Contribution of the biceps brachii and pronator teres muscles to the efforts of pronation or supination. I. Statistical work (author's transl)

The electrical activity of the biceps brachii and pronator teres muscles is studied through the prono-supination of the forearm in some isometrical conditions (static work) with different loads and joint positions. If the pronator teres is always being active in pronation, this activity is a function of the load and of the wrist and elbow positions. The same phenomena can be observed for the biceps brachii but when in supination. From the curvilinear relationships between the integrated electrical activity and the load--observed on both muscles--some torque-angle relationships can be established for the biceps brachii which show that a bifunctional muscle seems to be characterized by a very and unique force-length relationship.     

The flexor function of the m. pronator teres in man: a quantitative electromyographic study

The muscle pronator teres was studied by surface electromyography during elbow flexion in a horizontal plane. The forearm was in semi-pronation and movement was performed at various velocities. A quantitative comparison was made between pronator teres activity and two main elbow flexors, biceps brachii and brachioradialis. The mean timing of the onset of activity was constant: biceps brachii was activated first followed by pronator teres and brachioradialis, and the lower the velocity of flexion, the earlier was the onset of biceps brachii activity. There was a linear relationship between the integrated EMG from each muscle and the work done. However, this relationship was less exact for pronator teres and brachioradialis at low values of work, a finding which opens questions about the generality of this relationship and about the "muscle equivalent" concept. Pronator teres appears to participate in elbow flexion besides its role in pronation. Despite similar anatomical peculiarities, pronator teres does not behave in the same way as anconaeus or popliteus and, above all, it is not the sole muscle active in slow movement. Thus, all the stocky muscles lying close to an articulation do not behave in the same way.     

Electromyography of pronators and supinators in great apes.

We obtained electromyographic recordings from the supinator, biceps brachii, pronator quadratus, and pronator teres muscles of a chimpanzee and a gorilla and from the supinator, pronator quadratus, and biceps brachii muscles of an orangutan as they stood and walked quadrupedally on horizontal and inclined surfaces, engaged in suspensory behavior, reached overhead, and manipulated a variety of foods and artifacts. In Pan troglodytes and Pan gorilla, as in Homo sapiens, the supinator muscle is the prime supinator, with the biceps brachii muscle serving to augment speed or force of supination. Primary of the pronator quadratus muscle over the pronator teres muscle during pronation is less clear in the African apes than in humans. Possibly, pongid radial curvature or forelimb elongation or both factors are related to the somewhat different patterns of activity that we observed in the pronator muscles of Pan versus those reported for Homo sapiens. In Pongo pygmaeus, as in P. troglodytes and P. gorilla, the pronator quadratus muscle acts as a pronator and the supinator muscle acts to supinate the hand at the radioulnar joints. The biceps brachii muscle is active at low levels as the orangutan supinates its hand with the elbow flexed.     

Muscle activity during maximal isometric forearm rotation using a power grip

This study aimed to provide quantitative activation data for muscles of the forearm during pronation and supination while using a power grip. Electromyographic data was collected from 15 forearm muscles in 11 subjects while they performed maximal isometric pronating and supinating efforts in nine positions of forearm rotation. Biceps brachii was the only muscle with substantial activation in only one effort direction. It was significantly more active when supinating (µ = 52.1%, SD = 17.5%) than pronating (µ = 5.1%, SD = 4.8%, p < .001). All other muscles showed considerable muscle activity during both pronation and supination. Brachioradialis, flexor carpi radialis, palmaris longus, pronator quadratus and pronator teres were significantly more active when pronating the forearm. Abductor pollicis longus and biceps brachii were significantly more active when supinating. This data highlights the importance of including muscles additional to the primary forearm rotators in a biomechanical analysis of forearm rotation. Doing so will further our understanding of forearm function and lead to the improved treatment of forearm fractures, trauma-induced muscle dysfunction and joint replacements.     

Evidence of changes in load sharing during isometric elbow flexion with ramped torque

This study aimed to: (1) test the repeatability of Supersonic Shear Imaging measures of muscle shear elastic modulus of four elbow flexor muscles during isometric elbow flexion with ramped torque; (2) determine the relationship between muscle shear elastic modulus and elbow torque for the four elbow flexor muscles, and (3) investigate changes in load sharing between synergist elbow flexor muscles with increases in elbow flexor torque. Ten subjects performed ten isometric elbow flexions consisting of linear torque ramps of 30-s from 0 to 40% of maximal voluntary contraction. The shear elastic modulus of each elbow flexor muscle (biceps brachii long head [BB(LH)], biceps brachii short head [BB(SH)], brachialis [BA], and brachoradialis [BR]) and of triceps brachii long head [TB] was measured twice with individual muscles recorded in separate trials in random order. A good repeatability of the shape of the changes in shear elastic modulus as a function of torque was found for each elbow flexor muscle (r-values: 0.85 to 0.94). Relationships between the shear elastic modulus and torque were best explained by a second order polynomial, except BA where a higher polynomial was required. Statistical analysis showed that BB(SH) and BB(LH) had an initial slow change at low torques followed by an increasing rate of increase in modulus with higher torques. In contrast, the BA shear elastic modulus increased rapidly at low forces, but plateaued at higher forces. These results suggest that changes in load sharing between synergist elbow flexors could partly explain the non-linear EMG-torque relationship classically reported for BB during isometric efforts.     

EMG and MMG of agonist and antagonist muscles as a function of age and joint angle.

The aim of this study was to determine the effect of elbow joint position on electromyographic (EMG) and mechanomyographic (MMG) activities of agonist and antagonist muscles in young and old women. Surface EMG and MMG were recorded from the triceps and biceps brachii, and brachioradialis muscles during isometric elbow extensions in young and old women. The measurements were carried out at an optimal joint angle (A(o)), as well as at smaller (A(s) = A(o) - 30 degrees ) and larger (A(l) = A(o) + 30 degrees ) angles. The normalized to force EMG amplitude (RMS-EMG/F) was smaller in old women compared to young in all muscles. The RMS-EMG/F of the triceps brachii muscle was not affected by muscle length while that of the biceps brachii and brachioradialis muscles increased at shortest muscle length in both groups. The normalized to force MMG amplitude (RMS-MMG/F) was smaller in old than in young in the triceps brachii muscle only. There was an increase in RMS-MMG/F with triceps brachii and biceps brachii muscle shortening in both groups, and in the brachioradialis muscle -- in young only. Compared to young, older women exhibited a bigger force fluctuation during maximum voluntary contraction, but these did not contribute significantly to the RMS-MMG. Skinfold thickness accounted for the RMS-EMG/F and RMS-MMG/F differences seen between old and young women in the biceps brachii muscle only. It is concluded that, the EMG and MMG response to muscles length change in agonist and antagonist muscles is generally similar in old and young women but the optimal angle shifts toward a bigger value in older women.     

Facilitation of triceps brachii muscle contraction by tendon vibration after chronic cervical spinal cord injury.

One way to improve the weak triceps brachii voluntary forces of people with chronic cervical spinal cord injury may be to excite the paralyzed or submaximally activated fraction of muscle. Here we examined whether elbow extensor force was enhanced by vibration (80 Hz) of the triceps or biceps brachii tendons at rest and during maximum isometric voluntary contractions (MVCs) of the elbow extensors performed by spinal cord-injured subjects. The mean +/- SE elbow extensor MVC force was 22 +/- 17.5 N (range: 0-23% control force, n = 11 muscles). Supramaximal radial nerve stimuli delivered during elbow extensor MVCs evoked force in six muscles that could be stimulated selectively, suggesting potential for force improvement. Biceps vibration at rest always evoked a tonic vibration reflex in biceps, but extension force did not improve with biceps vibration during triceps MVCs. Triceps vibration induced a tonic vibration reflex at rest in one-half of the triceps muscles tested. Elbow extensor MVC force (when >1% of control force) was enhanced by vibration of the triceps tendon in one-half of the muscles. Thus triceps, but not biceps, brachii tendon vibration increases the contraction strength of some partially paralyzed triceps brachii muscles.     

Effect of elbow joint angle on force–EMG relationships in human elbow flexor and extensor muscles

The purpose of this study was to examine the effect of joint angle on the relationship between force and electromyogram (EMG) amplitude and median frequency, in the biceps, brachioradialis and triceps muscles. Surface EMG were measured at eight elbow angles, during isometric flexion and extension at force levels from 10% to 100% of maximum voluntary contraction (MVC). Joint angle had a significant effect on MVC force, but not on MVC EMG amplitude in all of the muscles examined. The median frequency of the biceps and triceps EMG decreased with increasing muscle length, possibly due to relative changes in electrode position or a decrease in muscle fibre diameter. The relationship between EMG amplitude and force, normalised with respect to its maximum force at each angle, did not vary with joint angle in the biceps or brachioradialis muscles over all angles, or in the triceps between 45° and 120° of flexion. These results suggest that the neural excitation level to each muscle is determined by the required percentage of available force rather than the absolute force required. It is, therefore, recommended that when using surface EMG to estimate muscle excitation, force should be normalised with respect to its maximum value at each angle.     

Scaling of peak moment arms of elbow muscles with upper extremity bone dimensions.

It is often assumed that moment arms scale with size and can be normalized by body segment lengths or limb circumferences. However, quantitative scaling relationships between moment arms and anthropometric dimensions are generally not available. We hypothesized that peak moment arms of the elbow flexor and extensor muscles scale with the shorter distance (D(s)) between the elbow flexion axis and a muscle's origin and insertion. To test this hypothesis, we estimated moment arms of six muscles that cross the elbow, digitized muscle attachment sites and bone surface geometry, and estimated the location of the elbow flexion axis in 10 upper extremity cadaveric specimens which ranged in size from a 5'0" female to a 6'4" male. D(s) accurately reflected the differences in peak moment arms across different muscles, explaining 93-99% of the variation in peaks between muscles in the same specimen. D(s) also explained between 55% and 88% of the interspecimen variation in peak moment arms for brachioradialis, biceps, and ECRL. Triceps peak moment arm was significantly correlated to the anterior-posterior dimension of the ulna measured at the olecranon (r(2)=0.61, p=0.008). Radius length provides a good measure of the interspecimen variation in peaks for brachioradialis, biceps, and ECRL. However, bone lengths were not significantly correlated to triceps moment arm or anterior-posterior bone dimensions. This work advances our understanding of the variability and scaling dimensions for elbow muscle moment arms across subjects of different sizes.     

Upper-limb surface electro-myography at maximum supination and pronation torques: the effect of elbow and forearm angle.

Forearm pronation and supination, and increased muscular activity in the wrist extensors have been both linked separately to work-related injuries of the upper limb, especially humeral epicondylitis. However, there is a lack of information on forearm torque strength at ranges of elbow and forearm angles typical of industrial tasks. There is a need for strength data on forearm torques at different upper limb angles to be investigated. Such a study should also include the measurement of muscular activity for the prime torque muscles and also other muscles at possible risk of injury due to high exertion levels during tasks requiring forearm torques.Twenty-four male subjects participated in the study that involved maximum forearm torque exertions for the right arm, in the pronation and supination directions, and at four elbow and three forearm rotation angles. Surface EMG (SEMG) was used to evaluate the muscular activity of the pronator teres (PT), pronator quadratus (PQ), biceps brachi (BB), brachioradialis (BR), mid deltoid (DT) and the extensor carpi radialis brevis (ECRB) during maximum torque exertions. Repeated measures ANOVA indicated that both direction and forearm angle had a significant effect on the maximum torques (p<0.05) while elbow angle and the interactions were highly significant (p<0.001). The results revealed that supination torques were stronger overall with a mean maximum value of 16.2 Nm recorded for the forearm 75% prone. Mean maximum pronation torque was recorded as 13.1 Nm for a neutral forearm with the elbow flexed at 45 degrees. The data also indicated that forearm angle had a greater effect on supination torque than pronation torque. Supination torques were stronger for the mid-range of elbow flexion, but pronation torques increased with increasing elbow extension. The strength profiles for the maximum torque exertions were reflected in the EMG changes in the prime supinators and pronators. In addition, the EMG data expressed as the percentage of Maximum Voluntary Electrical activity (MVE), revealed high muscular activity in the ECRB for both supination (26-43% MVE) and pronation torques (17-55% MVE). The results suggest that the ECRB acts as a stabiliser to the forearm flexors for gripping during pronation torques depending on forearm angle, but acts as a prime mover in wrist extension for supination torques with little effect of elbow and forearm angle. This indicates a direct link between forearm rotations against resistance and high muscular activity in the wrist extensors, thereby increasing stress on the forearm musculo-skeletal system, especially the lateral epicondyle.     

Muscular fatigue and rate of tension development.

The effects of long-term fatigue upon maximal force and peak rate of tension development (PRTD) (dF/dt max) are studied in man (elbow flexors), in the rat (pseudo-isolated gastrocnemius muscle) and in the frog (isolated sartorius muscle). The muscles are fatigued by voluntary anisometric anisotonic contractions against an elastic resistance in man, and by maximal tetanic contractions in the frog and the rat. In man, the excitation level of the muscle is controlled by the integrated surface EMG of the biceps brachii. In the animals, the muscles are stimulated by a neurostimulator. The PRTD and the maximal isometric force are measured during fatigue tests. In man, frog and rat, the maximal voluntary isometric torque or the maximal force and the PRTD decrease initially more or less rapidly according to the power developed during the fatigue process, and then less rapidly. The relationship between PRTD and maximal force is linear in the animals and curvilinear in man. The variations of maximal force and PRTD are discussed in relation to the level of excitation of the muscles and of the composition in different motor units types and their spatio-temporal recruitment. From a biomechanical point of view, it seems necessary to study the behavior of the series elastic component during the evolution of long term fatigue.     

The isometric functional capacity of muscles that cross the elbow

We hypothesized that muscles crossing the elbow have fundamental differences in their capacity for excursion, force generation, and moment generation due to differences in their architecture, moment arm, and the combination of their architecture and moment arm. Muscle fascicle length, sarcomere length, pennation angle, mass, and tendon displacement with elbow flexion were measured for the major elbow muscles in 10 upper extremity specimens. Optimal fascicle length, physiological cross-sectional area (PCSA), moment arm, operating range on the force-length curve, and moment-generating capacity were estimated from these data. Brachioradialis and pronator teres had the longest (17.7cm) and shortest (5.5cm) fascicles, respectively. Triceps brachii (combined heads) and brachioradialis had the greatest (14.9cm(2)) and smallest (1.2cm(2)) PCSAs, respectively. Despite a comparable fascicle length, long head of biceps brachii operates over a broader range of the force-length curve (length change=56% of optimal length, 12.8cm) than the long head of triceps brachii (length change=28% of optimal length, 12. 7cm) because of its larger moment arm (4.7cm vs. 2.3cm). Although brachioradialis has a small PCSA, it has a relatively large moment-generating capacity (6.8cm(3)) due to its large moment arm (average peak=7.7cm). These results emphasize the need to consider the interplay of architecture and moment arm when evaluating the functional capabilities of a muscle.     

Mechanical interaction between neighboring muscles in human upper limb: Evidence for epimuscular myofascial force transmission in humans

To confirm the existence of epimuscular myofascial force transmission in humans, this study examined if manipulating joint angle to stretch the muscle can alter the shear modulus of a resting adjacent muscle, and whether there are regional differences in this response. The biceps brachii (BB: manipulated muscle) and the brachialis (BRA: resting adjacent muscle) were deemed suitable for this study because they are neighboring, yet have independent tendons that insert onto different bones. In order to manipulate the muscle length of BB only, the forearm was passively set at supination, neutral, and pronation positions. For thirteen healthy young adult men, the shear modulus of BB and BRA was measured with shear-wave elastography at proximal and distal muscle regions for each forearm position and with the elbow joint angle at either 100° or 160°. At both muscle regions and both elbow positions, BB shear modulus increased as the forearm was rotated from a supinated to pronated position. Conversely, BRA shear modulus decreased as function of forearm position. The effect of forearm position on shear modulus was most pronounced in the distal muscle region when the elbow was at 160°. The observed alteration of shear modulus of the resting adjacent muscle indicates that epimuscular myofascial force transmission is present in the human upper limb. Consistent with this assertion, we found that the effect of muscle length on shear modulus in both muscles was region-dependent. Our results also suggest that epimuscular myofascial force transmission may be facilitated at stretched muscle lengths.     

The effect of skinfold on frequency of human muscle mechanomyogram.

The aim of the study was to assess the effect of skinfold thickness on median and peak frequency of mechanomyographic (MMG) signal in relation to subject's age, gender and force during voluntary contraction of elbow flexor and extensor muscles. Seventy-nine healthy subjects participated in the study: 22 young females (age 20.1+/-1.1 years), 22 young males (age 23.4+/-1.1 years), 17 elderly females (age 64.9+/-5.1 years), and 18 elderly males (age 67.4+/-6.2 years). Three identical MMG probes were used to record MMG signals from above the triceps brachii (TB), biceps brachii (BB), and brachioradialis (BR) muscles simultaneously with the force signal. The results showed that the tissue between the muscle and the skin surface has a major contribution to the median and a minor contribution to the peak MMG frequencies independent of subjects' age (with force having more than 2 folds a smaller effect). During antagonistic function of the main elbow flexors and extensors, there is a decreasing effect of skinfold thickness and an increasing effect of force on the MMG frequency, and the relative contribution of both factors to the MMG signal is age related, especially in the TB and BR muscles. The BR muscle differs from the TB and BB muscles in regard to the effects of skinfold thickness and force on the MMG frequency, as well as in the effect of age on the relationship between the MMG frequency and skinfold thickness and force. The effect of age on the relative contribution of skinfolds and force to MMG frequency is specific for muscle and its function. It was concluded that studies that report MMG frequency with different values of skinfold thickness cannot be easily compared, especially when maximally activated prime movers are tested. A use of force and skinfold thickness as covariates is recommended when an MMG frequency is analyzed in subjects differing in the skinfold thickness.     

The role of the biceps brachii in shoulder elevation.

The biceps brachii is a bi-articular muscle affecting motion at the shoulder and elbow. While its' action at the elbow is well documented, its role in shoulder elevation is less clear. Therefore, the purpose of this project was to investigate the influence of shoulder and elbow joint angles on the shoulder elevation function of the biceps brachii. Twelve males and 18 females were tested on a Biodex dynamometer with the biceps brachii muscle selectively stimulated at a standardized level of voltage. The results indicated that both shoulder and elbow joint angles influence the shoulder joint elevation moment produced by the biceps brachii. Further analysis revealed that the elevation moment was greatest with the shoulder joint at 0 degrees and the elbow flexed 30 degrees or less. The greatest reduction in the elevation moment occurred between shoulder angles of 0 degrees and 30 degrees . The shoulder elevation moment was near zero when shoulder elevation reached or exceeded 60 degrees regardless of elbow angle. These results clarify the role of the biceps in shoulder elevation, as a dynamic stabilizer, and suggest that it is a decelerator of the arm during the throwing motion.     

The effect of handgrip position on upper extremity neuromuscular responses to arm cranking exercise.

The purpose of this study was to determine if handgrip position during arm cranking exercise influences the neuromuscular activity of muscles biceps brachii (BB), lateral head of triceps brachii (TB), middle deltoid (DT), infraspinatus (IS) and brachioradialis (BR). Fifteen participants cranked an arm ergometer using three different handgrip positions (supinated, pronated, and neutral). Electromyographic (EMG) data were recorded from the aforementioned muscles, and relative duration of EMG activation and amplitude were quantified for the first and second 180 degrees of crank angle. EMG measures were analyzed with MANOVA and follow-up univariate procedures; alpha was set at 0.01. The relative durations of EMG activation did not differ between handgrip positions. Muscle IS exhibited 36% less amplitude in the supinated versus neutral handgrip position (second half-cycle), and muscle BR displayed 63% greater amplitude across cycles in the neutral versus supinated and pronated handgrip positions. The greater BR activity displayed in the neutral handgrip position may reflect its anatomical advantage as an elbow flexor when the forearm is in neutral position. Muscle IS exhibited less activity in the supinated position and may be clinically relevant if it allows arm cranking to occur without subsequent shoulder pain, which is often the aim of shoulder rehabilitation.     

Technical note: Forearm pronation efficiency analysis in skeletal remains

This work presents an original methodology for analyzing forearm‐pronation efficiency from skeletal remains and its variation with regard to changes in the elbow position. The methodology is based on a biomechanical model that defines rotational efficiency as a mathematical function expressing a geometrical relationship between the origin and insertion of the pronator teres. The methodology uses humeral distal epiphysis photography, from which the geometrical parameters for the efficiency calculus can be obtained. Rotational efficiency is analyzed in a human specimen and in a living nonhuman hominoid (Symphalangus syndactylus) for a full elbow extension (180°) and an intermediate elbow position (90°). In both specimens, the results show that this rotational‐efficiency parameter varies throughout the entire rotational range and show a dependency on the elbow joint position. The rotational efficiency of the siamang's pronator teres is less affected by flexion of the forearm than that of the human. The fact that forearm‐pronation efficiency can be inferred, even quantified, allows us to interpret more precisely the functional and evolutionary significance of upper‐limb skeletal design in extant and fossil primate taxa. Am J Phys Anthropol 2009. © 2009 Wiley‐Liss, Inc.     

Simulation of the motor units control during a fast elbow flexion in the sagittal plane.

The fact that muscles are composed of different Motor Units (MUs) is often neglected when investigating motor control by macro models of human musculo-skeletal-joint systems. Each muscle is associated with one control signal. This simplification leads to difficulties when mechanical and electrical manifestations of the muscle activity are juxtaposed. That is why a new approach for muscle modelling was recently proposed (Journal of Biomechanics 2002;35:1123-1135). It is based on MUs twitches and a Hierarchical Genetic Algorithm (HGA) is implemented for choosing the moments of activation of the individual MUs, thus simulating the control of the nervous system. Its basic benefit is obtaining the complete information about the mechanical and activation behaviour of all MUs, respectively muscles, during the whole motion. Its possibilities are demonstrated when simulating fast elbow flexion. Three flexor and two extensor muscles, each consisting of approximately real number of different types of MUs, are modelled. The task is highly indeterminate and the optimization is performed according to a fitness function that is an assessed combination of criteria (minimal deviation from the given joint moment, minimal total muscle force and minimal MUs activation). The influence of the weight of the first criterion (the one that reflects the importance of the movement accuracy on the predicted results), is investigated. Two variants concerning the muscle MUs structure are also compared: each muscle is composed of four distinct types MUs and the MUs twitch parameters are uniformly distributed.     

Shoulder muscle function depends on elbow joint position: an illustration of dynamic coupling in the upper limb

Shoulder muscle function has been documented based on muscle moment arms, lines of action and muscle contributions to contact force at the glenohumeral joint. At present, however, the contributions of individual muscles to shoulder joint motion have not been investigated, and the effects of shoulder and elbow joint position on shoulder muscle function are not well understood. The aims of this study were to compute the contributions of individual muscles to motion of the glenohumeral joint during abduction, and to examine the effect of elbow flexion on shoulder muscle function. A three-dimensional musculoskeletal model of the upper limb was used to determine the contributions of 18 major muscles and muscle sub-regions of the shoulder to glenohumeral joint motion during abduction. Muscle function was found to depend strongly on both shoulder and elbow joint positions. When the elbow was extended, the middle and anterior deltoid and supraspinatus were the greatest contributors to angular acceleration of the shoulder in abduction. In contrast, when the elbow was flexed at 90°, the anterior deltoid and subscapularis were the greatest contributors to joint angular acceleration in abduction. This dependence of shoulder muscle function on elbow joint position is explained by the existence of dynamic coupling in multi-joint musculoskeletal systems. The extent to which dynamic coupling affects shoulder muscle function, and therefore movement control, is determined by the structure of the inverse mass matrix, which depends on the configuration of the joints. The data provided may assist in the diagnosis of abnormal shoulder function, for example, due to muscle paralysis or in the case of full-thickness rotator cuff tears.     

Muscle activity in rapid multi-degree-of-freedom elbow movements: solutions from a musculoskeletal model

The activity of certain muscles that cross the elbow joint complex (EJC) are affected by forearm position and forearm movement during elbow flexion/extension. To investigate whether these changes are based on the musculoskeletal geometry of the joint, a three-dimensional musculotendinoskeletal computer model of the EJC was used to estimate individual muscle activity in multi-degree-of-freedom (df) rapid (ballistic) elbow movements. It is hypothesized that this model could reproduce the major features of elbow muscle activity during multi-df elbow movements using dynamic optimal control theory, given a minimum-time performance criterion. Results from the model are presented and verified with experimental kinematic and electromyographic data from movements that involved both one-df elbow flexion/extension and two-df flexion/extension with forearm pronation/supination. The model demonstrated how the activity of particular muscles is affected by both forearm position and movement, as measured in these experiments and as previously reported by others. These changes were most evident in the flexor muscles and least evident in the extensor muscles. The model also indicated that, for specific one- and two-df movements, activating a muscle that is antagonistic or noncontributory to the movement could reduce the movement time. The major features of muscle activity in multi-df elbow movements appear to be highly dependent on the joint's musculoskeletal geometry and are not strictly based on neural influences or neuroanatomical substrates. Received: 9 May 1997 / Accepted in revised form: 8 December 1998