A mathematical model for motor control over one-joint fast and slow movements is proposed based on the equilibrium point (EP) hypothesis. Equations describing a reaction of the muscle with its servo to an EP shift are presented. EMG level is estimated as a function of kinematic and control variables. Voluntary movements are performed by a ramp EP shift for the muscles subserving a given joint. EMG patterns obtained by a computer simulation are in good agreement with the experimental data.
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