Berkinblit M B, Gel'fand I M, Fel'dman A G
Biofizika. 1986 Jan-Feb;31(1):128-38.
A model for coordinated execution of multijoint goal-directed limb movements is suggested from the following principles. (1) Central control signals for a single limb joint are individually formed, proceeding from its ability to bring the limb nearer to the target and leaving control signals directed simultaneously to other joint out of account. The joints thereby behave as a set of Tsetlin's abstract automata [11], each functioning independently and guided by a common, collective effect. (2) Neither levels of muscle activation, nor force and kinematic variables are directly specified by the command signals. They only modify the system's parameters that affect equilibrium joint positions, and thus make the limb to move to the goal. A concrete model based on the above principles is described and its behavior is compared with actual goal-directed movements in man and spinal frogs. Various control strategies for multiarticular movements in living organisms are discussed.
基于以下原理提出了一种用于协调执行多关节目标导向肢体运动的模型。（1）单个肢体关节的中央控制信号是分别形成的，这是根据其使肢体更接近目标的能力来进行的，而不考虑同时发送到其他关节的控制信号。因此，这些关节的行为就如同一组采特林抽象自动机[11]，每个自动机独立运行，并受共同的集体效应引导。（2）指令信号既不直接指定肌肉激活水平，也不直接指定力和运动学变量。它们只是修改影响关节平衡位置的系统参数，从而使肢体朝着目标移动。描述了基于上述原理的具体模型，并将其行为与人类和脊髓蛙的实际目标导向运动进行了比较。讨论了生物体中多关节运动的各种控制策略。
