Control of Human Movement Book

	Preface
	Acknowledgments
Ch. 1	What Muscle Parameters Are Controlled by the Nervous System?	1
	Spring Properties of an Isolated Muscle	7
	Muscle and Its Reflexes	9
	Spring Properties of an Intact Muscle	15
	Merton's Servo-Hypothesis of Motor Control	21
	The [alpha]-Model	23
	The [lambda]-Model	26
	The Notion of Shifting Invariant Characteristics	33
	Preprogramming in Motor Control	37
Ch. 2	Analysis of Joint Compliance	49
	Equations of Mass-Spring Systems	49
	At Least Three Springs!	52
	Introducing Central Control	56
	Reconstruction of Static Joint Compliant Characteristics	58
	How to Reconstruct Joint Compliant Characteristics During Voluntary Movements	59
	Shifting Joint Compliant Characteristics During Slow Movements	65
	Shifting Joint Compliant Characteristics During Fast Movements	71
	N-Shaped Virtual Trajectories	74
	Virtual Trajectories of Oscillatory Movements	75
Ch. 3	The Equilibrium-Point Hypothesis and Movement Dynamics	81
	Phase Plane and Activation Zones	81
	Is [lambda] a Measure of [alpha]-Motoneuron Membrane Depolarization?	86
	Muscle Reactions to Length Changes	90
	Reciprocal and Renshaw Inhibition	95
	How Do the Electromyograms Emerge?	98
Ch. 4	Patterns of Single-Joint Movements	103
	Kinematic and Electromyographic Patterns of Single-Joint Isotonic Movements	103
	Kinetic and Electromyographic Characteristics of Single-Joint Isometric Contractions	116
	Hypotheses and Models	120
	Excitation Pulse and the Dual-Strategy Hypothesis	127
Ch. 5	Emergence of Electromyographic Patterns	139
	Basic Assumptions and Notions of the Model	140
	Initiation of an Isotonic Movement	145
	Termination of an Isotonic Movement	152
	Initiation of an Isometric Contraction	159
	Divergence of Isometric and Isotonic Patterns	160
	Correspondence of the Model to the Data	164
	Standard Motor Programs Can Lead to Different Peripheral Patterns	166
Ch. 6	Issues of Variability and Motor Learning	173
	Is There a Motor Program?	173
	Variability of Single-Joint Movements	182
	Variability in the [lambda]-Language	190
	Relation to Motor Learning	199
Ch. 7	Multijoint Movements	205
	The Bernstein Problem	205
	Kinematic Characteristics of Multijoint Movements	210
	Attempts to Solve the Bernstein Problem	222
	The Problem of Postural Stability	234
	Problems of Multilimb Coordination	239
Ch. 8	Optimization	245
	System Dynamics and Cost Functions	246
	Minimizing Indices of Performance	247
	Minimizing "Effort" and Maximizing "Comfort"	252
	Relativistic Motor Control	255
Ch. 9	Examples of Motor Disorders	263
	Spasticity	265
	Motor Disorders in Parkinson's Disease	274
	General Characteristics of Movements in Down Syndrome	283
	Some General Implications for Rehabilitation	290
Ch. 10	Language and Movement	293
	On the Laws of Coordination	294
	Deep Structure	297
	Transformation	299
	Surface Structure	301
	Tonic Stretch Reflex - An Example of Transformation	307
	Concluding Comments	308
Ch. 11	What to Do Next?	311
	Epilogue	315
	References	319
	Index	371