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An Inactivation Principle in Biomechanics J. P. Gauthier Universitґ de Toulon, Avenue de l'Universitґ 83130 LA GARDE, France. e e, e-mail: gauthier@u-bourgogne.fr B. Berret Universitґ de Bourgogne, Inserm U887, 21078 DIJON, France. e e-mail: bastien.berret@u-bourgogne.fr

We consider the problem of analyzing which control procedure is performed by human brain during p ointing movements of the arm. "Pointing movements" are movements in short time, that drive the end of the finger from certain initial position to certain terminal position, starting and ending with zero velocity. Records from practical experiments show the following rather surprising behaviour: a bit after the middle of the duration T of the motion, one can see certain intervals of time where the agonistic and antagonistic muscles are simultaneously inactivated. Another (minor) point is that the velocity profiles are not symmetric within the interval of time. In particular, maximum velocity is always reached between 0.44T and 0.49T (for upward movement). The purpose of this lecture is to present a general theory explaining these phenomena. Mostly, the ingredients of the theory are Transversality Theory together with Pontriaguin's Maximum Principle (and also the Clarke's nonsmooth version of the maximum principle). We consider mechanical systems with generalized coordinates x Rn and Lagrangian 1 L(x, x) = xT M (x) - V (x), x 2 The equations of motion are given by substituting into Lagrange's equation, d L L - = u + N (x, x) = u + N (x, x), dt x x in which u Rn represents the vector of external generalized forces acting on the system as controls, and N (x, x) are other exterior forces (including frictions for instance). Hence we get a dynamics of the form x = (x, x, u), where: Ё x (x, x, u) = M (x)-1 (N (x, x) -V (x) - C (x, x) + u), (1)


where the Coriolis matrix C (x, x) Mn (R) is defined as Cij (x, x) = 1 2
n k=1

Mij Mik Mkj xk . + - xk xj xi x(t), t xdt. The external forces is [0,T ], the alge"practical" work forces) is in fact the sum (for all

For a control force or torque u and a motion T braic work of external forces is W = udx = 0 u of external forces (i.e. the energy spent via the T |ux|dt. The absolute work Aw of external 0 muscles) of such contributions.

In practice, the control generalized forces appear under the guise of agonistic-antagonistic actions, i.e. ui = vi - wi , with vi ,wi 0. Moreover we assume certain dynamics on the agonistic and antagonistic actions. Finally, the absolute work is:
n T 0

Aw =
i=1

|vi xi |dt +

T 0

|wi xi |dt .

Our theory is twofold: 1. With transversality arguments, we show that the criterion minimized (if any) cannot be smooth at u = 0 for inactivations appear. In other terms, the presence of inactivations in practice implies the minimization of a term like the absolute work. 2. With the Maximum Principle, assuming the minimization of a criterion which is a compromise b etween the absolute work and some other term (comfort term), we prove that inactivations must appear. Moreover, we show the very strong fact that simultaneous inactivation of both agonistic and antagonistic muscles must appear. Also, certain classical phenomena from biomechanics, such as the "triphasic pattern" are obtained, as by-products of the theory.

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