Computer modeling of the uniarticular motion of a limb based on the principle of equilibrium point

摘要

A computer model of controlling the uniarticular motion of a limb is described. The model is based on the principle of equilibrium point, which is realized via the central parameterization of the stretch reflex. The ranges of parameter changes providing steady-state control are specified. Three main operating regimes of the model (without eedback, with feedback with respect to position without rate control, and with feedback with respect to rate) are distinguished. A comparison of model experiments with natural motions is made in order to estimate the adequacy and universality of the principle underlying the control of arbitrary motions.