Roles of the elements of the triphasic control signal.

In fast (time-optimal) movements about many joint systems, the triphasic EMG pattern has been observed. Although the first agonist burst obviously initiates the movement, the roles of the second and third bursts, appearing in the antagonist and agonist respectively, have been less clear. In this study, the timing of experimentally measured EMG signals led to construction of a three-pulse control signal that produced an accurate simulation of experimentally measured time-optimal head rotations using a sixth-order nonlinear model in conjunction with an optimization algorithm. By ablating pulses from the model control signal and observing the resulting dynamics, the roles of the three pulses can be assessed. As a result, the pulses can be designated PA, the action pulse (for the first agonist burst), PB, the braking pulse (for the antagonist burst), and PC, the clamping pulse (for the second agonist burst). Comparison of dynamic parameters from the simulated movements revealed strategies used to generate control signals for movements of various speeds.