Does the nervous system depend on kinesthetic information to control natural limb movements?

Is the multi-joint pointing movement model applicable to equilibrium control during upper trunk movements?

Two aspects of the target article, (1) the extension of the equilibrium point theory to multi-joint movements, and (2) the consequence that the EMG pattern is not directly controlled by the central nervous system (CNS), are discussed in light of the experiments on upper trunk bending in humans. The principle component kinematic analysis and the analysis of the EMG data, obtained under microgravity and additional loading conditions, support the application of Feldman and Levin's for multi-joint pointing movement to equilibrium control during upper trunk movement.

The lambda model is only one piece in the motor control puzzle

The lambda model provides a physiologically grounded terminology for describing muscle function and emphasizes the important influence of environmental and reflex-mediated effects on final states. However, lambda itself is only a convenient point on the length-tension curve; its importance should not be overemphasized. Ascribing movement to changes in a lambda-based frame of reference is generally valid, but it leaves unanswered a number of questions concerning mechanisms.

Do control variables exist?

We argue that the concept of a control variable (CV) as described by Feldman and Levin needs to be revised because it does not account for the influence of sensory feedback from the periphery. We provide evidence from the realm of rhythmic movements that sensory feedback can permanently alter the frequency and phase of a centrally generated rhythm.

The λ model: Can it walk?

Generation of swing phase limb trajectory over obstacles during locomotion should be a reasonable test for the λ model proposed by Feldman and Levin. The observed features such as lack of simple amplitude scaling of endpoint (toe) trajectories for different obstacle heights, complex shaped toe velocity profiles, and exploitation of passive intersegmental dynamics to control limb elevation cannot be adequately explained by the λ model.

Position is everything?

Neurophysiological evidence consonant with F&L's lambda model is reviewed and results of additional experiments are presented. The evidence shows that there are neurons in the motor cortex that respond to selective band widths of passive sinusoidal movements; the additional data show how, with movement, directionally sensitive population vectors can be shown to emerge from the data.

Equifinality and phase-resetting: The role of control parameter manipulations

It is argued that the equilibrium point model can lead to new insights regarding transition and stability processes in movement coordination. The role of movement control parameters on equifinality and phase-resetting is discussed; not only control but also external control parameters can affect the global dynamical regime.

The lambda model and a hemispheric motor model of intentional hand movements

The lambda model of Feldman & Levin for intentional hand movement is compared with a hemispheric motor model (IIMM). Both models imply similar conclusions independently. This increases the validity of both models.

Can the λ model be used to interpret the activity of single neurons?

Whereas the λ model provides a useful technique to describe complex movements, the focus on control variables in this model limits its potential for interpreting the activity and function of many cells in motor areas of the CNS.

The case of the missing CVs: Multi-joint primitives

The search for simplifying principles in motor control motivates the target article. One method that the CNS uses to simplify the task of controlling a limb's mechanical properties is absent from the article. Evidence from multi-joint, force-field measurements and from kinematics that points to the existence of multi-joint primitives as control variables is discussed.

Efferent responses to twitch tests used in identifying human muscle afferents

The response of a muscle afferent to the mechanical stimulus produced by a twitch contraction of the receptor-bearing muscle is an important test for differentiating between muscle spindle endings and Golgi tendon organs. The present study demonstrates that active alpha-motor axons can behave in a similar manner to spindle afferents, presumably responding not to the mechanical event per se, but reflexly to the change in afferent discharge created by the mechanical event. alpha-Motor axons were unequivocally identified during microneurography using spike-triggered averages of EMG. Caution is required when the twitch test is utilized to assist in the classification of muscle afferents during an intentional or unintentional voluntary contraction.

Control variables and proprioceptive feedback in fast single-joint movement

Sensorimotor mechanisms were studied on the basis of kinematic and electromyographic data as well as the static torque developed by the muscles as a function of joint angle. The latter relationship is known as the torque/angle characteristic. Fast single-joint movement may result from a shift in this characteristic and a change in its slope. Such movements were studied at the wrist in 9 normal and 1 deafferented subject. After training to flex the wrist to a target, subjects repeated the same movements but in random test trials movements were opposed by the load generated by linear position feedback to a torque motor. At the end of the loaded trials, the load was suddenly removed. In the second experiment, subjects made wrist movements to the target that were opposed by the load and, on random test trials, the movements were not loaded. In these test trials, the wrist arrived in a static position outside the target zone. In both experiments, subjects were instructed not to correct errors. The final torque/angle characteristics specified in the movements were reconstructed on the basis of the static wrist positions and torques before and after unloading. Normal subjects made movements by shifting the position of the torque/angle characteristic and by increasing its slope. If subjects indeed maintained the same pattern of control variables (descending commands), the same final position of the characteristic would be reproduced from trial to trial regardless of load perturbations. This assumption of equifinality was tested by comparing the final position of the wrist in nonloaded movements with that after removal of the load in loaded movements. Equifinality was observed in normal subjects. Movements in the deafferented subject were also associated with a shift of the torque/angle characteristic and a change in its slope. However, she was unable to consistently reproduce its final position. In spite of muscle coactivation, her maximal stiffness was lower than in normal subjects. In the absence of vision, the subject made movements with the load by increasing the slope of the characteristic instead of by shifting its position far enough. Load perturbation affected her final wrist position (inequifinality), which may reflect the presence of a significant hysteresis of the characteristic as a result of the absence of stretch reflexes. The deficits following deafferentation presumably result from the destruction of biomechanical and sensorimotor mechanisms including the ability of control variables to specify the positional frame of reference for afferent and descending systems.

Contribution of proprioception for calibrating and updating the motor space

The absence of muscular proprioception, whether at a segmental or at a central level, impairs performance in several ways. The contribution of proprioception to movement control and learning is not easily dissociated from that of other sources of sensory information (e.g., vision). Therefore, the rare clinical cases of extensive neuropathy, depriving the brain massively and permanently of its presumed main sources of dynamogenic information from skin and muscles, are of very special interest. Two such patients and controls were tested in experiments investigating (i) force production, (ii) amplitude coding, (iii) spatial reference frames in pointing, and (iv) prismatic adaptation. Overall, our results highlight the key role of proprioceptive afferents for calibrating the spatial motor frame of reference, and the powerful substitutive properties of the central nervous system.

Ulceration, unsteadiness, and uncertainty: the biomechanical consequences of diabetes mellitus

Diabetes mellitus, which results from a failure of the endocrine system to control blood glucose levels within normal limits, affects approximately 15% of the population over the age of 65 in developed countries. Between 20-50% of people with diabetes for more than 10 years will experience symmetrical distal sensory neuropathy resulting in a progressive, distal to proximal, loss of sensation in the lower extremities. The most common consequence is plantar ulceration that too often results in partial or total amputation of the foot. While neuropathy is a major permissive factor, plantar ulcers occur at locations of high plantar pressures. The measurement of pressure using tools developed and refined in the field of biomechanics has been shown to be a valuable asset to the management of the foot at risk for ulceration. In particular, the use of in-shoe measuring techniques has the potential to revolutionize the prescription of therapeutic footwear. Biomechanical techniques have also helped to evaluate other consequences of diabetic neuropathy on the foot such as callus formation, foot deformity, limited joint mobility and bony abnormalities. The reduction of afferent information from the lower extremities implies a lack of active feedback thought to be necessary for the control of human movements such as posture and gait. Our results show that diabetic neuropathy results in a significant increase in sway during standing that is not compensated for by other sensory systems. The study of the sagittal plane movements of the same individuals walking on a treadmill showed little effect on the kinematic control of gait when compared to age matched nonneuropathic control groups. This may indicate the dominance of efferent input over afferent feedback during gait. We believe that the study of the biomechanical consequences of diabetes can act as a model for many other diseases that have yet to come under the scrutiny of a multidisciplinary team.

Fusimotor control of proprioceptive feedback during locomotion and balancing: can simple lessons be learned for artificial control of gait?

The possibilities for central control of primary spindle afferents through fusimotor efferents for gain control in motor control mechanisms are briefly reviewed. While the existence of separate pathways for independent control of static and dynamic gamma-motoneurones is well established, it proved more difficult to demonstrate that gain control of spindle feedback, attributable to alterations in static and dynamic fusimotor drive, indeed took place in voluntary movements. However, earlier qualitative indications, that Ia sensitivity (and hence the balance of static over dynamic drive) was adjusted differently in different motor tasks, have recently been confirmed in experimental simulation studies, in which the fusimotor activation profiles, that were required to reproduce chronically recorded spindle Ia discharge patterns, were reconstructed. These studies indicated that Ia sensitivity and dynamic gamma-drive were low in routine movements (walking), but that they could be dramatically increased in motor tasks which were either difficult or unfamiliar (landing from falls, balancing on narrow walk beams, adjustment to imposed disturbances). This suggested that sensitization of spindle feedback could play a significant role in motor adaptation. In line with this, studies in patients with large fibre sensory (including proprioceptive) neuropathies indicated that long-term motor deficits (affecting motor adaptation and learning) could be at least as serious as short-term motor dysfunction (due to loss of reflex control). It is suggested that spindle Ia feedback may play a dual role: in addition to its contribution to short-term reflex control of posture and movement, it may also be used for optimization or maintenance of motor programs, especially if its gain is increased by significant dynamic fusimotor drive.(ABSTRACT TRUNCATED AT 250 WORDS)

Automatic control of limb movement and posture

Studies are reviewed that address the problem of the variables controlled by the central nervous system in the maintenance of body posture and limb movement against disturbing forces. The role of global variables of control, which take into account the dynamic state of the limb, is discussed. Neural substrates that are involved in the distributed control of kinematic and dynamic parameters are also considered.