Control limitations in the null-space of the wrist muscle system

The redundancy present within the musculoskeletal system may offer a non-invasive source of signals for movement augmentation, where the muscle-to-force null-space could be controlled simultaneously to the natural limbs. Here, we investigated the viability of extracting movement augmentation control signals from the muscles of the wrist complex. Our study assessed i) if controlled variation of the muscle activation patterns in the wrist joint's null-space is possible; and ii) whether force and null-space targets could be reached simultaneously. During the null-space target reaching condition, participants used EMG-to-force null-space muscle activation to move their cursor towards a displayed target while minimising the exerted force as visualised through the cursor's size. Initial targets were positioned to require natural co-contraction in the null-space and if participants showed a consistent ability to reach for their current target, they would rotate 5 ° ; incrementally to generate muscle activation patterns further away from their natural co-contraction. In contrast, during the concurrent target reaching condition participants were required to match a target position and size, where their cursor position was instead controlled by their exerted flexion-extension and radial-ulnar deviation, while its size was changed by their natural co-contraction magnitude. The results collected from 10 participants suggest that while there was variation in each participant's co-contraction behaviour, most did not possess the ability to control this variation for muscle-to-force null-space reaching. In contrast, participants did show a direction and target size dependent ability to vary isometric force and co-contraction activity concurrently. Our results show the limitations of using null-space activity in joints with a low level of redundancy. ### Competing Interest Statement The authors have declared no competing interest.