We circumvented this difficulty by considering single-neuron responses in an isometric task, where joint torques and muscle forces can be straightforwardly computed from limb geometry.

• 已有的经验表明，要解决这个问题是相当困难的，因为在很大程度上，估计和测量肢体运动产生的关节力矩和肌肉的力量有很多固有的不确定性。