Learning a single limb multijoint coordination pattern: the impact of a mechanical constraint on the coordination dynamics of learning and transfer

A simple joint control pattern dominates performance of unconstrained arm movements of daily living tasks

A trailing joint control pattern, during which a single joint is rotated actively and the mechanical effect of this motion is used to move the other joints, was previously observed during simplified, laboratory-based tasks. We examined whether this simple pattern also underlies control of complex, unconstrained arm movements of daily activities. Six tasks were analyzed. Using kinematic data, we estimated motion of 7 degrees of freedom (DOF) of the shoulder, elbow, and wrist, and the contribution of muscle and passive interaction and gravitational torques to net torque at each joint. Despite task variety, the hand was transported predominantly by shoulder and elbow flexion/extension, although shoulder external/internal rotation also contributed in some tasks. The other DOF were used to orient the hand in space. The trailing pattern represented by production of net torque by passive torques at the shoulder or elbow or both was observed during the biggest portion of each movement. Net torque generation by muscle torque at both joints simultaneously was mainly limited to movement initiation toward the targets and movement termination when returning to the initial position, and associated with needing to overcome gravity. The results support the interpretation of previous studies that prevalence of the trailing pattern is a feature of skillful, coordinated movements. The simplicity of the trailing pattern is promising for quantification of dyscoordination caused by motor disorders and formulation of straightforward instructions to facilitate rehabilitation and motor learning.

Off-line learning in a rhythmic bimanual task: early feedback dependency is reduced over wakefulness

Research has supported two distinct forms of motor skill consolidation that can occur between practice sessions: (1) off-line learning, and (2) memory stabilization. Off-line learning describes performance improvement between practice sessions that is above the gain observed at the end of practice, while memory stabilization describes a gain in performance that is maintained between practice sessions. This study used a Lissajous plot to provide concurrent feedback to train participants to produce a 90° relative phase between the index fingers (flexion/extension motion). Significant improvements in performance emerged after ten trials (5 min) of practice. At the end of training, participants were divided into two delay interval groups before retesting, 2-h and 6-h. The retesting session started with participants performing an interference task (10 trials, 5 min) that required training on a 45° relative phase between the fingers with concurrent feedback from the Lissajous plot. When training with the interference task was completed participants were retested with the 90° relative phase without the Lissajous plot feedback. In the retest of the 90° pattern, a performance loss was found in the 2-h delay group, whereas the 6-h delay group maintained the end of practice performance level. Maintenance of the same level of performance without the Lissajous plot represents memory stabilization of the initially trained 90° pattern. The findings are discussed within the context of current positions regarding procedural consolidation and the coordination dynamics framework wherein action and perception are linked through the informational nature of relative phase.

Proportional and nonproportional transfer of movement sequences

Two experiments were designed to determine participants’ ability to transfer a learned movement sequence to new spatial locations. A 16-element dynamic arm movement sequence was used in both experiments. The task required participants to move a horizontal lever to sequentially projected targets. Experiment 1 included 2 groups. One group practised a pattern in which targets were located at 20, 40, 60, and 80° from the start position (long sequence). The other group practised a pattern with targets at 20, 26.67, 60, and 80° (mixed sequence). Both groups were tested 24 hours later on the long, mixed, and short sequence. The short sequence was considered a proportional transfer for the long acquisition group because all the amplitudes between targets were reduced by the same proportion. Nonproportional transfer occurred when the amplitudes between targets did not have the same proportions as those for their practice sequence (e.g., long sequence to mixed sequence or vice versa). The results indicated that participants could effectively transfer to new target configurations regardless of whether the transfer required proportional or nonproportional spatial changes to the movement pattern. Experiment 2 assessed the effects of extended practice on proportional and nonproportional spatial transfer. The data indicated that while participants can effectively transfer to both proportional and nonproportional spatial transfer conditions after 1 day of practice, they are only effective at transferring to proportional transfer conditions after 4 days of practice. The results are discussed in terms of the mechanism by which response sequences become increasingly specific over extended practice in an attempt to optimize movement production.

Transfer of Motor Learning Is More Pronounced in Proximal Compared to Distal Effectors in Upper Extremities

The current experiment investigated generalizability of motor learning in proximal versus distal effectors in upper extremities. Twenty-eight participants were divided into three groups: training proximal effectors, training distal effectors, and no training control group (CG). Performance was tested pre- and post-training for specific learning and three learning transfer conditions: (1) bilateral learning transfer between homologous effectors, (2) lateral learning transfer between non-homologous effectors, and (3) bilateral learning transfer between non-homologous effectors. With respect to specific learning, both training groups showed significant, similar improvement for the trained proximal and distal effectors, respectively. In addition, there was significant learning transfer to all three transfer conditions, except for bilateral learning transfer between non-homologous effectors for the distal training group. Interestingly, the proximal training group showed significantly larger learning transfer to other effectors compared to the distal training group. The CG did not show significant improvements from pre- to post-test. These results show that learning is partly effector independent and generalizable to different effectors, even though transfer is suboptimal compared to specific learning. Furthermore, there is a proximal-distal gradient in generalizability, in that learning transfer from trained proximal effectors is larger than from trained distal effectors, which is consistent with neuroanatomical differences in activation of proximal and distal muscles.

Segment coupling and coordination variability analyses of the roundhouse kick in taekwondo relative to the initial stance position

The initial stance position (ISP) has been observed as a factor affecting the execution technique during taekwondo kicks. In the present study, authors aimed to analyse a roundhouse kick to the chest by measuring movement coordination and the variability of coordination and comparing this across the different ISP (0°, 45° and 90°). Eight experienced taekwondo athletes performed consecutive kicking trials in random order from every of the three relative positions. The execution was divided into three phases (stance, first swing and second swing phase). A motion capture system was used to measure athletes' angular displacement of pelvis and thigh. A modified vector coding technique was used to quantify the coordination of the segments which contributed to the overall movement. The variability of this coordination (CV) for each ISP was also calculated. Comparative analysis showed that during the stance phase in the transverse plane, athletes coordinated movement of the trunk and thigh with a higher frequency of in-phase and lower frequency of exclusive thigh rotation in the 0° stance than the 90° stance position (P < 0.05). CV was also influenced by the different ISP. During the first swing and the majority of the second swing phase, predominant in-phase coordination of the pelvis and thigh was observed. Including exercises that require in-phase movement could not only help athletes to acquire coordination stability but also efficiency. The existence of a constraint such as ISP implies an increase of the variability when the athletes have to kick from ISP they are not used to adopt (i.e., 0° and 90° ISP) as an evidence of adaptability in the athletes' execution technique.

Adaptive postural control for joint immobilization during multitask performance

Motor abundance is an essential feature of adaptive control. The range of joint combinations enabled by motor abundance provides the body with the necessary freedom to adopt different positions, configurations, and movements that allow for exploratory postural behavior. This study investigated the adaptation of postural control to joint immobilization during multi-task performance. Twelve healthy volunteers (6 males and 6 females; 21–29 yr) without any known neurological deficits, musculoskeletal conditions, or balance disorders participated in this study. The participants executed a targeting task, alone or combined with a ball-balancing task, while standing with free or restricted joint motions. The effects of joint configuration variability on center of mass (COM) stability were examined using uncontrolled manifold (UCM) analysis. The UCM method separates joint variability into two components: the first is consistent with the use of motor abundance, which does not affect COM position (V_UCM); the second leads to COM position variability (V_ORT). The analysis showed that joints were coordinated such that their variability had a minimal effect on COM position. However, the component of joint variability that reflects the use of motor abundance to stabilize COM (V_UCM) was significant decreased when the participants performed the combined task with immobilized joints. The component of joint variability that leads to COM variability (V_ORT) tended to increase with a reduction in joint degrees of freedom. The results suggested that joint immobilization increases the difficulty of stabilizing COM when multiple tasks are performed simultaneously. These findings are important for developing rehabilitation approaches for patients with limited joint movements.

A preferred pattern of joint coordination during arm movements with redundant degrees of freedom

Redundancy of degrees of freedom (DOFs) during natural human movements is a central problem of motor control research. This study tests a novel interpretation that during arm movements, the DOF redundancy is used to support a preferred, simplified joint control pattern that consists of rotating either the shoulder or elbow actively and the other (trailing) joint predominantly passively by interaction and gravitational torques. We previously revealed the preference for this control pattern during nonredundant horizontal arm movements. Here, we studied whether this preference persists during movements with redundant DOFs and the redundancy is used to enlarge the range of directions in which this control pattern can be utilized. A free-stroke drawing task was performed that involved production of series of horizontal center-out strokes in randomly selected directions. Two conditions were used, with the arm's joints unconstrained (U) and constrained (C) to the horizontal plane. In both conditions, directional preferences were revealed and the simplified control pattern was used in the preferred and not in nonpreferred directions. The directional preferences were weaker and the range of preferred directions was wider in the U condition, with higher percentage of strokes performed with the simplified control pattern. This advantage was related to the usage of additional DOFs. We discuss that the simplified pattern may represent a feedforward control strategy that reduces the challenge of joint coordination caused by signal-dependent noise during movement execution. The results suggest a possibility that the simplified pattern is used during the majority of natural, seemingly complex arm movements.

Skill transfer, affordances and dexterity in different climbing environments

This study explored how skills in one region of a perceptual-motor landscape of performance, created in part by previous experience in rock climbing, can shape those that emerge in another region (ice climbing). Ten novices in rock climbing and five intermediate rock climbers were observed climbing an icefall. Locations of right and left ice tools and crampons were videotaped from a frontal camera. Inter-individual variability of upper and lower limb couplings and types of action regarding icefall properties were assessed by cluster hierarchical analysis, distinguishing three clusters. Pelvis vertical displacement, duration and number of pelvis pauses were also analyzed. Experienced rock climbers were grouped in the same cluster and showed the highest range and variability of limb angular locations and coordination patterns, the highest vertical displacement and the shortest pelvis plateaux durations. Non-fluent climbers (clusters 2 and 3) showed low range and variability of limb angular locations and coordination patterns. In particular, climbers of cluster 3 exhibited the lowest vertical displacement, the longest plateaux durations and the greatest ratio between tool swinging and definitive anchorage. Our results exemplified the positive influence of skills in rock climbing on ice climbing performance, facilitated by the detection of affordances from environmental properties.

Action-perception coordination dynamics of whole-body rhythmic movement in stance: a comparison study of street dancers and non-dancers

This study investigated whether whole-body, rhythmic action-perception coordination in stance is organized in terms of dynamic principles. We observed whether phase transition and hysteresis occur during the execution of dancing movements. Nine skilled street dancers and 9 novice controls performed 2 types of rhythmic knee-bending movements to a metronome beat in the standing position. Participants performed down-on-the-beat (in which knee flexion coincides with the beat) and up-on-the-beat (in which knee extension coincides with the beat), which are both typical components of street dance. All participants were instructed not to intervene in the pattern change. The auditory stimulus beat rate increased or decreased between 60 and 220 beats per minute (bpm) in steps of 20 bpm. We calculated the phase angle of beat time that is superposed on knee movement trajectory on a phase plane. Under the up-on-the-beat condition, phase transition and hysteresis were observed. The bifurcation frequency at which phase transition occurred significantly differed between groups, indicating that dancers were able to perform up-on-the-beat at higher movement frequencies than non-dancers. This suggests that dynamical properties may differ between Dancers and Non-dancers. The present results provide additional evidence that whole-body action-perception pattern formation is governed by general and common dynamical principles.

The leading joint hypothesis for spatial reaching arm motions

The leading joint hypothesis (LJH), developed for planar arm reaching, proposes that the interaction torques experienced by the proximal joint are low compared to the corresponding muscle torques. The human central nervous system could potentially ignore these interaction torques at the proximal (leading) joint with little effect on the wrist trajectory, simplifying joint-level control. This paper investigates the extension of the LJH to spatial reaching. In spatial motion, a number of terms in the governing equation (Euler's angular momentum balance) that vanish for planar movements are non-trivial, so their contributions to the joint torque must be classified as net, interaction or muscle torque. This paper applies definitions from the literature to these torque components to establish a general classification for all terms in Euler's equation. This classification is equally applicable to planar and spatial motion. Additionally, a rationale for excluding gravity torques from the torque analysis is provided. Subjects performed point-to-point reaching movements between targets whose locations ensured that the wrist paths lay in various portions of the arm's spatial workspace. Movement kinematics were recorded using electromagnetic sensors located on the subject's arm segments and thorax. The arm was modeled as a three-link kinematic chain with idealized spherical and revolute joints at the shoulder and elbow. Joint torque components were computed using inverse dynamics. Most movements were 'shoulder-led' in that the interaction torque impulse was significantly lower than the muscle torque impulse for the shoulder, but not the elbow. For the few elbow-led movements, the interaction impulse at the elbow was low, while that at the shoulder was high, and these typically involved large elbow and small shoulder displacements. These results support the LJH and extend it to spatial reaching motion.

Coordination modes in sensorimotor synchronization of whole-body movement: a study of street dancers and non-dancers

This study investigated whole-body sensorimotor synchronization (SMS) in street dancers and non-dancers. Two kinds of knee bending movement in a standing position to a metronome beat were explored in terms of stability under different movement frequencies: down-movement condition (knee flexion on the beat) and up-movement condition (knee extension on the beat). Analyses of phase relation between movement and beat revealed several distinct differences between the down- and up-movement conditions, and between dancers and non-dancers. In both groups under the up-movement condition, deviation from intended phase relation at higher beat rates, and enhanced fluctuations were observed. The deviation from intended phase relation under up-movement condition, and movement fluctuations were greater in non-dancers than in dancers. Moreover, subjective difficulty rating revealed that both groups felt that the up-movement condition was more difficult at higher beat rates. These findings suggest that down and up movements are two distinguishable coordination modes in whole-body coordination, and that street dancers have superior whole-body SMS ability.

Force synchrony enhances the stability of rhythmic multi-joint arm coordination

Although rhythmic coordination has been extensively studied in the literature, questions remain about the correspondence of constraints that have been identified in the related contexts of inter-limb and intra-limb coordination. Here we used a 2-DOF robot arm which allows flexible manipulation of forces to investigate the effect on coordination stability of intra-limb coordination of: (i) the synchrony of force requirements and (ii) the involvement of bi-functional muscles. Ten subjects produced simultaneous rhythmic flexion-extension (FE) and supination-pronation (SP) elbow movements in two coordination patterns: (1) flexion synchronized with supination/extension with pronation (in-phase pattern) and (2) flexion synchronized with pronation/extension with supination (anti-phase pattern). The movements were produced with five different settings of the robot arm: a neutral setting that imposed balanced force requirements, and four other settings that increased the force requirements for one direction in both DOF. When combined with specific coordination patterns, these settings created conditions in which either synchronous or alternate patterns of forcing were necessary to perform the task. Results showed that synchronous tasks were more stable than asynchronous tasks (P < 0.05). Within the synchronous tasks, some robot settings were designed to either increase or decrease the use of bi-functional muscles. Although there was no difference for the bi-functional muscle biceps brachii, the coordination was more stable for the condition in which the greatest force requirements corresponded to the mechanical action of the bi-functional pronator teres (P < 0.05). In conclusion, force synchrony increases the stability of rhythmic intra-limb coordination, but further research is needed to clarify the role of bi-functional muscles in this effect.

Distinct Inter-Joint Coordination during Fast Alternate Keystrokes in Pianists with Superior Skill

Musical performance requires motor skills to coordinate the movements of multiple joints in the hand and arm over a wide range of tempi. However, it is unclear whether the coordination of movement across joints would differ for musicians with different skill levels and how inter-joint coordination would vary in relation to music tempo. The present study addresses these issues by examining the kinematics and muscular activity of the hand and arm movements of professional and amateur pianists who strike two keys alternately with the thumb and little finger at various tempi. The professionals produced a smaller flexion velocity at the thumb and little finger and greater elbow pronation and supination velocity than did the amateurs. The experts also showed smaller extension angles at the metacarpo-phalangeal joint of the index and middle fingers, which were not being used to strike the keys. Furthermore, muscular activity in the extrinsic finger muscles was smaller for the experts than for the amateurs. These findings indicate that pianists with superior skill reduce the finger muscle load during keystrokes by taking advantage of differences in proximal joint motion and hand postural configuration. With an increase in tempo, the experts showed larger and smaller increases in elbow velocity and finger muscle co-activation, respectively, compared to the amateurs, highlighting skill level-dependent differences in movement strategies for tempo adjustment. Finally, when striking as fast as possible, individual differences in the striking tempo among players were explained by their elbow velocities but not by their digit velocities. These findings suggest that pianists who are capable of faster keystrokes benefit more from proximal joint motion than do pianists who are not capable of faster keystrokes. The distinct movement strategy for tempo adjustment in pianists with superior skill would therefore ensure a wider range of musical expression.

Generalization of action knowledge following observational learning

Both observational and physical practices support the acquisition of motor skill knowledge in the form of spatiotemporal coordination patterns. The current experiment examined the extent that observation and physical practice can support the transfer of spatiotemporal knowledge and amplitude knowledge associated with motor skills. Evidence from a multijoint limb task revealed that knowledge about spatiotemporal patterns (relative phase) acquired by observers and models can be generalized exceptionally well within the trained arm (right) and across to the untrained arm (left). Transfer of relative phase occurred even when untrained combinations of joint amplitudes were required. This indicates that observation and physical practice both lead to the development of an effector-independent representation of the spatiotemporal knowledge in this task. Both observers and models showed some transfer of the relative amplitude knowledge, with observers demonstrating superior transfer for both a trained and untrained-arm transfer test, while the models were limited to positive transfer on an untrained-arm transfer test. The representation of movement amplitude knowledge is effector-independent in this task, but the use of that knowledge is constrained by the specific practice context and the linkage between the elbow and wrist.

Learning an environment-actor coordination skill: visuomotor transformation and coherency of perceptual structure

The coordination dynamics of learning were examined in a visuomotor tracking task. Participants produced rhythmic elbow flexion-extension motions to learn a visually defined 90 degrees relative phase tracking pattern with an external sinusoidal signal. There were two visuomotor transformation groups, a correct feedback group and a mirrored feedback group with feedback representing the elbow's motion transformed by 180 degrees . In Experiment 1, the to-be-tracked signal and the participant's motion signal were superimposed within a single window display. In Experiment 2, the to-be-tracked signal and participant's signal were presented in separate windows. Before day 1 practice and 24 h after day 2 practice, participants attempted visually defined 0 degrees , 45 degrees , 90 degrees , 135 degrees , and 180 degrees relative phase tracking patterns either with or without visual feedback of the arm's motion. Before practice, only the 0 degrees and 180 degrees tracking patterns were stable. Practice led to a decrease in phase error toward the required 90 degrees relative phase pattern with a corresponding increase in stability in both the experiments. No effect of visual transformation on performance emerged during practice in the single window task, but did emerge in the two window task. The one window training facilitated transfer to the four unpracticed relative phase patterns, whereas the two window training display only facilitated transfer performance to a single unpracticed relative phase pattern. These findings suggest that the perceptual structure determined the degree of learning and transfer and interacted with the visuomotor transformation. The present findings are discussed with reference to how the visual display constrains the coherency of independent signals with regard to learning and transfer and the role of perceptual discrimination processes linked to transfer.

Observational practice of relative but not absolute motion features in a single-limb multi-joint coordination task

The learning of relative and absolute motion features as a function of physical (actor group) and observational (observer group) practice was examined in a rhythmic single limb multi-joint coordination task. The task required the participants to learn a 90 degrees relative phase pattern between the elbow and wrist in combination with an absolute elbow joint angle of 80 degrees and a wrist joint angle of 48 degrees . Each actor practiced the required relative and absolute motion features for 2 days while being watched by an observer. Overall, the actor group was characterized by an improvement in performance on the relative phase component and showed a clear differentiation in joint amplitudes. In a 24-h retention test, the observer group more closely matched the performance of the actors on the relative phase component in comparison to a control group that was not exposed to physical or observational practice. However, the observer and control groups did not demonstrate a clear differentiation in required joint amplitudes. In agreement with Scully and Newell (1985), we conclude that relative phase may be classified as a relative motion feature that may be picked through observation and benefit initial physical performance, whereas the joint amplitudes may be classified as absolute motion features that require physical practice to achieve the appropriate scaling.

Expertise-dependent modulation of muscular and non-muscular torques in multi-joint arm movements during piano keystroke

The problem of skill-level-dependent modulation in the joint dynamics of multi-joint arm movements is addressed in this study using piano keystroke performed by expert and novice piano players. Using the measured kinematic and key-force data, the time varying net, gravitational, motion-dependent interaction (INT), key-reaction (REA), and muscular (MUS) torques at the shoulder, elbow, wrist, and metacarpophalangeal (MP) joints were computed using inverse dynamics techniques. INTs generated at the elbow and wrist joints, but not those at the MP joint, were greater for the experts as compared with the novices. REA at the MP joint, but not at the other joints, was less for the experts as compared with the novices. The MUSs at the MP, wrist, and elbow joints were smaller, and that at the shoulder joint was larger for the experts as compared with the novices. The experts also had a lesser inter-strike variability of key striking force and key descending velocity as compared with the novices. These findings indicated that the relationship among the INT, REA, and MUS occurring at the joints of the upper-extremity differed between the expert and novice piano players, suggesting that the organization of multi-joint arm movement is modulated by long-term motor training toward facilitating both physiological efficiency and movement accuracy.

Learning and transfer of a relative phase pattern and a joint amplitude ratio in a rhythmic multijoint arm movement

According to the coordination dynamics perspective, one can characterize the learning of novel relative phase patterns as the formation of a stable attractor in the coordination landscape of the order parameter relative phase. The authors examined 18 participants' learning and transfer of a 90 degrees relative phase pattern and a 0.6-joint-amplitude ratio between the elbow and wrist. Variability in the relative phasing and the joint amplitude ratio between the elbow and wrist decreased with practice. Positive transfer of the 90 degrees relative phase pattern was not dependent on the learning arm (dominant or nondominant). Positive transfer of the joint amplitude ratio was dependent on the learning arm and the direction of transfer. The results demonstrated that relative phase is an order parameter that characterizes the coordination dynamics of learning and transferring multijoint arm movements, and they provide preliminary evidence that joint amplitude ratios act as order parameters in the learning and transfer of multijoint arm movements.

Control of 3D Limb Dynamics in Unconstrained Overarm Throws of Different Speeds Performed by Skilled Baseball Players

This study investigated how the human CNS organizes complex three-dimensional (3D) ball-throwing movements that require both speed and accuracy. Skilled baseball players threw a baseball to a target at three different speeds. Kinematic analysis revealed that the fingertip speed at ball release was mainly produced by trunk leftward rotation, shoulder internal rotation, elbow extension, and wrist flexion in all speed conditions. The study participants adjusted the angular velocities of these four motions to throw the balls at three different speeds. We also analyzed the dynamics of the 3D multijoint movements using a recently developed method called “nonorthogonal torque decomposition” that can clarify how angular acceleration about a joint coordinate axis (e.g., shoulder internal rotation) is generated by the muscle, gravity, and interaction torques. We found that the study participants utilized the interaction torque to generate larger angular velocities of the shoulder internal rotation, elbow extension, and wrist flexion. To increase the interaction torque acting at these joints, the ball throwers increased muscle torque at the shoulder and trunk but not at the elbow and wrist. These results indicates that skilled ball throwers adopted a hierarchical control in which the proximal muscle torques created a dynamic foundation for the entire limb motion and beneficial interaction torques for distal joint rotations.

One-to-one and polyrhythmic temporal coordination in bimanual circle tracing

The authors manipulated movement amplitude in a bimanual circle-tracing task to alter the natural tracing frequency of the arms. Participants (N = 14) traced different-diameter circles simultaneously with the two arms in either in-phase (0 degrees) or antiphase (180 degrees) coordination, using the index fingers or plastic styli. Movement amplitude altered the natural tracing frequency of the arms, as demonstrated by the following 2 findings: (a) The larger the difference in circle diameter, the larger was the shift from the fixed-point values of 0 degrees and 180 degrees, and the shift increased as movement frequency increased. Those results are consistent with the manipulation of delta omega in the bimanual pendulum paradigm. (b) Increasing movement frequency induced transitions from 1:1 to non-1:1 coordination, contrary to findings in previous investigations of polyrhythmic coordination. Tactile feedback played a minimal role in stabilizing bimanual coordination in the current tasks.

Influence of predominant patterns of coordination on the exploitation of interaction torques in a two-joint rhythmic arm movement

In this study we investigate the coordination between rhythmic flexion-extension (FE) and supination-pronation (SP) movements at the elbow joint-complex, while manipulating the intersegmental dynamics by means of a 2-degrees of freedom (df) robot arm. We hypothesized that constraints imposed by the structure of the neuromuscular-skeletal system would (1) result in predominant pattern(s) of coordination in the absence of interaction torques and (2) influence the capabilities of participants to exploit artificially induced interaction torques. Two experiments were conducted in which different conditions of interaction torques were applied on the SP-axis as a function of FE movements. These conditions promoted different patterns of coordination between the 2-df. Control trials conducted in the absence of interaction torques revealed that both the in-phase (supination synchronized with flexion) and the anti-phase (pronation synchronized with flexion) patterns were spontaneously established by participants. The predominance of these patterns of coordination is explained in terms of the mechanical action of bi-articular muscles acting at the elbow joint-complex, and in terms of the reflexes that link the activity of the muscles involved. Results obtained in the different conditions of interaction torques revealed that those neuromuscular-skeletal constraints either impede or favor the exploitation of intersegmental dynamics depending on the context. Interaction torques were indeed found to be exploited to a greater extent in conditions in which the profiles of interaction torques favored one of the two predominant patterns of coordination (i.e., in-phase or anti-phase) as opposed to other patterns of coordination (e.g., 90 degrees or 270 degrees). Those results are discussed in relation to recent studies reporting exploitation of interaction torques in the context of rhythmic movements.

Neuromuscular-skeletal origins of predominant patterns of coordination in rhythmic two-joint arm movement

The authors tested for predominant patterns of coordination in the combination of rhythmic flexion-extension (FE) and supination- (SP) at the elbow-joint complex. Participants (N=10) spontaneously established in-phase (supination synchronized with flexion) and antiphase (pronation synchronized with flexion) patterns. In addition, the authors used a motorized robot arm to generate involuntary SP movements with different phase relations with respect to voluntary FE. The involuntarily induced in-phase pattern was accentuated and was more consistent than other patterns. The result provides evidence that the predominance of the in-phase pattern originates in the influence of neuromuscular-skeletal constraints rather than in a preference dictated by perceptual-cognitive factors implicated in voluntary control. Neuromuscular-skeletal constraints involved in the predominance of the in-phase and the antiphase patterns are discussed.

Change in the Organization of Degrees of Freedom With Learning

The authors examined the effects of learning on the change in the organization of the mechanical and dynamical degrees of freedom in 5 men who performed a ski-simulator task. A 3-dimensional analysis of the motion of the total-body center of mass and the segmental centers of mass (head, torso, thighs, and shanks) over practice showed that the recruitment of mechanical degrees of freedom was strongly influenced by anatomical and task constraints. Principal components analysis of the body segments' motions revealed that practice shifted their relative contributions but did not change the number of principal components. The present findings show that there can be independence in the patterns of change in the mechanical and dynamical degrees of freedom that arise from practice.

The internal model and the leading joint hypothesis: implications for control of multi-joint movements

This article presents a theoretical generalization of recent experimental findings accumulated in support of two concepts of inter-segmental dynamics regulation during multi-joint movements. The concepts are the internal model of inter-segmental dynamics and the leading joint hypothesis (LJH). The internal model of limb dynamics is a well-established interpretation of feed-forward control. Recent experiments have generated new information about the organization of the internal model and its role in regulation of inter-segmental dynamics. The LJH, which proposes a simplified principle of the regulation of inter-segmental dynamics, is at the beginning stage of development. This paper outlines major results obtained in these two research directions and demonstrates that the two groups of findings complement and augment each other, suggesting a simple and robust hierarchical strategy of multi-joint movement control that exploits specific mechanical properties of human limbs.

Disruptions in joint control during drawing arm movements in Parkinson's disease

Impairments in control of multi-joint arm movements in Parkinson's Disease (PD) were investigated. The PD patients and age-matched elderly participants performed cyclical arm movements, tracking templates of a large circle and four differentially oriented ovals on a horizontal table. The wrist was immobilized and the movements were performed with shoulder and elbow rotations. The task was performed with and without vision at a cycling frequency of 1.5 Hz. Traces of the arm endpoint, joint-motion parameters represented by range of motion and relative phase, and joint-control characteristics represented by amplitude and timing of muscle torque were analyzed. The PD patients provided deformations of the template shapes that were not observed in movements of elderly controls. The deformations were consistent for each shape but differed across the shapes, making quantification of impairments in the endpoint movement difficult. In contrast, the characteristics of joint control and motion demonstrated systematic changes across all shapes in movements of PD patients, although some of these changes were observed only without vision. A specification of the PD influence was observed at the level of joint control and it was not distinguishable in joint and endpoint motion, because of the property of multi-joint movements during which control at each joint influences motion at the other joints. The results suggest that inability of PD patients to provide fine muscle torque regulation coordinated across the joints contributes to the altered endpoint trajectories during multi-joint movements. The study emphasizes the importance of the torque analysis when deficits in multi-joint movements are investigated, because specific impairments that can be detected in joint-control characteristics are difficult to trace in characteristics of joint and endpoint kinematics, because of interactions between joint motions.

Schema Theory: A Critical Appraisal and Reevaluation

The authors critically review a number of the constructs and associated predictions proposed in schema theory (R. A. Schmidt, 1975). The authors propose that new control and learning theories should include a reformulated (a) notion of a generalized motor program that is not based on motor program but still accounts for the strong tendency for responses to maintain their relative characteristics; (b) mechanism or processes whereby an abstract movement structure based on proportional principles (e.g., relative timing, relative force) is developed through practice; and (c) explanation for parameter learning that accounts for the benefits of parameter variability but also considers how variability is scheduled. Furthermore, they also propose that new theories of motor learning must be able to account for the consistent findings spawned as a result of the schema theory proposal and must not be simply discounted because of some disfavor with the motor program notion, in general, or schema theory, more specifically.