Human arm trajectory formation

In order to investigate the strategies used to plan and control multijoint arm trajectories, two-degrees-of-freedom arm movements performed by normal adult humans were recorded. Only the shoulder and elbow joints were active. When a subject was told simply to move his hand from one visual target to another, the path of the hand was roughly straight, and the hand speed profile of their straight trajectories was bell-shaped. When the subject was required to produce curved hand trajectories, the path usually had a segmented appearance, as if the subject was trying to approximate a curve with low curvature elements. Hand speed profiles associated with curved trajectories contained speed valleys or inflections which were temporally associated with the local maxima in the trajectory curvature. The mean duration of curved movements was longer than the mean for straight movements. These results are discussed in terms of trajectory control theories which have originated in the fields of mechanical manipulator control and biological motor control. Three explanations for the results are offered.

Arm trajectory formation in monkeys

The formation of forearm trajectories of moderate velocities (0.3-1.3 rad/s) was studied in monkeys performing a simple visuomotor task. The experiments were designed to test the hypothesis that the transition from one position to another is subserved by a rapid shift to a final equilibrium of forces in agonist and antagonist muscles. This idea is attractive because it suggests the possibility that in simple movements the trajectory is determined by the inherent inertial and viscoelastic properties of the limb and muscles around a joint. The results indicate that these moderate speed movements are controlled by a gradual, and not a step-like, shift to the final equilibrium position.

Functional organization of the motor process underlying the transition from movement to posture

In these experiments we studied the organization of the neural pattern of activity underlying the achievement and maintenance of final limb position. The examination of the alpha motoneuronal inputs to flexors and extensors acting on the elbow and wrist joints revealed that a change from one posture to another required a modulation of both flexors and extensors. For a given position, the final EMG level of flexors and extensors is more variable than the ratio between the alpha neuronal activity of these two antagonistic muscles. Further, the ratio was not significantly affected by the direction, amplitude or velocity of the movement. These results indicate that the final position could be coded in the central nervous system (CNS) as the ratio of activity in antagonistic muscles acting on a joint.

Characteristics of motor programs underlying arm movements in monkeys

1. The experiments described here are addressed at identifying some of the processes underlying arm movements in monkeys. 2. We used three adult monkeys that were trained to point to a target light with the forearm and hold at that position for about 1 s in order to obtain a reward. During the experimental sessions the monkey was seated in a primate chair and its forearm was fastened to an apparatus that permitted flexion and extension of the forearm about the elbow in the horizontal plane. 3. We tested their performance prior to and after bilateral dorsal rhizotomy (C2--T3). Forearm movements were performed without the sight of the arm both before and after the surgical intervention. In intact animals we unexpectedly displaced the arm prior to movement initiation (150--200 ms) and observed the outcome of this displacement on movement termination. Our results indicated that the arm moved accurately to the target. The same procedure was used in the deafferented monkeys, yielding qualitatively the same results; i.e., a displacement of the initial position did not affect the attainment of the intended final position. 4. These results are relevant to the question of what is being controlled by motor commands. It appears that the controlled variable is an equilibrium point resulting from the interaction of agonist and antagonist muscles. Consequently, a change in the equilibrium leads to movement and the attainment of a new posture. The fact that both intact and deafferent monkeys display essentially similar motor behavior in our highly practiced task should not obliterate the dramatic difference in motor performance that exists between intact and rhizotomized animals. In fact, the successful execution of the learned motor performance in the deafferented animal is contingent on the animal's body being in a fixed relation to the arm apparatus. Whenever we changed the usual spatial relationship between the monkey's body and the arm apparatus, the animal's pointing response to the target was inaccurate. All of our intact monkeys, in contrast, were able to compensate quickly for any variations in their accustomed position with respect to the arm apparatus. The dramatic inability of the deafferented monkey to execute accurate pointing responses in an unusual postural setting underscores the great importance of the afferent monkey to execute accurate pointing responses in an unusual postural settiing underscores the great importance of the afferent feedback. These findings suggest that, in the performance of visually evoked learned movements, one of the major functions of the afferent feedback is in the adaptive modifications of learned motor programs.

Processes controlling arm movements in monkeys

The experiments identify some of the processes underlying arm movements in rhesus monkeys. Three monkeys were trained to point to a target with the hand and forearm and to hold that position for about 1 second to obtain a reward. Forearm movements were performed without sight of the arm before and after bilateral dorsal rhizotomy. In both intact and deafferented animals, we unexpectedly displaced the forearm prior to movement initiation and observed that the arm moved accurately to the target. These results are relevant to the question of what is being controlled by motor commands. The controlled variable appears to be an equilibrium point between agonist and antagonist muscles. The findings suggest that the feedback system plays a major role in updating and adjusting the central programs subserving the execution of learned motor patterns.

The coordination of eye and head movement during smooth pursuit

Eye and head movements during tracking of a smoothly moving visual target were recorded in trained monkeys. The head movement clearly followed the target, although with considerable variability from cycle to cycle. The eye stayed relatively near the primary position and moved in an apparently irregular fashion; however, the sum of eye and head, or gaze, remained accurately on target despite the irregularity of the individual eye and head movements. When compared with tracking with head fixed, head free tracking was not measurably different in accuracy. Further experiments were performed which demonstrated a role for the vestibular system in coordinating eye and head during smooth pursuit. The results of these experiments can be best explained by postulating an internal smooth pursuit command driving both eye and head movements. In the case of the eye movement, this smooth pursuit command is combined with vestibular feedback from head movement before being forwarded to eye movement centers.

Effect of load disturbances during centrally initiated movements

1. We have investigated the relative contributions of mechanical and reflex mechanisms in generating the forces produced by the neck muscles when loads were unexpectedly applied during centrally programmed head movements in monkeys. These movements, subserved by muscles well endowed with muscle spindles, are part of the coordinated eye-head response to the appearance of a stimulus in the animal's visual field. Our preparation was a chronically vestibulectomized monkey trained to make a visual discrimination. 2. Two procedures were used to evaluate the torque generated by the neck musculature when an unexpected load disturbance was applied: first, by surgically interrupting the afferent loop subserving the reflex action (section of cervical dorsal roots) and second, by building a mathematical model of the head-neck system and carrying out a process of simulation. 3. Our results indicated that the compensatory torque of reflex origin stimulated by the application of an opposing force was less than 10--30% of that required for perfect compensation, and the larger fraction of the observed compensation was due to the mechanical properties (inertial, viscous, and elastic) of the neck musculature. The combined action of reflex and mechanical processes never completely compensated for the disturbance.

Mechanisms underlying achievement of final head position

The studies reported here are directed toward understanding some of the mechanisms whereby the central nervous system terminates a given phase in a motor sequence and maintains a newly acquired position. In particular, we investigated the extent to which the termination of a centrally initiated head movement in monkeys and the subsequent maintenance of posture depend on a readout of proprioceptive afferent input generated during the movement itself or are instead centrally programmed. We approached this question in two ways: first, using vestibulectomized, but otherwise intact monkeys, we applied load disturbances unexpectedly at the beginning and throughout centrally initiated head movements with the aim of provoking a proprioceptive response in all types of neck receptors and to observe the outcome of this stimulation on the head final position. In a second set of experiments, we interrupted the flow of afferent input by cutting cervical and upper thoracic dorsal roots and observed how the absence of proprioceptive feedback affects the achievement of final head position. The results indicated that the central pattern of neural impulses establishing final head position is preprogrammed and it is not reset by the afferent proprioceptive impulses generated during the intended movement. In addition, our findings are consistent with the view that final head position is an equilibrium point dependent on a number of factors, such as the firing rate and the recruitment of the alpha motoneurons, the length-tension properties of the muscles involved in posture, and passive elastic properties of external loads.

Discharge of frontal eye field neurons during eye movements in unanesthetized monkeys

Single unit activity was recorded from the frontal eye fields (area 8) in unanesthetized monkeys seated in a primate chair with the head restrained. The frontal eye field units were identified by antidromic response to stimulation of the cerebral peduncle. The findings indicate that most of the neurons discharge only after initiation of eye movements. These cells showed steady discharge when the eyes were immobile and oriented in a specific direction.

Reflex chemoceptive excitation of diencephalic sham rage behavior

In acute thalamic cats, excitation of the carotid body chemoceptors was induced by intrasinusal injection of lobeline (10 µg) or by administering low oxygen mixtures (5–12% O2 in N2). Bilateral section of the cervical vago-aortic trunks, preliminary to the experiment, permitted the exclusion of the aortic chemoceptive areas from our study. Stimulation of the carotid body chemoceptors was constantly capable of evoking sham rage outbursts identical in pattern and intensity to those induced by tactile or noxious stimulation or occurring spontaneously. When low-intensity stimulation was used (10–12% O2) the rage fits were preceded in time by signs of excitation of the medullary respiratory and vasomotor centers. Since lobeline and hypoxia became unable to evoke sham rage outbursts following selective inactivation of the carotid body chemoceptors it is concluded that the diencephalic mechanisms for rage behavior are within the sphere of influence of chemoceptive reflexes.