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Department of Biomedical Kinesiology, Katholieke Universiteit Leuven, Tervuursevest 101, B-3001 Heverlee, Belgium
Division of PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B-3001 Heverlee, Belgium
A R T I C L E I N F O
A B S T R A C T
Article history:
Received 20 January 2010
Received in revised form 8 July 2010
Accepted 13 July 2010
In previous studies, upper limb coordination was usually analyzed during two-dimensional (2D) arm
movements. Based on joint kinematics and muscle activity, it has been demonstrated that the shoulder
joint controls the multi-joint movement. This study focused on three-dimensional (3D) reaching tasks
and examined if the coordination strategies previously described in 2D can be transferred to 3D
movements and if reaching to different locations in space has an effect on kinematic and upper limb
muscle strategies.
Ten healthy subjects reached to nine different targets in 3D space placed at arm length. Kinematic
data of the shoulder and elbow and electrical activity of 10 upper limb muscles were registered.
Differences in kinematics and EMG were compared between different reaching conditions.
Activity of shoulder muscles increased earlier than elbow muscles inducing shoulder elevation prior
to elbow extension. Reaching at different widths only inuenced shoulder kinematics, whereas reaching
at different heights inuenced both shoulder and elbow joints. Modulation of reaching height induced an
immediate adaptation of elbow exion followed by an adaptation of shoulder elevation.
As previously described in 2D, the shoulder joint leads the movement during 3D reaching tasks.
Changing the 3D nature of a reaching task inuenced the interaction between shoulder and elbow joint,
with reaching height primarily affecting the elbow coordination strategy.
2010 Elsevier B.V. All rights reserved.
Keywords:
Upper limb control
3D reaching task
Upper limb kinematics
Upper limb electromyography
1. Introduction
In daily life, many activities such as reaching, grasping and
lifting require task-specic coordination of a large number of
degrees of freedom (DOF) of the upper limb [14], with underlying
coordinated activation of multiple muscles [5,6].
The control of a multi-joint system such as the upper limb with
multiple DOFs in the shoulder and elbow joints relies on a exible
movement pattern organization such that motion and endpoint
position can be achieved through a complex interaction of variable
excursion of the individual DOFs of each joint. During movement
tasks conned to one plane (2D), the shoulder is responsible for the
movement generation, providing acceleration and deceleration of
shoulder and elbow joint [711]. The elbow regulates the
kinematics of the other upper limb joints in order to stabilize
and ne-tune end-point trajectory [7,8,12,13]. Specic kinematic
requirements of the motion (with the ratio between shoulder
elbow excursion and the path of the end-effector as key
parameters) emphasize the role of the elbow motion [9].
[(Fig._1)TD$IG]
501
Fig. 1. The cameras were placed 4 m away from subject, one at 908 at the right side and one at 458 at the right/front side of the subject. Targets were placed at three different
widths: at center line (medial), 458 lateral from center line (lateral), intermediate position (neutral), and three different heights: at shoulder height (middle), 458 above
shoulder height (high) and 458 below shoulder height (low). This resulted into nine reaching conditions: medial and low (ML), medial and middle (MM), medial and high
(MH), neutral and low (NL), neutral and middle (NM) the reference reaching task, neutral and high (NH), lateral and low (LL), lateral and middle (LM), and lateral and high
(LH). 26 active infrared LEDs were placed on upper arm, lower arm and trunk consisting of ve clusters xed on lower arm, upper arm, clavicle, back and thorax and six LEDs
attached to anatomical body points (radial styloid, ulnar styloid, lateral epicondyle, medial epicondyle, acromion, and processus xyphoideus). One LED was attached to the
back of the hand, and three LEDs were placed on the head.
[(Fig._2)TD$IG]
[TD$INLE]
502
Fig. 2. Average segment angles (8) for the nine conditions ([TD$INLE]
ML, [TD$INLE]
MM, [TD$INLE]
MH, [TD$INLE]
NL, [TD$INLE]
NM SD, [TD$INLE]
NH, [TD$INLE]
LL,
LM, [TD$INLE]
LH) during one reaching cycle (%). The timing of the statistical signicant differences (Wilcoxon) between specic targets is indicated at the bottom of each
graph. Different segment angles are explained at the bottom of the gure: (1) elevation angle i.e. angle of the humerus in the transverse plane of the thorax with the rotation axis
coinciding with the longitudinal axis of the thorax (with 08 indicating shoulder abduction and 908 indicating shoulder elevation), (2) shoulder rotation i.e. angle between forearm
and sagittal plane, when shoulder is at neutral elevation angle and elbow exed 908, (3) shoulder elevation i.e. angle between longitudinal axis of humerus and longitudinal axis
of body, (4) elbow exion i.e. angle between longitudinal axis of forearm and humerus and (5) forearm rotation i.e. rotation of forearm relative to its longitudinal axis (with 08
indicating palm in neutral stand).
3. Results
3.1. Reference reaching task (NM)
Over the reaching cycle, shoulder elevation increased
from 168 (48) to 818 (118) shoulder elevation and shoulder
[TD$INLE]
[(Fig._3)TD$IG]
503
Fig. 3. Average RMS values of the EMG (V) of 10 muscles for the nine conditions ([TD$INLE]
ML, [TD$INLE]
MM, [TD$INLE]
MH, [TD$INLE]
NL, [TD$INLE]
NM SD, [TD$INLE]
NH,
LL, [TD$INLE]
LM, [TD$INLE]
LH) during one reaching cycle (%). The timing of the statistical signicant differences (Wilcoxon) between specic targets is indicated at the
bottom of each graph.
[(Fig._4)TD$IG]
504
Fig. 4. Range of motion (8) of the different segment angles for the nine conditions. Main signicant difference in height or width (ANOVA) is indicated above or left of the
tables. Signicant differences between specic targets (Tukey) are indicated in the tables. $ p < 0.01, * 0.01 < p < 0.05.
[(Fig._5)TD$IG]
505
Fig. 5. Average RMS value of the EMG (V) of 10 muscles for the nine conditions. Main signicant difference in height or width (ANOVA) is indicated above or left of the tables.
Signicant differences between specic targets (Tukey) are indicated in the tables. $ p < 0.01, * 0.01 < p < 0.05.
506
4. Discussion
Different coordination strategies have been identied during
2D movements of the upper limb, dening specic relations
between muscle activity and segmental kinematics [7,10,11,13
17]. However, little is known on how these control strategies
transfer to reaching tasks in 3D space. Therefore, we present a
descriptive analysis of the kinematics and muscle activity of
shoulder and elbow of 10 normal subjects during 3D reaching
movements at three different heights and widths.
During reaching at the reference target (NM), the motion
depended mostly on increased elevation angle, elbow extension
and shoulder elevation (ROMs 808, 748 and 658 respectively).
Rotational DOFs (i.e. shoulder external rotation and forearm
supination) were the smallest with 148. Analyzing the sequence of
the kinematics, shoulder elevation and external rotation increased
continuously throughout the reaching cycle. Changes in elevation
angle and forearm supination occurred at the beginning of the
cycle, whereas elbow extension was initiated in the second half of
the cycle. These ndings are consistent with the observations of
previous 2D and 3D studies, which conrm that the shoulder
initiates the movement. We identied shoulder elevation and
rotation to control the end-point trajectory throughout the
reaching cycle, whereas the initial positioning with respect to
the reaching target was mainly controlled through the elevation
angle. Elbow extension contributed to end-point control only
during the second half of the cycle [712,18,19]. Although, the
magnitude of the rotational DOFs was small, their contribution was
important in the initial phase (pronation) and throughout the
reaching motion (shoulder rotation).
The burst pattern in muscle activity reported in previous 2D
studies [7,1417] of horizontal plane movements, clearly differs
from the activity patterns observed during 3D reaching in the
present study, where most shoulder and elbow muscles presented
a gradual increase of muscle activity over the reaching cycle. The
sustained gravitational force on the arm and the 3D nature of the
movement contributed to this difference. During the reference
reaching task, DELT1 was identied as prime contributor to
movement, presenting an immediate increase in muscle activity at
the start of the reaching movement. During the second half of the
reaching cycle, DELT2 and DELT3 took over this role. Elbow
extension during the second part of the reaching cycle was
controlled by co-activation of the elbow muscles (BIC, TRIlong and
TRIlat). Stabilization at the shoulder was achieved through coactivation of INFRA and PMAJ coinciding with DELT1 action during
the beginning of reaching, and through the continuously increasing
activity of LAT. The observed earlier onset of EMG activity of the
shoulder muscles compared to the activity of the elbow muscles is
in agreement with the ndings of previous studies [8,17,20].
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