Dataset Information

Joint-Angle Coordination Patterns Ensure Stabilization of a Body-Plus-Tool System in Point-to-Point Movements with a Rod.

ABSTRACT: When performing a goal-directed action with a tool, it is generally assumed that the point of control of the action system is displaced from the hand to the tool, implying that body and tool function as one system. Studies of how actions with tools are performed have been limited to studying either end-effector kinematics or joint-angle coordination patterns. Because joint-angle coordination patterns affect end-effector kinematics, the current study examined them together, with the aim of revealing how body and tool function as one system. Seated participants made point-to-point movements with their index finger, and with rods of 10, 20, and 30 cm attached to their index finger. Start point and target were presented on a table in front of them, and in half of the conditions a participant displacement compensated for rod length. Results revealed that the kinematics of the rod's tip showed higher peak velocity, longer deceleration time, and more curvature with longer rods. End-effector movements were more curved in the horizontal plane when participants were not displaced. Joint-angle trajectories were similar across rod lengths when participants were displaced, whereas more extreme joint-angles were used with longer rods when participants were not displaced. Furthermore, in every condition the end-effector was stabilized to a similar extent; both variability in joint-angle coordination patterns that affected end-effector position and variability that did not affect end-effector position increased in a similar way vis-à-vis rod length. Moreover, the increase was higher in those conditions, in which participants were not displaced. This suggests that during tool use, body and tool are united in a single system so as to stabilize the end-effector kinematics in a similar way that is independent of tool length. In addition, the properties of the actual trajectory of the end-effector, as well as the actual joint-angles used, depend on the length of the tool and the specifics of the task.

SUBMITTER: Valk TA

PROVIDER: S-EPMC4891357 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature

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Publications

Joint-Angle Coordination Patterns Ensure Stabilization of a Body-Plus-Tool System in Point-to-Point Movements with a Rod.

Valk Tim A TA Mouton Leonora J LJ Bongers Raoul M RM

Frontiers in psychology 20160603

When performing a goal-directed action with a tool, it is generally assumed that the point of control of the action system is displaced from the hand to the tool, implying that body and tool function as one system. Studies of how actions with tools are performed have been limited to studying either end-effector kinematics or joint-angle coordination patterns. Because joint-angle coordination patterns affect end-effector kinematics, the current study examined them together, with the aim of reveal ...[more]

PMID: 27375518

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Project description:The solid-state isolation of the different tautomers of a chemical compound can be a challenging problem. In many cases, tautomers with an energy very close to the most stable one cannot be isolated (elusive tautomers). In this article, with reference to the 4-methyl-7-(pyrazin-2-yl)-2H-[1,2,4]triazolo[3,2-c][1,2,4]triazole ligand, for which the elusive 3H-tautomer has an energy only 1.4 kcal mol-1 greater than the most stable 2H form, we show that metal complexation is a successful and reliable way for stabilizing the elusive tautomer. We have prepared two complexes of the neutral ligand with CuBr2 and ZnBr2, namely, aquabromidobis[4-methyl-7-(pyrazin-2-yl)-3H-[1,2,4]triazolo[3,2-c][1,2,4]triazole]copper(II) bromide trihydrate, [CuBr(C8H7N7)2(H2O)]Br·3H2O, and dibromido[4-methyl-7-(pyrazin-2-yl)-2H-[1,2,4]triazolo[3,2-c][1,2,4]triazole][4-methyl-7-(pyrazin-2-yl)-3H-[1,2,4]triazolo[3,2-c][1,2,4]triazole]zinc(II) monohydrate, [ZnBr2(C8H7N7)2]·H2O. The X-ray analysis shows that, in both cases, the elusive 3H-tautomer is present. The results of the crystallographic analysis of the two complexes reflect the different coordination preferences of CuII and ZnII. The copper(II) complex is homotautomeric as it only contains the elusive 3H-tautomer of the ligand. The complex can be described as octahedral with tetragonal distortion. Two 3H-triazolotriazole ligands are bis-chelated in the equatorial plane, while a water molecule and a bromide ion in elongated axial positions complete the coordination environment. The zinc(II) complex, on the other hand, is heterotautomeric and contains two bromide ions and two monodentate ligand molecules, one in the 2H-tautomeric form and the other in the 3H-tautomeric form, both coordinated to the metal in tetrahedral geometry. The observation of mixed-tautomer complexes is unprecedented for neutral ligands. The analysis of the X-ray molecular structures of the two complexes allows the deduction of possible rules for a rational design of mixed-tautomer complexes.

Dataset Information

Joint-Angle Coordination Patterns Ensure Stabilization of a Body-Plus-Tool System in Point-to-Point Movements with a Rod.

Publications

Joint-Angle Coordination Patterns Ensure Stabilization of a Body-Plus-Tool System in Point-to-Point Movements with a Rod.

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