.
Houk, J.C., and Rymer, W.Z. (1981) “Neural Control of Muscle Length and Tension,” Handbook of Physiology # The Nervous System II, Bethesda, MD, American Physiol. Soc. Sect 1, Vol. II, Chap. 8, pp. 257–323.
Houk, J.C., Rymer, W.Z., and Crago, P.E. (1981) “Dependence of Dynamic Responses of Spindle Receptors on Muscle Length and Velocity,” J. Neurophysiology 46: 143–166.
Houk, J.C., Wu, C.H., and Young, K.Y. (1989) “Nonlinear Damping of Limb Motion,” XXXI International Congress of Physiological Sciences, Helsinki, Finland, July, Abs. 533.
Huxley, A.F. (1957) “Muscle Structure and Theories of Contraction,” Prog. Biophys. Chem. 7: 257–318.
Matthews, P.B.C. (1972) Mammalian Muscle Receptors and Their Central Actions, Williams & Wilkins, Baltimore.
McMahon, A. T. (1984) Muscles, Reflexes, and Locomotion, University Park Press, Baltimore.
Miller, L.E. (1984) “Reflex Stiffness of the Human Wrist,” M.S. Thesis, Department of Physiology, Northwestern University, Evanston, IL.
Mussa-Ivaldi, F.A., Hogan, N., and Bizzi, E. (1985) “Neural, Mechanical, and Geometric Factors Subserving Arm Posture in Humans,” J. Neuroscience 5: 2732–2743.
Mussa-Ivaldi, F.A., Morraso, P., and Zaccaria, R. (1988) “Kinematic Networks: A Distributed Model for Representing and Regularizing Motor Redundancy,” Biol. Cybern. 60: 1–16.
Nichols, T.R. and Houk, J.C. (1976) “Improvement in Linearity and Regulation of Stiffness That Results From Actions of Stretch Reflex,” J. Neurophys. 39: 119–142.
Ogada, K, (1970) Modern Control Engineering, Prentice-Hall Inc., Englewood Cliffs, NJ.
Oguztoreli, M.N. and Stein, R.B. (1976) “The Effects of Multiple Reflex Pathways on the Oscillations in Neuro-MuscularSystems,” J. Math. Biol. 3: 87–101.
Polit, A. and Bizzi, E. (1979) “Characteristics of Motor Programs Underlying Arm Movements in Monkeys,” J. Neurophysiology 42: 183–194.
Rack, P.M.H. (1981) “Limitations of Somatosensory Feedback in Control of Posture and Movement,” Handbook of Physiology # The Nervous System II, Bethesda, MD, American Physiol. Soc. Sect. 1, Vol. II, pp. 229–259.
Rack, P.M.H. and Westbury, D.R. (1969) “The Effects of Length and Stimulus Rate on Tension in the Isometric Cat Soleus Muscle,” J. Physiol. 204: 443: 460.
Stein, R.B. (1982) “What Muscle Variable(s) Does the Nervous System Control in Limb Movements?” Behav. Brain Sci. 5: 535–577.
Stein, R.B. (1974) “The Peripheral Control of Movement,” Physiol. Rev. 54: 215–243.
Uno, Y., Kawato, M., and Suzuki, R. (1989) “Formation and Control of Optimal Trajectory in Human Multijoint Arm Movement,” Biol. Cybern. 61: 89–101.
Wu, C.H. (1988) “Compliance,” International Encyclopedia of Robotics: Application and Automation, John Wiley and Sons, New York, Vol. I, pp., 192–202.
Zahalak, G.I. (1981) “A Distribution — Moment Approximation for Kinetic Theories of Muscular Contraction,” Math. Bioscience 55: 89–114.
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1990 Springer-Verlag, New York
About this chapter
Cite this chapter
Wu, Ch., Houk, J.C., Young, KY., Miller, L.E. (1990). Nonlinear Damping of Limb Motion. In: Winters, J.M., Woo, S.LY. (eds) Multiple Muscle Systems. Springer, New York, NY. https://doi.org/10.1007/978-1-4613-9030-5_13
Download citation
DOI: https://doi.org/10.1007/978-1-4613-9030-5_13
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4613-9032-9
Online ISBN: 978-1-4613-9030-5
eBook Packages: Springer Book Archive