SERVO HYPOTHESES FOR THE BIOLOGICAL-CONTROL OF MOVEMENT

An analysis is made of equilibrium-point models for motor control, des cribing these models in the context of servo control mechanisms. We co nsidered issues of speed and stiffness scaling that are incompatible w ith current formulations of the equilibrium-point models. A modificati on of the equilibrium-point models is proposed in which the central ne rvous system controls velocity as well as positions during the course of fast limb movements. Numerical simulations are presented that verif y that such a servo control mechanism could successfully produce fast limb movements, as observed in human subjects.