KINEMATIC INVARIANCES AND BODY SCHEMA

Generalizing the notion that muscles are positional frames of referenc e, a high-dimensional muscle space is defined for multi-muscle systems with an embedded low-dimensional motor manifold of functional articul ators. A central representation of such a manifold is proposed as comp utational body schema. The example of the jaw-tongue system is present ed, discussing the relation of functional articulators with kinematic invariances and control problems.