We investigated relations between torque and elbow joint angle for constant muscle activations in isovelocity flexion movements of the forearm in three normal subjects. The reference angular velocity was from 0 to 90°/s and the applied torque from 0 to 15% of maximum voluntary contraction. Integrated surface electromyograms (IEMGs) of six muscles, torque, angle and angular velocity of the elbow joint were measured. A mathematical model describing the relationship between these variables was constructed with an artificial neural network. We estimated elbow joint torque by presenting different elbow joint angles, constant IEMGs and constant angular velocity to the model. For elbow joint angles greater than 60°, the slope, which was defined as the rate of torque increase with respect to elbow joint angle, was negative. For elbow joint angles less than 50°, the slope changed from positive to negative when the angular velocity increased. This implied that the flexor muscle-elbow joint system could change from unstable to stable when the angular velocity increased.

Simultaneous recordings of eight channel surface myoelectric signals (EMGs) of the biceps brachii muscles of seven subjects were measured in isovelocity elbow flexion against constant load torque. The velocity was 10, 15, 20 and 25 degree/s and the load torque was 5-15 % of the torque obtained at the maximum voluntary contraction (MVC). Individual motor units were identified from the eight-channel surface EMG, by tracking the waveform change which originated from the change of relative position of muscle fiber and electrode. In the low-load (5 and 7% MVC) experiment, 36 examples of recruitment and 22 examples of derecruitment were measured. In the middle-load (10 and 15% MVC) experiment, most of the motor units did not show an obvious change in the firing rate with the elbow joint angle. Average of the firing rates of all the motor units measured at the elbow angle of 0 to 120 degree (13.3-14.7 Hz) did not depend on flexion velocity between 10 to 25 degree/s. It was concluded that the firing rates of the activated MUs were almost constant and that some MUs were recruited and derecruited during the isovelocity flexion movements. These are the first findings.