Joint Control Strategies and Hand Trajectories in Multijoint Pointing Movements

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Abstract
The role of timing in the control of multijoint pointing movements was evaluated. Eight subjects performed rapid pointing movements to a variety of target locations. The subject''s right arm was strapped to a 2.degree. of freedom manupilandum that permitted shoulder and elbow motion in the horizontal plane. Initial and final position of the hand and magnitude of displacement was varied to determine effects on timing characteristics. Kinematics and kinetics of the shoulder, elbow, and hand were analyzed. The hand paths and velocity profiles observed were consistent with prior reports. Multiple regression analysis of kinematic variables disclosed that timing of joint movement onset was independent of initial and final positions of the hand, but was linearly related to joint displacement: the joint that moved farther started moving first. Using computer simulations to create joint movement onset, times that were different from the observed ones always resulted in hand paths with increased curvatures and loss of the smooth velocity profiles. Secondly, a very stable, linear relationship was observed between peak velocity and displacement at both the elbow and shoulder joints. This relationship was not affected by variations in movement space. We suggest that a space-time transformation based on difference in joint displacement is used to regulate timing of joint movement onset. The simulations indicate that this transformation is set to produce smooth velocity profiles. The relationships between timing of movement onset and displacement and between peak velocity and displacement complement each other: by maintaining a linear relationship between velocity and displacement, a linear space time transformation can be used to control timing. Furthermore, these relationships are probably used to simplify coordination between the moving joints.