On the Relationship Between Muscle Synergies and Redundant Degrees of Freedom in Musculoskeletal Systems
Bibliographic record
Abstract
It has been suggested that the human nervous system controls motions in the task (or operational) space. However, little attention has been given to the separation of the control of the task-related and task-irrelevant degrees of freedom. Aim: We investigate how muscle synergies may be used to separately control the task-related and redundant degrees of freedom in a computational model. Approach: We generalize an existing motor control model, and assume that the task and redundant spaces have orthogonal basis vectors. This assumption originates from observations that the human nervous system tightly controls the task-related variables, and leaves the rest uncontrolled. In other words, controlling the variables in one space does not affect the other space; thus, the actuations must be orthogonal in the two spaces. We implemented this assumption in the model by selecting muscle synergies that produce force vectors with orthogonal directions in the task and redundant spaces. Findings: Our experimental results show that the orthogonality assumption performs well in reconstructing the muscle activities from the measured kinematics/dynamics in the task and redundant spaces. Specifically, we found that approximately 70% of the variation in the measured muscle activity can be captured with the orthogonality assumption, while allowing efficient separation of the control in the two spaces. Implications: The developed motor control model is a viable tool in real-time simulations of musculoskeletal systems, as well as model-based control of bio-mechatronic systems, where a computationally efficient representation of the human motion controller is needed.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.002 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".