Skorinkin A I
Kazan' State University.
Neurosci Behav Physiol. 1998 Mar-Apr;28(2):149-57. doi: 10.1007/BF02461961.
This article considers the mechanism for construction of movements in biological systems as a means of reducing excess degrees of freedom of a motor organ. It is suggested that each type of excess of degrees of freedom is reduced by one of the hierarchically coordinated systems of motor control. Detailed consideration is given to mechanisms for reducing the dynamic excess of a motor organ, the kinematic excess associated with polyarticular motor organs, and the kinematic excess of the desired trajectory. A functional scheme is developed for a motor control system which reduces these excess degrees of freedom, and the control processes for various types of movement were studied by computer modeling.
本文将生物系统中运动的构建机制视为减少运动器官多余自由度的一种方式。研究表明，每一种多余的自由度都由一个层次协调的运动控制系统来减少。文中详细探讨了减少运动器官动态多余度、与多关节运动器官相关的运动学多余度以及期望轨迹的运动学多余度的机制。开发了一种用于减少这些多余自由度的运动控制系统功能方案，并通过计算机建模研究了各种类型运动的控制过程。
