Lacquaniti F, Soechting J F, Terzuolo S A
Neuroscience. 1986 Feb;17(2):313-24. doi: 10.1016/0306-4522(86)90249-6.
In this paper data are presented concerning the kinematic and dynamic characteristics of point-to-point arm movements which are inwardly or outwardly directed in three-dimensional space. Elbow and wrist position as well as elbow angle of extension were measured. From these data, other angles were computed trigonometrically and elbow and shoulder torques were calculated. Some of the angles describing arm and forearm motion were found to be linearly related for any given movement. Changes in shoulder and elbow torque were found to be similar to those described for movements restricted to one degree of freedom. Shoulder and elbow motions were not affected when it was required that the orientation of the hand in space remain constant. These observations were taken to indicate that shoulder and elbow motions are tightly coupled for movements in three-dimensional space and that wrist motion has no influence on this coupling. Linear relations between angles express such coupling. They are taken to result from functional constraints and may facilitate the mapping between extrinsic and intrinsic coordinate systems. Some of the observations pertaining to the torque lead to the hypothesis of a further constraint limiting the number of possible trajectories in a point-to-point movement.
本文呈现了关于在三维空间中向内或向外的点对点手臂运动的运动学和动力学特征的数据。测量了肘部和腕部位置以及肘部伸展角度。根据这些数据，通过三角学计算出其他角度，并计算出肘部和肩部扭矩。发现对于任何给定的运动，一些描述手臂和前臂运动的角度呈线性相关。发现肩部和肘部扭矩的变化与那些限于一个自由度的运动所描述的变化相似。当要求手部在空间中的方向保持恒定时，肩部和肘部运动不受影响。这些观察结果表明，在三维空间中的运动中，肩部和肘部运动紧密耦合，并且腕部运动对这种耦合没有影响。角度之间的线性关系表达了这种耦合。它们被认为是由功能约束导致的，并且可能有助于外在和内在坐标系之间的映射。一些与扭矩相关的观察结果导致了一个进一步约束的假设，该约束限制了点对点运动中可能轨迹的数量。
