On the cost functions for the control of the human arm movement

Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Cruse, H. [verfasserIn] Wischmeyer, E. Brüwer, M. Brockfeld, P. Dress, A.

Format:	Artikel
Sprache:	Englisch

Erschienen:	1990

Schlagwörter:	Cost Function Joint Angle Target Movement Wrist Joint Extra Degree

Anmerkung:	© Springer-Verlag 1990

Übergeordnetes Werk:	Enthalten in: Biological cybernetics - Springer-Verlag, 1975, 62(1990), 6 vom: Apr., Seite 519-528
Übergeordnetes Werk:	volume:62 ; year:1990 ; number:6 ; month:04 ; pages:519-528

Links:	Volltext

DOI / URN:	10.1007/BF00205114

Katalog-ID:	OLC205269031X

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520			\|a Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement.
650		4	\|a Cost Function
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700	1		\|a Wischmeyer, E. \|4 aut
700	1		\|a Brüwer, M. \|4 aut
700	1		\|a Brockfeld, P. \|4 aut
700	1		\|a Dress, A. \|4 aut
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Indexfelder

author_variant	h c hc e w ew m b mb p b pb a d ad
matchkey_str	article:03401200:1990----::nhcsfntosoteotooteu
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publishDate	1990
allfields	10.1007/BF00205114 doi (DE-627)OLC205269031X (DE-He213)BF00205114-p DE-627 ger DE-627 rakwb eng 570 VZ 570 000 VZ 12 ssgn BIODIV DE-30 fid Cruse, H. verfasserin aut On the cost functions for the control of the human arm movement 1990 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer-Verlag 1990 Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Cost Function Joint Angle Target Movement Wrist Joint Extra Degree Wischmeyer, E. aut Brüwer, M. aut Brockfeld, P. aut Dress, A. aut Enthalten in Biological cybernetics Springer-Verlag, 1975 62(1990), 6 vom: Apr., Seite 519-528 (DE-627)129556351 (DE-600)220699-7 (DE-576)015013545 0340-1200 nnns volume:62 year:1990 number:6 month:04 pages:519-528 https://doi.org/10.1007/BF00205114 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC FID-BIODIV SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-BBI SSG-OPC-MAT GBV_ILN_11 GBV_ILN_21 GBV_ILN_22 GBV_ILN_23 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_72 GBV_ILN_74 GBV_ILN_101 GBV_ILN_105 GBV_ILN_259 GBV_ILN_267 GBV_ILN_2002 GBV_ILN_2006 GBV_ILN_2010 GBV_ILN_2018 GBV_ILN_2021 GBV_ILN_2088 GBV_ILN_2237 GBV_ILN_2409 GBV_ILN_2410 GBV_ILN_4012 GBV_ILN_4028 GBV_ILN_4046 GBV_ILN_4082 GBV_ILN_4103 GBV_ILN_4193 GBV_ILN_4219 GBV_ILN_4302 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4310 GBV_ILN_4318 GBV_ILN_4324 GBV_ILN_4700 AR 62 1990 6 04 519-528
spelling	10.1007/BF00205114 doi (DE-627)OLC205269031X (DE-He213)BF00205114-p DE-627 ger DE-627 rakwb eng 570 VZ 570 000 VZ 12 ssgn BIODIV DE-30 fid Cruse, H. verfasserin aut On the cost functions for the control of the human arm movement 1990 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer-Verlag 1990 Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Cost Function Joint Angle Target Movement Wrist Joint Extra Degree Wischmeyer, E. aut Brüwer, M. aut Brockfeld, P. aut Dress, A. aut Enthalten in Biological cybernetics Springer-Verlag, 1975 62(1990), 6 vom: Apr., Seite 519-528 (DE-627)129556351 (DE-600)220699-7 (DE-576)015013545 0340-1200 nnns volume:62 year:1990 number:6 month:04 pages:519-528 https://doi.org/10.1007/BF00205114 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC FID-BIODIV SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-BBI SSG-OPC-MAT GBV_ILN_11 GBV_ILN_21 GBV_ILN_22 GBV_ILN_23 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_72 GBV_ILN_74 GBV_ILN_101 GBV_ILN_105 GBV_ILN_259 GBV_ILN_267 GBV_ILN_2002 GBV_ILN_2006 GBV_ILN_2010 GBV_ILN_2018 GBV_ILN_2021 GBV_ILN_2088 GBV_ILN_2237 GBV_ILN_2409 GBV_ILN_2410 GBV_ILN_4012 GBV_ILN_4028 GBV_ILN_4046 GBV_ILN_4082 GBV_ILN_4103 GBV_ILN_4193 GBV_ILN_4219 GBV_ILN_4302 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4310 GBV_ILN_4318 GBV_ILN_4324 GBV_ILN_4700 AR 62 1990 6 04 519-528
allfields_unstemmed	10.1007/BF00205114 doi (DE-627)OLC205269031X (DE-He213)BF00205114-p DE-627 ger DE-627 rakwb eng 570 VZ 570 000 VZ 12 ssgn BIODIV DE-30 fid Cruse, H. verfasserin aut On the cost functions for the control of the human arm movement 1990 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer-Verlag 1990 Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Cost Function Joint Angle Target Movement Wrist Joint Extra Degree Wischmeyer, E. aut Brüwer, M. aut Brockfeld, P. aut Dress, A. aut Enthalten in Biological cybernetics Springer-Verlag, 1975 62(1990), 6 vom: Apr., Seite 519-528 (DE-627)129556351 (DE-600)220699-7 (DE-576)015013545 0340-1200 nnns volume:62 year:1990 number:6 month:04 pages:519-528 https://doi.org/10.1007/BF00205114 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC FID-BIODIV SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-BBI SSG-OPC-MAT GBV_ILN_11 GBV_ILN_21 GBV_ILN_22 GBV_ILN_23 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_72 GBV_ILN_74 GBV_ILN_101 GBV_ILN_105 GBV_ILN_259 GBV_ILN_267 GBV_ILN_2002 GBV_ILN_2006 GBV_ILN_2010 GBV_ILN_2018 GBV_ILN_2021 GBV_ILN_2088 GBV_ILN_2237 GBV_ILN_2409 GBV_ILN_2410 GBV_ILN_4012 GBV_ILN_4028 GBV_ILN_4046 GBV_ILN_4082 GBV_ILN_4103 GBV_ILN_4193 GBV_ILN_4219 GBV_ILN_4302 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4310 GBV_ILN_4318 GBV_ILN_4324 GBV_ILN_4700 AR 62 1990 6 04 519-528
allfieldsGer	10.1007/BF00205114 doi (DE-627)OLC205269031X (DE-He213)BF00205114-p DE-627 ger DE-627 rakwb eng 570 VZ 570 000 VZ 12 ssgn BIODIV DE-30 fid Cruse, H. verfasserin aut On the cost functions for the control of the human arm movement 1990 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer-Verlag 1990 Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Cost Function Joint Angle Target Movement Wrist Joint Extra Degree Wischmeyer, E. aut Brüwer, M. aut Brockfeld, P. aut Dress, A. aut Enthalten in Biological cybernetics Springer-Verlag, 1975 62(1990), 6 vom: Apr., Seite 519-528 (DE-627)129556351 (DE-600)220699-7 (DE-576)015013545 0340-1200 nnns volume:62 year:1990 number:6 month:04 pages:519-528 https://doi.org/10.1007/BF00205114 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC FID-BIODIV SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-BBI SSG-OPC-MAT GBV_ILN_11 GBV_ILN_21 GBV_ILN_22 GBV_ILN_23 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_72 GBV_ILN_74 GBV_ILN_101 GBV_ILN_105 GBV_ILN_259 GBV_ILN_267 GBV_ILN_2002 GBV_ILN_2006 GBV_ILN_2010 GBV_ILN_2018 GBV_ILN_2021 GBV_ILN_2088 GBV_ILN_2237 GBV_ILN_2409 GBV_ILN_2410 GBV_ILN_4012 GBV_ILN_4028 GBV_ILN_4046 GBV_ILN_4082 GBV_ILN_4103 GBV_ILN_4193 GBV_ILN_4219 GBV_ILN_4302 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4310 GBV_ILN_4318 GBV_ILN_4324 GBV_ILN_4700 AR 62 1990 6 04 519-528
allfieldsSound	10.1007/BF00205114 doi (DE-627)OLC205269031X (DE-He213)BF00205114-p DE-627 ger DE-627 rakwb eng 570 VZ 570 000 VZ 12 ssgn BIODIV DE-30 fid Cruse, H. verfasserin aut On the cost functions for the control of the human arm movement 1990 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer-Verlag 1990 Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. Cost Function Joint Angle Target Movement Wrist Joint Extra Degree Wischmeyer, E. aut Brüwer, M. aut Brockfeld, P. aut Dress, A. aut Enthalten in Biological cybernetics Springer-Verlag, 1975 62(1990), 6 vom: Apr., Seite 519-528 (DE-627)129556351 (DE-600)220699-7 (DE-576)015013545 0340-1200 nnns volume:62 year:1990 number:6 month:04 pages:519-528 https://doi.org/10.1007/BF00205114 lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC FID-BIODIV SSG-OLC-MAT SSG-OLC-PHA SSG-OLC-DE-84 SSG-OPC-BBI SSG-OPC-MAT GBV_ILN_11 GBV_ILN_21 GBV_ILN_22 GBV_ILN_23 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_72 GBV_ILN_74 GBV_ILN_101 GBV_ILN_105 GBV_ILN_259 GBV_ILN_267 GBV_ILN_2002 GBV_ILN_2006 GBV_ILN_2010 GBV_ILN_2018 GBV_ILN_2021 GBV_ILN_2088 GBV_ILN_2237 GBV_ILN_2409 GBV_ILN_2410 GBV_ILN_4012 GBV_ILN_4028 GBV_ILN_4046 GBV_ILN_4082 GBV_ILN_4103 GBV_ILN_4193 GBV_ILN_4219 GBV_ILN_4302 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4310 GBV_ILN_4318 GBV_ILN_4324 GBV_ILN_4700 AR 62 1990 6 04 519-528
language	English
source	Enthalten in Biological cybernetics 62(1990), 6 vom: Apr., Seite 519-528 volume:62 year:1990 number:6 month:04 pages:519-528
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author_browse	Cruse, H. Wischmeyer, E. Brüwer, M. Brockfeld, P. Dress, A.
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title_sort	on the cost functions for the control of the human arm movement
title_auth	On the cost functions for the control of the human arm movement
abstract	Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. © Springer-Verlag 1990
abstractGer	Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. © Springer-Verlag 1990
abstract_unstemmed	Abstract The aim of our investigation is to understand the mechanisms which control the movement of the human arm. The arm is here considered as a redundant system: the shoulder, elbow and wrist joints, which provide three degrees of freedom, combine to move the hand in a horizontal plane, i.e. a two dimensional space. Thus the system has one extra degree of freedom. Earlier investigations of the static situation led to the hypothesis that independent cost functions were attached to each of the three joints and that the configuration chosen for a given target position is that which provides the minimum total cost (Cruse 1986). The aim of the current investigation was to look for measurable values corresponding to the hypothetical cost functions. Experiments using pointers of different lengths attached to the hand showed that the strategy in choosing the joint angles are independent of the limb length. The muscle force necessary to reach a given angle is increased by a spring mounted across a joint. In this situation the angles of the loaded joint are changed for a given target point to give way to the force effect. This leads to the conclusion that the hypothetical cost functions are not independent of the physiological costs necessary to hold the joint at a given angle. The cost functions seem to depend on joint angle and on the force which is necessary to hold the joint in a given position. Cost functions are measured by psychophysical methods. The results showU-shaped curves which can be approximated by parabolas. The position of minimum cost (maximum comfort) for one joint showed no or weak dependency on the angles of the other joints. For each subject these “psychophysical” cost functions are compared with the hypothetical cost functions. The comparison showed reasonable agreement. This supports the assumption that the psychophysically measured “comfort functions” provide a measure for the hypothetical cost functions postulated to explain the targeting movements. Targeting experiments using a four joint arm which has two extra degrees of freedom showed a much larger scatter compared to the three joint arm. Nevertheless, the results still conform to the hypothesis that also in this case the minimum cost principle is applied to solve the redundancy problem. As the cost function for the whole arm shows a large minimum valley, quite a large range of arm positions is possible of about equal total costs. The scatter does not result from pure randomness but seems to be mainly produced by the fact that the angles at the end of the movement depend on the value of the joint angles at the beginning of the movement. © Springer-Verlag 1990
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title_short	On the cost functions for the control of the human arm movement
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