The rate of change in the fluctuations in motor output differs during the performance of fatiguing contractions that involve different types of loads. The purpose of this study was to examine the contribution of frequency modulation of motor unit discharge to the fluctuations in the motor output during sustained contractions with the force and position tasks. In separate tests with the upper arm vertical and the elbow flexed to 1.57 rad, the seated subjects maintained either a constant upward force at the wrist (force task) or a constant elbow angle (position task). The force and position tasks were performed in random order at a target force equal to 3.6 ± 2.1% (mean ± SD) of the maximal voluntary contraction (MVC) force above the recruitment threshold of an isolated motor unit from the biceps brachii. Each subject maintained the two tasks for an identical duration (161 ± 93 s) at a mean target force of 22.4 ± 13.6% MVC. As expected, the rate of increase in the fluctuations in motor output (force task: SD for detrended force; position task: SD for vertical acceleration) was greater for the position task than the force task ( P < 0.001). The amplitude of the coefficient of variation (CV) and the power spectra for motor unit discharge were similar between tasks ( P > 0.1) and did not change with time ( P > 0.1), and could not explain the different rates of increase in motor output fluctuations for the two tasks. Nonetheless, frequency modulation of motor unit discharge differed during the two tasks and predicted ( P < 0.001) both the CV for discharge rate (force task: 1–3, 12–13, and 14–15 Hz; position task: 0–1, and 1–2 Hz) and the fluctuations in motor output (force task: 5–6, 9–10, 12–13, and 14–15 Hz; position task: 6–7, 14–15, 17–19, 20–21, and 23–24 Hz). Frequency modulation of motor unit discharge rate differed for the force and position tasks and influenced the ability to sustain steady contractions.
A soft, synergy-based robotic glove for grasping assistance
