A New Approach to the Study of Two-Joint Upper Limb Movements in Humans: Independent Programming of the Positioning and Force

A new approach to mechanostimulation of the human forelimbs is proposed for studying various problems of motor control. The prototype of the device is based on a modern computerized control system for the planar two-dimensional transitions of the working organ, which includes a deformable element and the strain gauge elements; this allows one to register the force vector of the forelimb. In addition to “passive” mechanostimulation programs, which can be easily prepared in advance, the patient/subject additionally, using the biofeedback mode, can control the intensity of the pressure of his/her hand (planar force vector) on the manipulator handle, thus comparing the generated force with the command. The amplitude and/or direction of the force command can be changed in accordance with the current position on the trajectory. The combination of “passive” and “active” modes of mechanostimulation also can provide a wide field of application of the device for the rehabilitation of patients with orthopedic and neuropathological diseases.