Experimental Study and Modeling of Equilibrium Point Trajectory Control in Single and Double-Joint Arm Movements

Abstract

This paper discusses a new model of neuromuscular control of elbow and shoulder joints based on the Equilibrium Point Hypothesis (EPH). The earlier model [1] suggests that the incorporation of relative damping within reflex loops can maintain the dynamic simplicity of the EPH, while being robust over the range of human joint velocities. The model presented here, extends previous work with the use of experimental Electromyography data of 2 muscles to determine the timing parameters of the virtual trajectories and the inclusion of physiological time delays to account for neural transmission and muscle stimulation/activation delays. This model uses delays presented in the literature by other researchers, with a goal of contributing to a resolution of arguments regarding the controversial arguments in the planning sequences. Therefore, this study attempts to demonstrate the possibility for using descending CNS signals to represent relatively simple, monotonic virtual trajectories of the time varying Equilibrium Point for the control of human arm movement. In addition, the study demonstrates that these virtual trajectories were robust enough to control and coordinated movement of elbow and shoulder joints discussed.