The biomechanical analysis of the functioning of a two-articular manipulator as a model of the human upper limb at generation of two-joint muscle efforts by the hand within a horizontal plane has been performed; the shoulder and elbow joints and the hand were also situated within this plane. Possible patterns of the motor commands at changes of the direction and magnitude of the produced effort in the case where the torque with respect to one of the joints remains constant have been analyzed. The possibility of using of a superposition principle for motor commands at different time courses of the generated efforts is also considered. Certain assumptions with respect to production of maximum efforts of different directions are put forward; these assumptions are based on the results of biomechanical analysis of the two-articular manipulator. Ideas of some experiments supposedly allowing researchers to better understand the principles of motor control are proposed. The mathematical apparatus for analysis and practical calculations of the parameters of the analyzed isometric motor task is described.
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