Анотація:
A theoretical approach is proposed to define the force and position singular points (FSPs
and PSPs) in the circular, ellipsoidal, and linear planar two-joint movements produced under
steady loadings directed along the movement traces. The FSPs coincide with changes in
the direction of the force moments acting around the joints; the PSPs show the locations
of the extrema at the joint angle trajectories. The force synergy (defined by the location of
FSPs) provides a strong influence on the activation synergy; the latter is largely described by
correlations between the activities recorded from the muscles participating in the movement.
The position synergy (defined by the location of PSPs) is responsible for a hysteresis-related
modulation of the activation synergy. Geometrical procedures are proposed to define positions
of the FSPs and PSPs along various movement traces; this can provide a general description
of the force and position synergies for the movements. The force synergies in the circular
movements cover four sectors with diverse loading combinations of the flexor and extensor
muscles belonging to different joints. The variability of the synergy effects for changes in
the size and position of the circular trajectories is analyzed; the synergy patterns are also
considered for ellipsoidal and linear movement traces. A Force Feedback Control Hypothesis
is proposed; it allows one to explain the decrease in the number of controlled variables during
real multi-joint movements.