ArticlePLoS computational biology2024
Co-contraction embodies uncertainty: An optimal feedforward strategy for robust motor control.
Article in PLoS computational biology, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 13 papers.
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Who cites it
13 citing papers in PubMed.
- Advancing human sensorimotor research through modular robotics: the case of the HRX-1.Philosophical transactions of the Royal Society of London. Series B, Biological sciences · 2026Review
- Physiological Impact of Chromatic-Weight Illusions in Augmented Reality: A Comparative sEMG Analysis of Muscle Fatigue and Stability.Sensors (Basel, Switzerland) · 2026Article
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- Torque regulation is affected by joint angle during isometric contraction in young male adults.Scientific reports · 2026Article
- Model predictive game control for personalized and targeted interactive assistance.Communications engineering · 2026Article
- The Effects of Dynamic Stability Training with Inertial Load of Water on Dynamic Balance and Pain in Middle-Aged Women with Chronic Low Back Pain: A Randomized Clinical Trial.Journal of functional morphology and kinesiology · 2025Article
- How task-relevant vibratory feedback from an active exoskeleton can lead to ergonomic postures.Communications engineering · 2025Article
- Dynamical stability and mechanical impedance are optimized when manipulating uncertain dynamically complex objects.PLoS computational biology · 2025Article
- Tuning of task-relevant stiffness in multiple directions.Scientific reports · 2025Article
- The Neuroplastic Outcomes from Impaired Sensory Expectations (NOISE) hypothesis: How ACL dysfunction impacts sensory perception and knee stability.Musculoskeletal science & practice · 2025Review
- Monolithic electrostatic actuators with independent stiffness modulation.Nature communications · 2025Article
- Extended Reality Biofeedback for Functional Upper Limb Weakness: Mixed Methods Usability Evaluation.JMIR XR and spatial computing · 2025Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
Despite our environment often being uncertain, we generally manage to generate stable motor behaviors. While reactive control plays a major role in this achievement, proactive control is critical to cope with the substantial noise and delays that affect neuromusculoskeletal systems. In particular, muscle co-contraction is exploited to robustify feedforward motor commands against internal sensorimotor noise as was revealed by stochastic optimal open-loop control modeling. Here, we extend this framework to neuromusculoskeletal systems subjected to random disturbances originating from the environment. The analytical derivation and numerical simulations predict a characteristic relationship between the degree of uncertainty in the task at hand and the optimal level of anticipatory co-contraction. This prediction is confirmed through a single-joint pointing task experiment where an external torque is applied to the wrist near the end of the reaching movement with varying probabilities across blocks of trials. We conclude that uncertainty calls for impedance control via proactive muscle co-contraction to stabilize behaviors when reactive control is insufficient for task success.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.