FEEDBACK REGULATION OF JOINT EQUILIBFUUM STATES WITH a-y COACTIVATION

This paper describes a strategy of movement control on the basis of feedback regulation of equilibrium states of joint. The descending commands specify an Q motomeuron excitation signal and a y motomeuron excitation signal. These signals are transformed into muscle control inputs through spinal reflex. The y motomeuron activation is the control signal for joint equilibrium angle 0,. The y-0, relationship is a straight line with reflex regulation. This relationship is shifted parallelly by descending excitation signal.