The authors looked for a strategy which might underlie the process of motor learning. The concept is based on the idea of the hierarchical organization of motor control system, whereby the higher levels are concerned with the planning of ideal trajectory in coordinate of external world, and the complex dynamic, kinematic and force distribution problems involved in the control of multi-joint movements are solved at lower levels according to the equilibrium trajectory control hypothesis. It was shown that intrinsic properties of the motor system provide the appropriate vehicle for modulating the total dynamic behavior. The work consists of theoretical issues (mathematical modeling), experimental part and computer simulations.
