Hogan N
Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge 02139.
Can J Physiol Pharmacol. 1988 Apr;66(4):508-17. doi: 10.1139/y88-080.
This paper reviews some recent studies related to the generation of simple multijoint arm movements. Two principal issues are considered. The first concern is how movements are represented internally by the central nervous system. There are many possible sets of coordinates that could be used to represent arm movements. Two of the possibilities are reviewed: representation in terms of joint angular motions versus representation in terms of motions of the hand in external space coordinates. A second concern is the transformation from intention to action: how is an internal representation of motion expressed by the neuromuscular system? The computational complexity of this problem is reviewed. A way in which the mechanics of the neuromuscular system could be exploited to simplify this problem is discussed.
本文回顾了一些与简单多关节手臂运动生成相关的近期研究。考虑了两个主要问题。第一个问题是运动如何在中枢神经系统中进行内部表征。有许多可能的坐标集可用于表征手臂运动。本文回顾了其中两种可能性：以关节角运动来表征与以手部在外部空间坐标中的运动来表征。第二个问题是从意图到行动的转换：神经肌肉系统如何表达运动的内部表征？本文回顾了这个问题的计算复杂性。讨论了一种利用神经肌肉系统力学来简化这个问题的方法。
