Feedforward stabilization in a bimanual unloading task

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Abstract
When one hand removes a load from the other hand, feedforward motor commands stabilize the position of the unloaded hand. We studied the stabilization of the postural hand using a novel apparatus that allowed unloading at different rates, and unexpected uncoupling of the unloading force from the postural hand. Feedforward stabilization of hand position was observed in all subjects. This stabilization was achieved both by deactivation of postural agonist muscles and by activation of postural antagonist muscles. The neural feedforward command apparently increased with unloading rate. However, the command only partially canceled the interaction torque generated by removing the load, and stabilization became less effective as unloading rate increased.