Path constraints on point-to-point arm movements in three-dimensional space

Abstract

In this paper data are presented concerning the kinematic and dynamic characteristics of point-to-point arm movements which are inwardly or outwardly directed in three-dimensional space. Elbow and wrist position as well as elbow angle of extension were measured. From these data, other angles were computed trigonometrically and elbow and shoulder torques were calculated. Some of the angles describing arm and forearm motion were found to be linearly related for any given movement. Changes in shoulder and elbow torque were found to be similar to those described for movements restricted to one degree of freedom. Shoulder and elbow motions were not affected when it was required that the orientation of the hand in space remain constant. These observations were taken to indicate that shoulder and elbow motions are tightly coupled for movements in three-dimensional space and that wrist motion has no influence on this coupling. Linear relations between angles express such coupling. They are taken to result from functional constraints and may facilitate the mapping between extrinsic and intrinsic coordinate systems. Some of the observations pertaining to the torque lead to the hypothesis of a further constraint limiting the number of possible trajectories in a point-to-point movement.