3D human arm reaching movement planning with principal patterns in successive phases

Costs of position, velocity, and force requirements in optimal control induce triphasic muscle activation during reaching movement

The nervous system activates a pair of agonist and antagonist muscles to determine the muscle activation pattern for a desired movement. Although there is a problem with redundancy, it is solved immediately, and movements are generated with characteristic muscle activation patterns in which antagonistic muscle pairs show alternate bursts with a triphasic shape. To investigate the requirements for deriving this pattern, this study simulated arm movement numerically by adopting a musculoskeletal arm model and an optimal control. The simulation reproduced the triphasic electromyogram (EMG) pattern observed in a reaching movement using a cost function that considered three terms: end-point position, velocity, and force required; the function minimised neural input. The first, second, and third bursts of muscle activity were generated by the cost terms of position, velocity, and force, respectively. Thus, we concluded that the costs of position, velocity, and force requirements in optimal control can induce triphasic EMG patterns. Therefore, we suggest that the nervous system may control the body by using an optimal control mechanism that adopts the costs of position, velocity, and force required; these costs serve to initiate, decelerate, and stabilise movement, respectively.