Use of the uncontrolled manifold (UCM) approach to understand motor variability, motor equivalence, and self-motion

A model of task-level human stepping regulation yields semistable walking

A simple lateral dynamic walker, with swing leg dynamics and three adjustable input parameters, is used to study how motor regulation affects frontal plane stepping. Motivated by experimental observations and phenomenological models, we imposed task-level multiobjective regulation targeting the walker's optimal lateral foot placement at each step. The regulator prioritizes achieving step width and lateral body position goals to varying degrees by choosing a mixture parameter. Our model thus integrates a lateral mechanical template, which captures fundamental mechanics of frontal-plane walking, with a lateral motor regulation template, an empirically verified model of how humans manipulate lateral foot placements in a goal-directed manner. The model captures experimentally observed stepping fluctuation statistics and demonstrates how linear empirical models of stepping dynamics can emerge from first-principles nonlinear mechanics. We find that task-level regulation gives rise to a goal equivalent manifold in the system's extended state space of mechanical states and inputs, a subset of which contains a continuum of period-1 gaits forming a semistable set: perturbations off of any of its gaits result in transients that return to the set, though typically to different gaits.

Assessing the effects of foot strike patterns and shoe types on the control of leg length and orientation in running

This research investigates the stabilization of leg length and orientation during the landing phase of running, examining the effects of different footwear and foot strike patterns. Analyzing kinematic data from twenty male long-distance runners, both rearfoot and forefoot strikers, we utilized the Uncontrolled Manifold approach to assess stability. Findings reveal that both leg length and orientation are indeed stabilized during landing, challenging the hypothesis that rearfoot strikers exhibit less variance in deviations than forefoot strikers, and that increased footwear assistance would reduce these deviations. Surprisingly, footwear with a lower minimalist index enhanced post-landing stability, suggesting that cushioning contributes to both force dissipation and leg length stability. The study indicates that both foot strike patterns are capable of effectively reducing task-relevant variance, with no inherent restriction on flexibility for rearfoot strikers. However, there is an indication of potential reliance on footwear for stability. These insights advance our understanding of the biomechanics of running, highlighting the role of footwear in stabilizing leg length and orientation, which has significant implications for running efficiency and injury prevention.

Toward interpretable digital biomarkers of walking and reaching in Parkinson's disease

Multimodal digital data registered with wearable biosensors have emerged as highly complementary of clinical pencil-and-paper criteria, offering new insights in ways to detect and diagnose various aspects of Parkinson's disease (PD). A pressing question is how to combine both the clinical knowledge of PD and the new technology to create interpretable digital biomarkers easily obtainable with off-the-shelf technology. Several challenges concerning disparity in biophysical units, anatomical differences across participants, sensor positioning, and sampling resolution are addressed in this work, along with identification of optimal parameters to automatically differentiate patients with PD from controls. We combine data from a multitude of biosensors registering signals from the central (electroencephalography) and peripheral (magnetometry, kinematics) nervous systems, inclusive of the autonomic nervous system (electrocardiogram), as the participants perform natural tasks requiring different levels of intentional planning and automatic control. We find that magnetometer data during walking, across a variety of amplitude and timing signals, provide optimal separation of PD from neurotypical controls. We conclude that using multimodal signals within the context of actions that bear different levels of intent, can be revealing of features of PD that would scape the naked eye. Further, we add that clinical criteria combined with such optimal digital parameter spaces offer a far more complete picture of PD than using either one of these pieces of data alone.

One more time about motor (and non-motor) synergies

We revisit the concept of synergy based on the recently translated classical book by Nikolai Bernstein (On the construction of movements, Medgiz, Moscow 1947; Latash, Bernstein's Construction of Movements, Routledge, Abingdon 2020b) and progress in understanding the physics and neurophysiology of biological action. Two aspects of synergies are described: organizing elements into stable groups (modes) and ensuring dynamical stability of salient performance variables. The ability of the central nervous system to attenuate synergies in preparation for a quick action-anticipatory synergy adjustments-is emphasized. Recent studies have demonstrated synergies at the level of hypothetical control variables associated with spatial referent coordinates for effectors. Overall, the concept of synergies fits naturally the hierarchical scheme of control with referent coordinates with an important role played by back-coupling loops within the central nervous system and from peripheral sensory endings. Further, we review studies showing non-trivial changes in synergies with development, aging, fatigue, practice, and a variety of neurological disorders. Two aspects of impaired synergic control-impaired stability and impaired agility-are introduced. The recent generalization of the concept of synergies for non-motor domains, including perception, is discussed. We end the review with a list of unresolved and troubling issues.

The Application of Statistical Parametric Mapping to Evaluate Differences in Topspin Backhand between Chinese and Polish Female Table Tennis Players

The research is aimed at comparing the kinematics (the movement pattern in the most important joints and accelerations of the playing hand) between female table tennis players coached in Poland (POL) and China (CHIN) during the performance of a topspin backhand stroke (so-called quick topspin). The study involved six female table tennis players at a high sports skill level, playing in Poland's highest league. Three were national team members of Poland (age: 20.3 ± 1.9), while the other three were players from China (age: 20.0 ± 0.0). Kinematics was measured using MR3 myoMuscle Master Edition system—inertial measurement unit (IMU) system. The participants performed one task of topspin backhand as a response to a topspin ball, repeated 15 times. Statistical parametric mapping (SPM) was calculated using SPM1D in a Python package that offered a high-level interface to SPM1D. The SPM method allowed for the determination of differences between the Chinese and Polish female athletes. The differences found are probably mainly due to differences in the training methodologies caused by different coaching systems. The observed differences include, among others, greater use of the so-called small steps in order to adapt and be ready during the back to ready position and backswing phases, which gives the CHIN players slightly better conditions for preparation for the next plays. The CHIN players' position compared to that of the POL players favours a quicker transition from the backhand to the forehand play. This difference is probably related to the difference in the dominant playing styles of the groups studied. Despite the differences in movement patterns in both groups, the exact value of playing hand was achieved. This may be a manifestation of the phenomenon of equifinality and compensation. All the differences found are probably mainly due to differences in the training methodologies caused by different coaching systems.

Statistical Parametric Mapping Reveals Subtle Gender Differences in Angular Movements in Table Tennis Topspin Backhand

Background: Statistical parametric mapping (SPM) is an innovative method based on the analysis of time series (data series) and is equivalent to statistical methods for numerical (discrete) data series. This study aimed to analyze the patterns of movement in the topspin backhand stroke in table tennis and to use SPM to compare these patterns between advanced female and male players. Methods: The research involved seven advanced male and six advanced female players. The kinematic parameters were measured using an inertial motion analysis system. The SPM was computed using the SPM1D Python package. Results: Our study made it possible to reproduce the pattern of movement in the joints during topspin backhand strokes in the studied athletes. During multiple comparisons, the analysis of variance (ANOVA) SPM test revealed many areas in the studied parameter series with statistically significant differences (p ≤ 0.01). Conclusions: The study presents the movement patterns in the topspin backhand shot and describes the proximal-to-distal sequencing principle during this shot. The SPM study revealed differences between men and women in the contribution of thoracic rotation, external shoulder rotation, dorsal flexion, and supination in the wrist during the hitting phase. These differences may result from the anatomical gender differences or variations in other functionalities of individual body segments between the study groups. Another possible source for these discrepancies may reside in tactical requirements, especially the need for a more vigorous attack in men. The gender differences presented in this study can help in the individualization of the training process in table tennis.

Swallowing Kinematic Differences Across Frozen, Mixed, and Ultrathin Liquid Boluses in Healthy Adults: Age, Sex, and Normal Variability

PURPOSE

The aim of this study was to examine the effects of frozen and mixed-consistency boluses on the swallowing physiology of younger and older adults. We also aimed to quantify factors that lead to increased variability in swallowing outcomes (i.e., age, sex, bolus type).

METHOD

Forty-one healthy adults (18-85 years old) swallowed 5 blocks of 5 different boluses: 10-ml ultrathin liquid, a teaspoon of iced barium, a teaspoon of room-temperature pudding, a teaspoon of frozen pudding, and ultrathin barium with chocolate chips. All data were recorded with videofluoroscopy and underwent detailed timing kinematic measurements.

RESULTS

Neither barium ice nor frozen pudding sped up swallow responses. Many healthy adults initiated swallowing with the bolus as deep as the pyriform sinuses. Swallowing temporal kinematics for ultrathin liquid consistencies are most different from all others tested, requiring the best possible physiological swallowing performance in younger and older healthy individuals (i.e., faster reaction times, longer durations) compared with other bolus types tested. In each measure, older adults had significantly longer durations compared with the younger adults. More variability in swallowing kinematics were seen with age and laryngeal vestibule kinematics.

CONCLUSION

This study provides important contributions to the literature by clarifying normal variability within a wide range of swallowing behaviors and by providing normative data from which to compare disordered populations.

The patella: A mechanical determinant of coordination during vertical jumping

The patella is traditionally understood to be a "joint spacer" that increases the moment arm of the patellar tendon. This characterisation is unsatisfactory as it fails to explain the more interesting characteristics of the patella: 1) that the changing pivot point of the patella causes the ratio of quadriceps to patellar tendon force to almost double as the knee flexes; 2) that the patellar tendon exerts an anteriorly directed force on the tibia when the knee is extended but this switches to a posterior draw as the knee flexes; and 3) that the presence of the patella allows the quadriceps to exert different moments on the femur and tibia. Here, I use a simple, model of the geometry of the knee to calculate the changes in the effective moment arms of the quadriceps on the femur and tibia as the knee extends during vertical jumping. These effective moment arms are then contrasted with the actual changes in moments seen during a vertical jump. This analysis demonstrates that the changing geometry of the knee alone can explain 93% (p < 0.05) of the variance in the characteristic femoral to tibial pattern of moment production during jumping - suggesting that the mechanics of the patella have a crucial influence on the coordination of jumping. These results lend support to the contention that mechanical considerations play a pivotal role in the control of movement by creating a stronger imperative towards a particular movement solution than might be suggested by the large degree of redundancy in the neuromuscular system. This idea is consistent with dynamic systems theories of motor control, i.e. the mechanical structure of the musculoskeletal system itself is important in the organisation of movement (so called mechanical intelligence).

Anticipatory coarticulation in non-speeded arm movements can be motor-equivalent, carry-over coarticulation always is

In a sequence of arm movements, any given segment could be influenced by its predecessors (carry-over coarticulation) and by its successor (anticipatory coarticulation). To study the interdependence of movement segments, we asked participants to move an object from an initial position to a first and then on to a second target location. The task involved ten joint angles controlling the three-dimensional spatial path of the object and hand. We applied the principle of the uncontrolled manifold (UCM) to analyze the difference between joint trajectories that either affect (non-motor equivalent) or do not affect (motor equivalent) the hand's trajectory in space. We found evidence for anticipatory coarticulation that was distributed equally in the two directions in joint space. We also found strong carry-over coarticulation, which showed clear structure in joint space: More of the difference between joint configurations observed for different preceding movements lies in directions in joint space that leaves the hand's path in space invariant than in orthogonal directions in joint space that varies the hand's path in space. We argue that the findings are consistent with anticipatory coarticulation reflecting processes of movement planning that lie at the level of the hand's trajectory in space. Carry-over coarticulation may reflect primarily processes of motor control that are governed by the principle of the UCM, according to which changes that do not affect the hand's trajectory in space are not actively delimited. Two follow-up experiments zoomed in on anticipatory coarticulation. These experiments strengthened evidence for anticipatory coarticulation. Anticipatory coarticulation was motor-equivalent when visual information supported the steering of the object to its first target, but was not motor equivalent when that information was removed. The experiments showed that visual updating of the hand's path in space when the object approaches the first target only affected the component of the joint difference vector orthogonal to the UCM, consistent with the UCM principle.

It's Not (Only) the Mean that Matters: Variability, Noise and Exploration in Skill Learning

Mastering a motor skill is typified by a decrease in variability. However, variability is much more than the undesired signature of discoordination: structure in both its distributional properties and temporal sequence can reveal control priorities. Extending from the notion that signal-dependent noise corrupts information transmission in the neuromotor system, this review tracks more recent recognitions that the complex dynamic motor system in its interaction with task constraints creates high-dimensional spaces with multiple equivalent solutions. Further analysis differentiates these solutions to have different degrees of noise-sensitivity, goal-relevance or additional costs. Practice proceeds from exploration of these solution spaces to then exploitation with further channeling of noise. Extended practice leads to fine-tuning of skill brought about by reducing noise. These distinct changes in variability are suggested as a way to characterize stages of learning. Capitalizing on the sensitivity of the CNS to noise, interventions can add extrinsic or amplify intrinsic noise to guide (re-)learning desired behaviors. The persistence and generalization of acquired skill is still largely understudied, although an essential element of skill. Consistent with advances in the physical sciences, there is increasing realization that noise can have beneficial effects. Analysis of the non-random structure of variability may reveal more than analysis of only its mean.

Cue-induced changes in the stability of finger force-production tasks revealed by the uncontrolled manifold analysis

A motor system configured to maximize the stability of its current state cannot dexterously transition between states. Yet, we routinely resolve the stability-dexterity conflict and rapidly change our current behavior without allowing it to become unstable before the desired transition. The phenomenon called anticipatory synergy adjustment (ASA) partly describes how the central nervous system handles this conflict. ASA is a continuous decrease in the stability of the current motor state beginning 150–400 ms before a rapid state transition accomplished using redundant sets of motor inputs (more input variables than task-specific output variables). So far, ASAs have been observed only when the timing of the upcoming transition is known. We utilized a multifinger, isometric force-production task to demonstrate that compared with a condition where no state transition is expected, the stability of the current state is lower by ~12% when a participant is cued to make a transition, even when the nature and timing of that transition are unknown. This result (stage 1 ASA) is distinct from its traditional version (stage 2 ASA), and it describes early destabilization that occurs solely in response to the expectation to move. Stage 2 ASA occurs later, only if the timing of the transition is known sufficiently in advance. Stage 1 ASA lasts much longer (~1.5 s) and may scale in response to the perceived difficulty of the upcoming task. Therefore, this work reveals a much refined view of the processes that underlie the resolution of the stability-dexterity conflict.

NEW & NOTEWORTHY We compared the stability of multifinger, isometric force-production tasks for trials in which force changes of unknown direction and timing were expected with trials in which there was no expectation of any force change. Mere expectation of a change caused the stability of the current motor state to drop. This novel result provides a much refined view of the processes that facilitate dexterous switching between motor states.

Training-induced dynamics of accuracy and precision in human motor control

The study investigated the dynamic changes in accuracy and precision during a simple oral and digital motor task involving a controlled and a ballistic force. Eighteen healthy participants participated in four experimental sessions during which they performed one hundred trials of targeting a controlled (low/high hold force) and a ballistic force during an oral and a digital motor task (OMT and DMT). Accuracy and precision across one hundred trials were calculated and subjected to segmented linear regression analysis. Repeated performance of controlled forces show a significant dynamic change in accuracy during initial stage of targeting high hold forces during OMT and a significant dynamic change in both accuracy and precision during final stage of targeting high hold forces during DMT. Repeated performance of ballistic force showed a significant dynamic change in both accuracy and precision during final stage of targeting high hold force forces during OMT and a significant dynamic change in accuracy during the initial stages of targeting high hold force during the DMT. The findings indicate a subtle degree of dissociation between accuracy and precision in terms of dynamic modulation of forces due to repeated performance of both OMT and DMT.

Multi-Finger Interaction and Synergies in Finger Flexion and Extension Force Production

The aim of this study was to discover finger interaction indices during single-finger ramp tasks and multi-finger coordination during a steady state force production in two directions, flexion, and extension. Furthermore, the indices of anticipatory adjustment of elemental variables (i.e., finger forces) prior to a quick pulse force production were quantified. It is currently unknown whether the organization and anticipatory modulation of stability properties are affected by force directions and strengths of in multi-finger actions. We expected to observe a smaller finger independency and larger indices of multi-finger coordination during extension than during flexion due to both neural and peripheral differences between the finger flexion and extension actions. We also examined the indices of the anticipatory adjustment between different force direction conditions. The anticipatory adjustment could be a neural process, which may be affected by the properties of the muscles and by the direction of the motions. The maximal voluntary contraction (MVC) force was larger for flexion than for extension, which confirmed the fact that the strength of finger flexor muscles (e.g., flexor digitorum profundus) was larger than that of finger extensor (e.g., extensor digitorum). The analysis within the uncontrolled manifold (UCM) hypothesis was used to quantify the motor synergy of elemental variables by decomposing two sources of variances across repetitive trials, which identifies the variances in the uncontrolled manifold (V_UCM) and that are orthogonal to the UCM (V_ORT). The presence of motor synergy and its strength were quantified by the relative amount of V_UCM and V_ORT. The strength of motor synergies at the steady state was larger in the extension condition, which suggests that the stability property (i.e., multi-finger synergies) may be a direction specific quantity. However, the results for the existence of anticipatory adjustment; however, no difference between the directional conditions suggests that feed-forward synergy adjustment (changes in the stability property) may be at least independent of the magnitude of the task-specific apparent performance variables and its direction (e.g., flexion and extension forces).

Optimality and stability of intentional and unintentional actions: II. Motor equivalence and structure of variance

We address the nature of unintentional changes in performance in two papers. This second paper tested hypotheses related to stability of task-specific performance variables estimated using the framework of the uncontrolled manifold (UCM) hypothesis. Our first hypothesis was that selective stability of performance variables would be observed even when the magnitudes of those variables drifted unintentionally because of the lack of visual feedback. Our second hypothesis was that stability of a variable would depend on the number of explicit task constraints. Subjects performed four-finger isometric pressing tasks that required the accurate production of a combination of total moment and total force with natural or modified finger involvement under full visual feedback, which was removed later for some or all of the salient variables. We used inter-trial analysis of variance and drifts in the space of finger forces within the UCM and within the orthogonal to the UCM space. The two variance components were used to estimate a synergy index stabilizing the force/moment combination, while the two drift components were used to estimate motor equivalent and non-motor equivalent force changes, respectively. Without visual feedback, both force and moment drifted toward lower absolute magnitudes. The non-motor equivalent component of motion in the finger force space was larger than the motor equivalent component for variables that stopped receiving visual feedback. In contrast, variables that continued to receive visual feedback showed larger motor equivalent component, compared to non-motor equivalent component, over the same time interval. These data falsified the first hypothesis; indeed, selective stabilization of a variable over the duration of a trial allows expecting comparably large motor equivalent components both with and without visual feedback. Adding a new constraint (presented as a target magnitude of middle finger force) resulted in a drop in the synergy index in support of the second hypothesis. We interpret the force drift as a natural relaxation process toward states with lower potential energy in the physical (physiological) system involved in the task. The results show that presenting sensory feedback on a performance variable makes synergies stabilizing that variable dependent on that particular sensory feedback.

Coordination of muscle torques stabilizes upright standing posture: an UCM analysis

The control of upright stance is commonly explained on the basis of the single inverted pendulum model (ankle strategy) or the double inverted pendulum model (combination of ankle and hip strategy). Kinematic analysis using the uncontrolled manifold (UCM) approach suggests, however, that stability in upright standing results from coordinated movement of multiple joints. This is based on evidence that postural sway induces more variance in joint configurations that leave the body position in space invariant than in joint configurations that move the body in space. But does this UCM structure of kinematic variance truly reflect coordination at the level of the neural control strategy or could it result from passive biomechanical factors? To address this question, we applied the UCM approach at the level of muscle torques rather than joint angles. Participants stood on the floor or on a narrow base of support. We estimated torques at the ankle, knee, and hip joints using a model of the body dynamics. We then partitioned the joint torques into contributions from net, motion-dependent, gravitational, and generalized muscle torques. A UCM analysis of the structure of variance of the muscle torque revealed that postural sway induced substantially more variance in directions in muscle torque space that leave the Center of Mass (COM) force invariant than in directions that affect the force acting on the COM. This difference decreased when we decorrelated the muscle torque data by randomizing across time. Our findings show that the UCM structure of variance exists at the level of muscle torques and is thus not merely a by-product of biomechanical coupling. Because muscle torques reflect neural control signals more directly than joint angles do, our results suggest that the control strategy for upright stance involves the task-specific coordination of multiple degrees of freedom.

Losing dexterity: patterns of impaired coordination of finger movements in musician's dystonia

Extensive training can bring about highly-skilled action, but may also impair motor dexterity by producing involuntary movements and muscular cramping, as seen in focal dystonia (FD) and tremor. To elucidate the underlying neuroplastic mechanisms of FD, the present study addressed the organization of finger movements during piano performance in pianists suffering from the condition. Principal component (PC) analysis identified three patterns of fundamental joint coordination constituting finger movements in both patients and controls. The first two coordination patterns described less individuated movements between the “dystonic” finger and key-striking fingers for patients compared to controls. The third coordination pattern, representing the individuation of movements between the middle and ring fingers, was evident during a sequence of strikes with these fingers in controls, which was absent in the patients. Consequently, rhythmic variability of keystrokes was more pronounced during this sequence of strikes for the patients. A stepwise multiple-regression analysis further identified greater variability of keystrokes for individuals displaying less individuated movements between the affected and striking fingers. The findings suggest that FD alters dexterous joint coordination so as to lower independent control of finger movements, and thereby degrades fine motor control.

Influence of contextual task constraints on preferred stride parameters and their variabilities during human walking

Walking is not always a free and unencumbered task. Everyday activities such as walking in pairs, in groups, or on structured walkways can limit the acceptable gait patterns, leading to motor behavior that differs from that observed in more self-selected gait. Such different contexts may lead to gait performance different than observed in typical laboratory experiments, for example, during treadmill walking. We sought to systematically measure the impact of such task constraints by comparing gait parameters and their variability during walking in different conditions over-ground, and on a treadmill. We reconstructed foot motion from foot-mounted inertial sensors, and characterized forward, lateral and angular foot placement while subjects walked over-ground in a straight hallway and on a treadmill. Over-ground walking was performed in three variations: with no constraints (self-selected, SS); while deliberately varying walking speed (self-varied, SV); and while following a toy pace car programmed to vary speed (externally-varied, EV). We expected that these conditions would exhibit a statistically similar relationship between stride length and speed, and between stride length and stride period. We also expected treadmill walking (TM) would differ in two ways: first, that variability in stride length and stride period would conform to a constant-speed constraint opposite in slope from the normal relationship; and second, that stride length would decrease, leading to combinations of stride length and speed not observed in over-ground conditions. Results showed that all over-ground conditions used similar stride length-speed relationships, and that variability in treadmill walking conformed to a constant-speed constraint line, as expected. Decreased stride length was observed in both TM and EV conditions, suggesting adaptations due to heightened awareness or to prepare for unexpected changes or problems. We also evaluated stride variability in constrained and unconstrained tasks. We observed that in treadmill walking, lateral variability decreased while forward variability increased, and the normally-observed correlation between wider foot placement and external foot rotation was eliminated. Preferred stride parameters and their variability appear significantly influenced by the context and constraints of the walking task.

Robot-assisted surgery: an emerging platform for human neuroscience research

Classic studies in human sensorimotor control use simplified tasks to uncover fundamental control strategies employed by the nervous system. Such simple tasks are critical for isolating specific features of motor, sensory, or cognitive processes, and for inferring causality between these features and observed behavioral changes. However, it remains unclear how these theories translate to complex sensorimotor tasks or to natural behaviors. Part of the difficulty in performing such experiments has been the lack of appropriate tools for measuring complex motor skills in real-world contexts. Robot-assisted surgery (RAS) provides an opportunity to overcome these challenges by enabling unobtrusive measurements of user behavior. In addition, a continuum of tasks with varying complexity-from simple tasks such as those in classic studies to highly complex tasks such as a surgical procedure-can be studied using RAS platforms. Finally, RAS includes a diverse participant population of inexperienced users all the way to expert surgeons. In this perspective, we illustrate how the characteristics of RAS systems make them compelling platforms to extend many theories in human neuroscience, as well as, to develop new theories altogether.