{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T15:21:54Z","timestamp":1759332114150,"version":"3.32.0"},"reference-count":41,"publisher":"American Physiological Society","issue":"5","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Neurophysiology"],"published-print":{"date-parts":[[2005,5]]},"abstract":"<jats:p>Smooth, frictionless, kinematic constraints on the motion of a grasped object reduce the motion freedoms at the hand, but add force freedoms, that is, force directions that do not affect the motion of the object. We are studying how subjects make use of these force freedoms in static and dynamic manipulation tasks. In this study, subjects were asked to use their right hand to hold stationary a manipulandum being pulled with constant force along a low-friction linear rail. To accomplish this task, subjects had to apply an equal and opposite force along the rail, but subjects were free to apply a force against the constraint, orthogonal to the pulling force. Although constraint forces increase the magnitude of the total force vector at the hand and have no effect on the task, we found that subjects applied significant constraint forces in a consistent manner dependent on the arm and constraint configurations. We show that these results can be interpreted in terms of an objective function describing how subjects choose a particular hand force from an infinite set of hand forces that accomplish the task. Without assuming any particular form for the objective function, the data show that its level sets are convex and scale invariant (i.e., the level set shapes are independent of the hand-force magnitude). We derive the level sets, or \u201cisocost\u201d contours, of subjects' objective functions directly from the experimental data.<\/jats:p>","DOI":"10.1152\/jn.00799.2004","type":"journal-article","created":{"date-parts":[[2005,2,10]],"date-time":"2005-02-10T01:35:55Z","timestamp":1107999355000},"page":"2752-2765","source":"Crossref","is-referenced-by-count":23,"title":["Static Single-Arm Force Generation With Kinematic Constraints"],"prefix":"10.1152","volume":"93","author":[{"given":"Peng","family":"Pan","sequence":"first","affiliation":[{"name":"Laboratory for Intelligent Mechanical Systems, Mechanical Engineering Department, Northwestern University, Evanston, Illinois"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael A.","family":"Peshkin","sequence":"additional","affiliation":[{"name":"Laboratory for Intelligent Mechanical Systems, Mechanical Engineering Department, Northwestern University, Evanston, Illinois"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. Edward","family":"Colgate","sequence":"additional","affiliation":[{"name":"Laboratory for Intelligent Mechanical Systems, Mechanical Engineering Department, Northwestern University, Evanston, Illinois"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kevin M.","family":"Lynch","sequence":"additional","affiliation":[{"name":"Laboratory for Intelligent Mechanical Systems, Mechanical Engineering Department, Northwestern University, Evanston, Illinois"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"24","reference":[{"key":"R1","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050324"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(81)90048-8"},{"key":"R3","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1986.56.5.1225"},{"key":"R4","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(81)90035-X"},{"key":"R5","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1990.64.6.1818"},{"key":"R6","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-07-01688.1985"},{"key":"R7","doi-asserted-by":"publisher","DOI":"10.1114\/1.1540105"},{"key":"R8","doi-asserted-by":"crossref","unstructured":"Gomi H.Anisotropic stiffness reduction during constrained multijoint arm movement.Proc 20th Ann Int Conf IEEE Eng Med Biol Soc,1998, vol.20, p. 2336\u20132337.","DOI":"10.1109\/IEMBS.1998.744762"},{"key":"R9","unstructured":"Gomi H.Minimum principles for muscle-coordination evaluation by the directional preference of muscle activation during multijoint-arm force regulation tasks.Proc IEICE Neurocomput Tech Meeting,2000, p. 9\u201316."},{"key":"R10","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.18-21-08965.1998"},{"key":"R11","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1998.79.3.1409"},{"key":"R12","doi-asserted-by":"publisher","DOI":"10.1038\/29528"},{"key":"R13","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1984.1103644"},{"key":"R14","doi-asserted-by":"publisher","DOI":"10.1109\/10.552246"},{"key":"R15","doi-asserted-by":"publisher","DOI":"10.1016\/0167-9457(94)90010-8"},{"key":"R16","unstructured":"Lawrence C, Zhou JL, and Tits AL.User's Guide for CFSQP,version 2.3, No. 94-16. College Park, MD: Institute for Systems Research, University of Maryland, 1994."},{"key":"R17","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(96)00026-7"},{"key":"R18","doi-asserted-by":"crossref","unstructured":"Lynch KM, Liu C, Sorensen A, Peshkin MA, Colgate JE, Tickel T, Hannon D, and Shiels K.Motion guides for assisted manipulation.Int J Robot Res21: 27\u201343, 2000.","DOI":"10.1177\/027836402320556467"},{"key":"R19","doi-asserted-by":"publisher","DOI":"10.1007\/BF00228556"},{"key":"R20","unstructured":"Meek SG, Wood JE, and Jacobsen SC.Model-based, multi-muscle EMG control of upper-extremity prostheses. In:Multiple Muscle Systems: Biomechanics and Movement Organization,edited by Winters JM and Woo SLY. New York: Springer-Verlag, 1990."},{"key":"R21","doi-asserted-by":"publisher","DOI":"10.1007\/s00221-002-1049-1"},{"key":"R22","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(00)00051-8"},{"key":"R23","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.05-10-02732.1985"},{"key":"R24","doi-asserted-by":"publisher","DOI":"10.1007\/BF00339982"},{"key":"R25","doi-asserted-by":"crossref","unstructured":"Pan P, Lynch KM, Peshkin MA, and Colgate JE.Static single-arm force generation with kinematic constraints.Proc 2004 IEEE Int Conf on Robotics Autom,2004, vol.3, p. 2794\u20132800.","DOI":"10.1109\/ROBOT.2004.1307484"},{"key":"R26","doi-asserted-by":"publisher","DOI":"10.1007\/s002210100880"},{"key":"R27","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(96)00031-0"},{"key":"R28","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(98)00116-X"},{"key":"R29","doi-asserted-by":"crossref","unstructured":"Russell Dand Hogan N.Dealing with constraints: a biomechanical approach.Proc IEEE Conf Eng Med Biol,1989, p. 892\u2013893.","DOI":"10.1109\/IEMBS.1989.96034"},{"key":"R30","doi-asserted-by":"publisher","DOI":"10.1152\/jn.2000.84.2.853"},{"key":"R31","doi-asserted-by":"crossref","unstructured":"Svinin M, Ohta K, Luo ZW, and Hosoe S.Towards understanding of human movements constrained by the external environment.Proc IEEE\/RSJ Int Conf Intell Robots Syst,2003, p. 155\u2013161.","DOI":"10.1109\/IROS.2003.1250621"},{"key":"R32","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014840"},{"key":"R33","doi-asserted-by":"publisher","DOI":"10.1152\/jn.1998.80.2.696"},{"key":"R34","doi-asserted-by":"publisher","DOI":"10.1007\/BF00204593"},{"key":"R35","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(00)00131-7"},{"key":"R36","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050560"},{"key":"R37","doi-asserted-by":"crossref","unstructured":"van der Helm FCT.A finite element musculoskeletal model of the shoulder mechanism.J Biomech25: 551\u2013569, 1994.","DOI":"10.1016\/0021-9290(94)90065-5"},{"key":"R38","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(95)00026-7"},{"key":"R39","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90094-8"},{"key":"R40","doi-asserted-by":"crossref","unstructured":"Worsnopp T, Peshkin MA, Colgate JE, and Lynch KM.Controlling the apparent inertia of passive human interactive robots.Proc 2004 IEEE Int Conf Robotics Autom,2004, vol.2, p. 1179\u20131184.","DOI":"10.1109\/ROBOT.2004.1307984"},{"key":"R41","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(76)90119-6"}],"container-title":["Journal of Neurophysiology"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.physiology.org\/doi\/pdf\/10.1152\/jn.00799.2004","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,12,23]],"date-time":"2024-12-23T07:23:36Z","timestamp":1734938616000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.physiology.org\/doi\/10.1152\/jn.00799.2004"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,5]]},"references-count":41,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2005,5]]}},"alternative-id":["10.1152\/jn.00799.2004"],"URL":"https:\/\/doi.org\/10.1152\/jn.00799.2004","relation":{},"ISSN":["0022-3077","1522-1598"],"issn-type":[{"type":"print","value":"0022-3077"},{"type":"electronic","value":"1522-1598"}],"subject":[],"published":{"date-parts":[[2005,5]]}}}