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J Neurophysiol 89: 2667-2677, 2003. First published January 29, 2003; doi:10.1152/jn.00742.2002
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J Neurophysiol (May 1, 2003). 10.1152/jn.00742.2002
Submitted on Submitted 29 August 2002; accepted in final form 22 January 2003

Kinematics and Kinetics of Multijoint Reaching in Nonhuman Primates

Kirsten M. Graham,1 Kimberly D. Moore,1 D. William Cabel,1 Paul L. Gribble,1 Paul Cisek,2 and Stephen H. Scott1

 1Department of Anatomy and Cell Biology, Centre for Neuroscience Studies, Queen's University, Kingston, Ontario K7L 3N6; and  2Département de Physiologie, Université de Montréal, Montréal, Quebec H3C 3J7, Canada

Graham, Kirsten M., Kimberly D. Moore, D. William Cabel, Paul L. Gribble, Paul Cisek, and Stephen H. Scott. Kinematics and Kinetics of Multijoint Reaching in Nonhuman Primates. J. Neurophysiol. 89: 2667-2677, 2003. The present study identifies the mechanics of planar reaching movements performed by monkeys (Macaca mulatta) wearing a robotic exoskeleton. This device maintained the limb in the horizontal plane such that hand motion was generated only by flexor and extensor motions at the shoulder and elbow. The study describes the kinematic and kinetic features of the shoulder, elbow, and hand during reaching movements from a central target to peripheral targets located on the circumference of a circle: the center-out task. While subjects made reaching movements with relatively straight smooth hand paths and little variation in peak hand velocity, there were large variations in joint motion, torque, and power for movements in different spatial directions. Unlike single-joint movements, joint kinematics and kinetics were not tightly coupled for these multijoint movements. For most movements, power generation was predominantly generated at only one of the two joints. The present analysis illustrates the complexities inherent in multijoint movements and forms the basis for understanding strategies used by the motor system to control reaching movements and for interpreting the response of neurons in different brain regions during this task.




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