BASIC FUNCTIONS OF VARIABILITY OF SIMPLE PREPLANNED MOVEMENTS

A model of a pre-planned single joint movements performed without feedback is considered. Modifications of this movement result from transformation of a trajectory pattern f(t) in space and time. The control system adjusts the movement to concrete external conditions specifying values of the transform parameters before the movement performance. The preplanned movement is considered to be simple one, if the transform can be approximated by an affine transform of the movement space and time. In this case, the trajectory of the movement is x(t) = Af(t/tau + s) + p, were A and 1/tau are space and time scales, s and p are translations. The variability of movements is described by time profiles of variances and covariances of the trajectory x(t), velocity v(t), and acceleration a(t). It is assumed that the variability is defined only by parameters variations. From this assumption follows the main finding of this work: the variability time profiles can be expanded on a special system of basic functions corresponding to established movement parameters. Particularly, basic functions of variance time profiles, reflecting spatial and temporal scaling, are x2(t) and t2v2(t) for trajectory, v2(t) and (v(t) + t . a(t))2 for velocity, and a2(t) and (2a(t) + t - j(t))2, where j(t) = d3x(t)/dt3, for acceleration. The variability of a model of a reaching movement was studied analytically. The model predicts certain peculiarities of the form of time profiles (e.g., the variance time profile of velocity is bi-modal, the one of acceleration is tri-modal, etc.). Experimental measurements confirmed predictions. Their consistence allows them to be considered invariant properties of reaching movement. A conclusion can be made, that reaching movement belongs to the type of simple preplanned movements. For a more complex movement, time profiles of variability are also measured and explained by the model of movements of this type. Thus, a movement can be attributed to the type of simple pre-planned ones by testing its variability.