Motor variability within a multi-effector system: experimental and analytical studies of multi-finger production of quick force pulses

Two aspects of feed-forward control of action stability: effects of action speed and unexpected events

We explored two types of anticipatory synergy adjustments (ASA) during accurate four-finger total force production task. The first type is a change in the index of force-stabilizing synergy during a steady state when a person is expecting a signal to produce a quick force change, which is seen even when the signal does not come (steady-state ASA). The other type is the drop in in the synergy index prior to a planned force change starting at a known time (transient ASA). The subjects performed a task of steady force production at 10% of maximal voluntary contraction (MVC) followed by a ramp to 20% MVC over 1 s, 3 s, and as a step function (0 s). In another task, in 50% of the trials during the steady-state phase, an unexpected signal could come requiring a quick force pulse to 20% MVC (0-surprise). Inter-trial variance in the finger force space was used to quantify the index of force-stabilizing synergy within the uncontrolled manifold hypothesis. We observed significantly lower synergy index values during the steady state in the 0-ramp trials compared to the 1-ramp and 3-ramp trials. There was also larger transient ASA during the 0-ramp trials. In the 0-surprise condition, the synergy index was significantly higher compared to the 0-ramp condition whereas the transient ASA was significantly larger. The finding of transient ASA scaling is of importance for clinical studies, which commonly involve populations with slower actions, which can by itself be associated with smaller ASAs. The participants varied the sharing pattern of total force across the fingers more in the task with "surprises". This was coupled to more attention to precision of performance, i.e., inter-trial deviations from the target as reflected in smaller variance affecting total force, possibly reflecting higher concentration on the task, which the participants perceived as more challenging compared to a similar task without surprise targets.

Frequency-Dependent Effects on Coordination and Prefrontal Hemodynamics During Finger Force Production Tasks

Behavioral stability partially depends on the variability of net outcomes by means of the co-varied adjustment of individual elements such as multi-finger forces. The properties of cyclic actions affect stability and variability of the performance as well as the activation of the prefrontal cortex that is an origin of subcortical structure for the coordinative actions. Little research has been done on the issue of the relationship between stability and neuronal response. The purpose of the study was to investigate the changes in the neural response, particularly at the prefrontal cortex, to the frequencies of isometric cyclic finger force production. The main experimental task was to produce finger forces while matching the produced force to sine-wave templates as accurately as possible. Also, the hemodynamics responses of the prefrontal cortex, including oxy-hemoglobin concentration (ΔHbO) and the functional connectivity, were measured using functional near-infrared spectroscopy. The frequency conditions comprised 0.1, 1, and 2 Hz. The uncontrolled manifold (UCM) approach was applied to compute synergy indices in time-series. The relative phase (RP), the coefficient of variation (CV) of the peak and trough force values were computed as the indices of performance accuracy. The statistical parametric mapping (SPM) was implemented to compare the synergy indices of three frequency conditions in time-series. A less accurate performance in the high-frequency condition was caused not by the RP, but mainly by the inconsistent peak force values (CV; p < 0.01, η p 2 = 0.90). The SPM analysis revealed that the synergy indices were larger in the low-frequency than in high-frequency conditions. Further, the ΔHbO remained unchanged under all frequency conditions, while the functional connectivity decreased with an increase in the frequency of cyclic force production. The current results suggested that the concurrent activation of the prefrontal region mainly depends on the frequency of cyclic force production, which was associated with the strength of stability indices and performance errors. The current study is the first work to uncover the effect of frequency on the multi-finger synergies as to the hemodynamic response in the prefrontal cortex, which possibly provides a clue of the neural mechanism of synergy formation and its changes.

Older but not younger adults rely on multijoint coordination to stabilize the swinging limb when performing a novel cued walking task

Motor flexibility, the ability to employ multiple motor strategies to meet task demands, may facilitate ambulation in complex environments that constrain movements; loss of motor flexibility may impair mobility. The purpose of this study was to determine the effects of obesity (a specific model of mobility impairment) and advanced age on motor flexibility during a task that constrained foot placement while walking. Twenty-one community-dwelling obese (OB) and 25 normal weight (NW) older adults (46 total older adults-OA) and 10 younger adults (YA) walked normally on a treadmill (baseline) then walked while stepping on lighted cues projected onto the treadmill at locations corresponding to average foot placement during normal walking (cued). The uncontrolled manifold (UCM) analysis was used to partition total variance in a set of seven lower-limb segment angles into components that did ("bad" variance) and did not ("good" variance) affect step-to-step variance in the trajectory of the swing foot. Motor flexibility was operationalized as an increase (baseline to cued) in total variance with an increase in good variance that exceeded the change in bad variance. There was no significant group × walking task interaction for total and good variance for OB vs NW, but there was a strong and significant interaction effect for OA vs YA (p < 0.01; Cohen's d > 1.0). Whereas YA reduced both good and bad variance, OA increased good variance beyond the change in bad variance. In OA, these changes were associated with several functional measures of mobility. Cued walking may place greater demands on OA requiring greater reliance on motor flexibility, although otherwise healthy older obese adults may be able to compensate for functional and cognitive declines associated with obesity by increasing motor flexibility under such tasks. The extent to which motor flexibility is employed during novel or constrained tasks may be a biomarker of healthy aging and a target for (re)habilitation.

Force-stabilizing synergies can be retained by coordinating sensory-blocked and sensory-intact digits

The present study examined the effects of selective digital deafferentation on the multi-finger synergies as a function of total force requirement and the number of digits involved in isometric pressing. 12 healthy adults participated in maximal and sub-maximal isometric pressing tasks with or without digital anesthesia to selective digits from the right hand. Our results indicate that selective anesthesia paradigm induces changes in both anesthetized (local) and non-anesthetized (non-local) digits’ performance, including: (1) decreased maximal force abilities in both local and non-local digits; (2) reduced force share during multi-finger tasks from non-local but not local digits; (3) decreased force error-making; and (4) marginally increased motor synergies. These results reinforce the contribution of somatosensory feedback in the process of maximal voluntary contraction force, motor performance, and indicate that somatosensation may play a role in optimizing secondary goals during isometric force production rather than ensuring task performance.

Age-related changes to motor synergies in multi-joint and multi-finger manipulative skills: a meta-analysis

Purpose

The aim of the current meta-analysis was to examine the extent to which there are differences in upper extremity motor synergies across different age groups in manipulative tasks.

Methods

The studies that used the uncontrolled manifold method to examine the effect of age on motor synergies in multi-joint and multi-finger tasks were selected. Sixteen relevant studies from 1154 articles were selected for the meta-analysis—4 and 12 studies considered multi-joint kinematics and multi-finger kinetic tasks respectively.

Results

The results of the meta-analysis suggested reduced strength of synergies in multi-finger task in older adults, but this was not the case for synergies in multi-joint task. Part of this age-related difference in finger function is related to the increased variability in total force in grasping tasks. However, reductions in the strength of multi-finger synergies in hand functions following ageing appear to depend on the characteristics of the task.

Conclusions

These findings indicate that the cooperation among fingers to stabilise the total required force to apply for grasping and other fine motor skills is less efficient in older adults that might affect the quality of manipulative tasks.

Uncontrolled manifold hypothesis: Organization of leg joint variance in humans while walking in a wide range of speeds

This study aimed at investigating the organization of joint angle variability during walking by using the uncontrolled manifold (UCM) theory. We tested two hypotheses: i. the coordinative mechanism underlying joint angle variance during the stance phase is compatible with a kinematic synergy that stabilizes the centre of mass (CoM) position; ii. the walking speed affects the variance components onto and orthogonal to the UCM. Eight healthy subjects (26.0±2.0years old) steadily walked on a treadmill at five normalised speeds (from 0.62±0.03m/s to 1.15±0.07m/s). Joint angles and foot orientation, and components of the CoM position were, respectively, used as elemental variables and task performance for the UCM implementation. The effect of speed, time events, and variance components on the distribution of data variance in the space of joint angles was analyzed by the ANOVA test. Results corroborated the hypothesis that the variance of elemental variables is structured in order to minimize the stride-to-stride variability of the CoM position, at all speeds. Noticeably, both variance components increase during the propulsive phase, albeit that parallel to the UCM was always grater than the orthogonal one. Accordingly, the observed kinematic synergy is supposed to contribute to accomplishing an efficient transition between two steps. Results also revealed that the walking speed does not affect the partitioning of elemental variables-related variance onto and orthogonal to the UCM. Accordingly, the organization of leg joint variance underlying the stabilization of CoM position remains almost unaltered across speeds.

Synergies and Motor Equivalence in Voluntary Sway Tasks: The Effects of Visual and Mechanical Constraints

The authors used two analyses developed within the framework of the uncontrolled manifold hypothesis to quantify multimuscle synergies during voluntary body sway: analysis of intertrial variance and analysis of motor equivalence with respect to the center of pressure (COP) trajectory. Participants performed voluntary sway tasks in the anteroposterior direction at 0.33 and 0.66 Hz. Muscle groups were identified in the space of muscle activations and used as elemental variables in the synergy analyses. Changing mechanical and vision feedback-based constraints led to significant changes in indices of sway performance such as COP deviations in the uninstructed, mediolateral direction and indices of spontaneous postural sway. In contrast, there were no significant effects on synergy indices. These findings show that the neural control of performance and of its stability may involve different control variables and neurophysiological structures. There were strong correlations between the indices of motor equivalence and those computed using the intercycle variance analysis. This result is potentially important for studies of patients with movement disorders who may be unable to perform multiple trials (cycles) at any given task, making analysis of motor equivalence of single trials a viable alternative to explore changes in stability of actions.

Motor equivalence and structure of variance: multi-muscle postural synergies in Parkinson's disease

We explored posture-stabilizing multi-muscle synergies with two methods of analysis of multi-element, abundant systems: (1) Analysis of inter-cycle variance; and (2) Analysis of motor equivalence, both quantified within the framework of the uncontrolled manifold (UCM) hypothesis. Data collected in two earlier studies of patients with Parkinson's disease (PD) were re-analyzed. One study compared synergies in the space of muscle modes (muscle groups with parallel scaling of activation) during tasks performed by early-stage PD patients and controls. The other study explored the effects of dopaminergic medication on multi-muscle-mode synergies. Inter-cycle variance and absolute magnitude of the center of pressure displacement across consecutive cycles were quantified during voluntary whole-body sway within the UCM and orthogonal to the UCM space. The patients showed smaller indices of variance within the UCM and motor equivalence compared to controls. The indices were also smaller in the off-drug compared to on-drug condition. There were strong across-subject correlations between the inter-cycle variance within/orthogonal to the UCM and motor equivalent/non-motor equivalent displacements. This study has shown that, at least for cyclical tasks, analysis of variance and analysis of motor equivalence lead to metrics of stability that correlate with each other and show similar effects of disease and medication. These results show, for the first time, intimate links between indices of variance and motor equivalence. They suggest that analysis of motor equivalence, which requires only a handful of trials, could be used broadly in the field of motor disorders to analyze problems with action stability.

Intra-Personal and Inter-Personal Kinetic Synergies During Jumping

We explored synergies between two legs and two subjects during preparation for a long jump into a target. Synergies were expected during one-person jumping. No such synergies were expected between two persons jumping in parallel without additional contact, while synergies were expected to emerge with haptic contact and become stronger with strong mechanical contact. Subjects performed jumps either alone (each foot standing on a separate force platform) or in dyads (parallel to each other, each person standing on a separate force platform) without any contact, with haptic contact, and with strong coupling. Strong negative correlations between pairs of force variables (strong synergies) were seen in the vertical force in one-person jumps and weaker synergies in two-person jumps with the strong contact. For other force variables, only weak synergies were present in one-person jumps and no negative correlations between pairs of force variable for two-person jumps. Pairs of moment variables from the two force platforms at steady state showed positive correlations, which were strong in one-person jumps and weaker, but still significant, in two-person jumps with the haptic and strong contact. Anticipatory synergy adjustments prior to action initiation were observed in one-person trials only. We interpret the different results for the force and moment variables at steady state as reflections of postural sway.

Task-specific stability of abundant systems: Structure of variance and motor equivalence

Our main goal was to test a hypothesis that transient changes in performance of a steady-state task would result in motor equivalence. We also estimated effects of visual feedback on the amount of reorganization of motor elements. Healthy subjects performed two variations of a four-finger pressing task requiring accurate production of total pressing force (F TOT) and total moment of force (M TOT). In the Jumping-Target task, a sequence of target jumps required transient changes in either F TOT or M TOT. In the Step-Perturbation task, the index finger was lifted by 1cm for 0.5s leading to a change in both F TOT and M TOT. Visual feedback could have been frozen for one of these two variables in both tasks. Deviations in the space of finger modes (hypothetical commands to individual fingers) were quantified in directions of unchanged F TOT and M TOT (motor equivalent - ME) and in directions that changed F TOT and M TOT (non-motor equivalence - nME). Both the ME and nME components increased when the performance changed. After transient target jumps leading to the same combination of F TOT and M TOT, the changes in finger modes had a large residual ME component with only a very small nME component. Without visual feedback, an increase in the nME component was observed without consistent changes in the ME component. Results from the Step-Perturbation task were qualitatively similar. These findings suggest that both external perturbations and purposeful changes in performance trigger a reorganization of elements of an abundant system, leading to large ME change. These results are consistent with the principle of motor abundance corroborating the idea that a family of solutions is facilitated to stabilize values of important performance variables.

Task-specific stability of multifinger steady-state action

The authors explored task-specific stability during accurate multifinger force production tasks with different numbers of instructed fingers. Subjects performed steady-state isometric force production tasks and were instructed not to interfere voluntarily with transient lifting-and-lowering perturbations applied to the index finger. The main results were (a) intertrial variance in the space of finger modes at steady states was larger within the subspace that had no effect on the total force (the uncontrolled manifold [UCM]); (b) perturbations caused large deviations of finger modes within the UCM (motor equivalence); and (c) deviations caused by the perturbation showed larger variance within the UCM. No significant effects of the number of task fingers were noted in any of the 3 indicators. The results are discussed within the frameworks of the UCM and referent configuration hypotheses. The authors conclude, in particular, that all the tasks were effectively 4-finger tasks with different involvement of task and nontask fingers.

Prehension synergies and hand function in early-stage Parkinson's disease

We explored the multi-digit synergies and hand performance in object manipulations and pressing tasks in patients with early-stage Parkinson's disease (PD) and healthy controls. Synergies were defined as inter-trials co-variation patterns among forces/moments produced by individual digits that stabilized a resultant mechanical variable. The subjects performed three main tasks: pressing (steady-state force production followed by a force pulse into the target), prehension (manipulation of a handheld instrumented handle imitating the action of taking a sip from a glass), and functional object manipulation (moving a glass with water as quickly and accurately as possible along a chain of targets). The PD patients were slower compared to controls in all three tasks. Patients showed smaller synergy indices in the pressing and prehension tasks. In the prehension tasks, patients showed elevated grip force at steady states with smaller grip force modulation during the handle motion. PD patients showed smaller feed-forward synergy adjustments in preparation to the quick action in the pressing and (to a smaller degree) prehension tasks. Synergy indices correlated with the time index of performance in the functional glass-with-water task, whereas none of the indices correlated with the Unified PD Rating Scale part III-motor scores. We interpret the results as pointing at an important role of subcortical structures in motor synergies and their feed-forward adjustments to action.

An apparent contradiction: increasing variability to achieve greater precision?

To understand the relationship between variability of foot placement in the frontal plane and stability of gait patterns, we explored how constraining mediolateral foot placement during walking affects the structure of kinematic variance in the lower-limb configuration space during the swing phase of gait. Ten young subjects walked under three conditions: (1) unconstrained (normal walking), (2) constrained (walking overground with visual guides for foot placement to achieve the measured unconstrained step width) and, (3) beam (walking on elevated beams spaced to achieve the measured unconstrained step width). The uncontrolled manifold analysis of the joint configuration variance was used to quantify two variance components, one that did not affect the mediolateral trajectory of the foot in the frontal plane ("good variance") and one that affected this trajectory ("bad variance"). Based on recent studies, we hypothesized that across conditions (1) the index of the synergy stabilizing the mediolateral trajectory of the foot (the normalized difference between the "good variance" and "bad variance") would systematically increase and (2) the changes in the synergy index would be associated with a disproportionate increase in the "good variance." Both hypotheses were confirmed. We conclude that an increase in the "good variance" component of the joint configuration variance may be an effective method of ensuring high stability of gait patterns during conditions requiring increased control of foot placement, particularly if a postural threat is present. Ultimately, designing interventions that encourage a larger amount of "good variance" may be a promising method of improving stability of gait patterns in populations such as older adults and neurological patients.

Bilateral synergies in foot force production tasks

We analysed the effects of task symmetry during bilateral accurate force production tasks performed by the two feet. In particular, we tested a hypothesis that bilateral deficit would lead to higher indices of synergies defined as co-varied adjustments in the two forces across trials that reduced total force variability. The subjects produced steady-state force followed by a quick force pulse into the target. The two feet could be acting both into plantar flexion and into dorsiflexion (symmetrical tasks), or in opposite directions (asymmetrical task). We used the framework of the uncontrolled manifold hypothesis to quantify two variance components, one of which did not change total force (V UCM), while the other did (V ORT). Synergy indices during the asymmetrical task were higher than in either symmetrical task. The difference was due to higher V UCM (compared to the symmetrical plantar flexion task) or lower V ORT (compared to the symmetrical dorsiflexion task). The synergy index showed a drop (anticipatory synergy adjustment, ASA) starting 100-150 ms prior to the force pulse initiation. The ASA tended to be shorter and of a smaller magnitude for the asymmetrical task. This is the first demonstration of bilateral synergies during accurate force production by the legs. We conclude that bilateral deficit has no or weak effects on two-leg synergies. The results fit the earlier introduced scheme with two groups of neural variables defining average performance of a redundant system and patterns of co-variation among its elemental variables, respectively.

Multi-digit coordination during lifting a horizontally oriented object: synergies control with referent configurations

We explored digit coordination during the acceleration phase of a quick lifting movement of a hand-held horizontal object. We tested three hypotheses related to: (1) the scaling of mechanical variables produced by the hand with changes in the external load, torque, and moment of inertia; (2) changes in the safety margin for the thumb with both the loading conditions and acceleration; and (3) changes in the indices of synergies. The subjects held a horizontal handle with a prismatic grasp (the thumb acted on top of the handle) and performed series of "very quick" lifting movements to a visual target. Multi-digit synergies were quantified as co-variation indices among elemental variables (forces and moments produced by individual digits). The resultant force scaled with the external load but not torque, while the grip force scaled with the external torque but not load. The safety margin dropped with an increase in acceleration; it also showed changes with the external torque and moment of inertia. Total moment of force was primarily produced by the tangential forces (over 80 %) across all movement phases and loading conditions. The index and little fingers produced close to zero moment with their normal forces, while the middle and ring fingers produced consistent moments due to the reproducible shifts of their centers of pressure. Synergy indices at the upper level of the assumed hierarchy (the task is shared between the thumb and virtual finger--an imagined digit with the action equal to that of the four fingers combined) did not drop with acceleration for the three force vector components and one of the moment vector components. They did drop with acceleration at the lower level (virtual finger action is shared among the four fingers). There was a trade-off between synergy indices computed at the two levels for the three force vector components, but not for the moment of force components. We confirmed specialization of different fingers with respect to different task components in quick manipulation tasks. The findings have implications for hypotheses on the control of voluntary movements involving redundant sets of effectors. Within the referent configuration hypothesis, components of a referent configuration may be adjusted to task mechanical characteristics using simple scaling rules. The neural organization of multi-digit synergies in a hierarchal system is able to selectively protect synergies related to stabilization of some performance variables from detrimental effects of the rate of change of those variables. A large number of apparently redundant elemental variables are not the source of additional computational problems but may be beneficial, allowing the central nervous system to facilitate synergies at both levels of the hierarchy.

Age effects on rotational hand action

We investigated age-related differences in finger coordination during rotational hand actions. Two hypotheses based on earlier studies were tested: higher safety margins and lower synergy indices were expected in the elderly. Young and elderly subjects held a handle instrumented with five six-component force sensors and performed discrete accurate pronation and supination movements. The weight of the system was counterbalanced with another load. Indices of synergies stabilizing salient performance variables, such as total normal force, total tangential force, moments produced by these forces, and total moment of force were computed at two levels of a hypothetical control hierarchy, at the virtual finger-thumb level and at the individual finger level. At each level, synergy indices reflected the normalized difference between the sum of the variances of elemental variables and variance of their combined output, both computed at comparable phases over repetitive trials. The elderly group performed the task slower and showed lower safety margins for the thumb during the rotation phase. Overall, the synergy indices were not lower in the elderly group. In several cases, these indices were significantly higher in the elderly than in the younger participants. Hence, both main hypotheses have been falsified. We interpret the unexpectedly low safety margins in the elderly as resulting from several factors such as increased force variability, impaired feed-forward control, and the fact that there was no danger of dropping the object. Our results suggest that in some natural tasks, such as the one used in this study, healthy elderly persons show no impairment, as compared to younger persons, in their ability to organize digits into synergies stabilizing salient performance variables.

Prehension synergies during smooth changes of the external torque

We studied characteristics of digit action and their co-variation patterns across trials (prehension synergies) during static holding of an object while the external torque could change slowly and smoothly. The subjects held in the air an instrumented handle with an attachment that allowed a smooth change in the external torque over about 12 s; the load was always kept constant. Series of trials were performed under three conditions: The torque could be zero throughout the trial, or it could change slowly requiring a smooth change of the effort from a non-zero pronation value to zero (PR-0) or from a non-zero supination value to zero (SU-0). The handle was kept vertical at all times. Indices of variance and co-variation of elemental variables (forces and moments of force produced by individual digits) stabilizing such performance variables as total normal force, total tangential force, and total moment of force were computed at two levels of an assumed control hierarchy. At the upper level, the task is shared between the thumb and virtual finger (an imagined digit with the mechanical action equal to that of the four fingers), while at the lower level, the action of the virtual finger is shared among the actual four fingers. We analyzed the total moment of force as the sum of the moments of force produced by the thumb and virtual finger and also as the sum of the moments of force produced by the normal forces and tangential forces. The results showed that the adjustments in the total moment of force were produced primarily with changes in the moment produced by the virtual finger and by changes in the moment produced by the normal forces. The normal force of the thumb at the final state (which was the same across conditions) was larger in the two conditions with changes in the external torque. The safety margin was significantly higher in the PR-0 condition, and it dropped with the decrease in the external torque. A co-contraction index was computed to reflect the moment of force production by the fingers acting against the total moment produced by the virtual finger. It was higher for the SU-0 condition. Most variance indices dropped with a decrease in the external torque. The co-variation indices, however, remained unchanged over the trial duration. They showed signs of a trade-off between the two levels of the assumed hierarchy: larger indices at the higher level corresponded to smaller indices at the lower level. This study and the previous one (Sun et al. in Exp Brain Res 209:571-585, 2011) document several previously unknown features of prehensile tasks. The results show that characteristics of digit action and interaction in such tasks depend not only on the magnitudes of external constraints but also on a variety of other factors including time changes in the constraints and their history.

Prehension of half-full and half-empty glasses: time and history effects on multi-digit coordination

We explored how digit forces and indices of digit coordination depend on the history of getting to a particular set of task parameters during static prehension tasks. The participants held in the right hand an instrumented handle with a light-weight container attached on top of the handle. At the beginning of each trial, the container could be empty, filled to the half with water (0.4 l), or filled to the top (0.8 l). The water was pumped in/out of the container at a constant, slow rate over 10 s. At the end of each trial, the participants always held a half-filled container that has just been filled (Empty-Half), emptied (Full-Half) or stayed half-filled throughout the trial (Half-Only). Indices of covariation (synergy indices) of elemental variables (forces and moments of force produced by individual digits) stabilizing such performance variables as total normal force, total tangential force, and total moment of force were computed at two levels of an assumed control hierarchy. At the upper level, the task is shared between the thumb and virtual finger (an imagined digit with the mechanical action equal to that of the four fingers), while at the lower level the action of the virtual finger is shared among the actual four fingers. Filling or emptying the container led to a drop in the safety margin (proportion of grip force over the slipping threshold) below the values observed in the Half-Only condition. Synergy indices at both levels of the hierarchy showed changes over the Full-Half and Empty-Half condition. These changes could be monotonic (typical of moment of force and normal force) or non-monotonic (typical of tangential force). For both normal and tangential forces, higher synergy indices at the higher level of the hierarchy corresponded to lower indices at the lower level. Significant differences in synergy indices across conditions were seen at the final steady state showing that digit coordination during steady holding an object is history dependent. The observations support an earlier hypothesis on a trade-off between synergies at the two levels of a hierarchy. They also suggest that, when a change in task parameters is expected, the neural strategy may involve producing less stable (easier to change) actions. The results suggest that synergy indices may be highly sensitive to changes in a task variable and that effects of such changes persist after the changes are over.

Multi-finger pressing synergies change with the level of extra degrees of freedom

The purpose of this study was to test the principle of motor abundance, which has been hypothesized as the principle by which the central nervous system controls the excessive degrees of freedom of the human movements, in contrast to the traditional negative view of motor redundancy. This study investigated the changes in force stabilizing and moment stabilizing synergies for multi-finger pressing tasks involving different number of fingers. Twelve healthy subjects produced a constant pressing force while watching visual feedback of the total pressing force for the fingers involved in each task. Based on the principle of motor abundance, it was hypothesized that the multi-finger synergies for the total force stabilizing synergy and the total moment stabilizing synergy would be greater as the number of task finger increases. Force stabilizing and moment stabilizing synergies were quantified using the framework of the uncontrolled manifold analysis. It was found that strong force stabilizing synergies existed for all the finger combinations. The index of force stabilizing synergies was greater when the task involved more number of fingers. The index of moment stabilizing synergies was negative for the two-finger combination, representing moment destabilizing synergies. However, the index of moment stabilizing synergies was positive for three-finger and four-finger combinations, representing strong moment stabilizing synergies for these finger combinations. We interpret the findings as an evidence for the principle of abundance for stabilization of both, total force as well as total moment.

Stages in learning motor synergies: a view based on the equilibrium-point hypothesis

This review describes a novel view on stages in motor learning based on recent developments of the notion of synergies, the uncontrolled manifold hypothesis, and the equilibrium-point hypothesis (referent configuration) that allow to merge these notions into a single scheme of motor control. The principle of abundance and the principle of minimal final action form the foundation for analyses of natural motor actions performed by redundant sets of elements. Two main stages of motor learning are introduced corresponding to (1) discovery and strengthening of motor synergies stabilizing salient performance variable(s) and (2) their weakening when other aspects of motor performance are optimized. The first stage may be viewed as consisting of two steps, the elaboration of an adequate referent configuration trajectory and the elaboration of multi-joint (multi-muscle) synergies stabilizing the referent configuration trajectory. Both steps are expected to lead to more variance in the space of elemental variables that is compatible with a desired time profile of the salient performance variable ("good variability"). Adjusting control to other aspects of performance during the second stage (for example, esthetics, energy expenditure, time, fatigue, etc.) may lead to a drop in the "good variability". Experimental support for the suggested scheme is reviewed.

Variance components in discrete force production tasks

The study addresses the relationships between task parameters and two components of variance, "good" and "bad", during multi-finger accurate force production. The variance components are defined in the space of commands to the fingers (finger modes) and refer to variance that does ("bad") and does not ("good") affect total force. Based on an earlier study of cyclic force production, we hypothesized that speeding-up an accurate force production task would be accompanied by a drop in the regression coefficient linking the "bad" variance and force rate such that variance of the total force remains largely unaffected. We also explored changes in parameters of anticipatory synergy adjustments with speeding-up the task. The subjects produced accurate ramps of total force over different times and in different directions (force-up and force-down) while pressing with the four fingers of the right hand on individual force sensors. The two variance components were quantified, and their normalized difference was used as an index of a total force stabilizing synergy. "Good" variance scaled linearly with force magnitude and did not depend on force rate. "Bad" variance scaled linearly with force rate within each task, and the scaling coefficient did not change across tasks with different ramp times. As a result, a drop in force ramp time was associated with an increase in total force variance, unlike the results of the study of cyclic tasks. The synergy index dropped 100-200 ms prior to the first visible signs of force change. The timing and magnitude of these anticipatory synergy adjustments did not depend on the ramp time. Analysis of the data within an earlier model has shown adjustments in the variance of a timing parameter, although these adjustments were not as pronounced as in the earlier study of cyclic force production. Overall, we observed qualitative differences between the discrete and cyclic force production tasks: Speeding-up the cyclic tasks was associated with better adjustments of the timing accuracy, which helps achieve comparable force variance in tasks with different rates of force production. This does not happen in discrete tasks. The lack of scaling of the anticipatory changes in the synergy index with ramp time is the first reported feature that distinguishes anticipatory synergy adjustments from anticipatory postural adjustments. We discuss the differences between the cyclic and discrete tasks within a hierarchical control scheme offered by Schöner.

Kinematic synergies during saccades involving whole-body rotation: a study based on the uncontrolled manifold hypothesis

We used the framework of the uncontrolled manifold hypothesis to study the coordination of body segments and eye movements in standing persons during the task of shifting the gaze to a target positioned behind the body. The task was performed at a comfortable speed and fast. Multi-segment and head-eye synergies were quantified as co-varied changes in elemental variables (body segment rotations and eye rotation) that stabilized (reduced the across trials variability) of head rotation in space and gaze trajectory. Head position in space was stabilized by co-varied rotations of body segments prior to the action, during its later stages, and after its completion. The synergy index showed a drop that started prior to the action initiation (anticipatory synergy adjustment) and continued during the phase of quick head rotation. Gaze direction was stabilized only at movement completion and immediately after the saccade at movement initiation under the "fast" instruction. The study documents for the first time anticipatory synergy adjustments during whole-body actions. It shows multi-joint synergies stabilizing head trajectory in space. In contrast, there was no synergy between head and eye rotations during saccades that would achieve a relatively invariant gaze trajectory.

Multi-muscle synergies in a dual postural task: evidence for the principle of superposition

We used the framework of the uncontrolled manifold hypothesis to quantify multi-muscle synergies stabilizing the moment of force about the frontal axis (M(Y)) and the shear force in the anterior-posterior direction (F(X)) during voluntary body sway performed by standing subjects. We tested a hypothesis whether the controller could stabilize both M(Y) and F(X) at the same time when the task and the visual feedback was provided only on one of the variables (M(Y)). Healthy young subjects performed voluntary body sway in the anterior-posterior direction while different loads were attached at the ankle level producing horizontal forces acting forward or backwards. Principal component analysis was used to identify three M-modes within the space of integrated indices of muscle activation. Variance in the M-mode space across sway cycles was partitioned into two components, one that did not affect a selected performance variable (M(Y) or F(X)) and the other that did. Under all loading conditions and for each performance variable, a higher value for the former variance component was found. We interpret these results as reflections of two multi-M-mode synergies stabilizing both F(X) and M(Y). The indices of synergies were modulated within the sway cycle; both performance variables were better stabilized when the body moved forward than when it moved backward. The results show that the controller can use a set of three elemental variables (M-modes) to stabilize two performance variables at the same time. No negative interference was seen between the synergy indices computed for the two performance variables supporting the principle of superposition with respect to multi-muscle postural control.

Motor abundance contributes to resolving multiple kinematic task constraints

This study investigated the use of motor abundance during the transport and placing of objects that required either precise or minimal orientation to the target. Analyses across repetitions of the structure of joint configuration variance relative to the position and orientation constraints were performed using the Uncontrolled Manifold (UCM) approach. Results indicated that the orientation constraint did not affect stability of the hand's spatial path. Orientation was weakly stabilized during the late transport phase independent of the orientation constraint, indicating no default synergy stabilizing orientation. Stabilization of orientation for conditions most requiring it for successful insertion of the object was present primarily during the adjustment phase. The results support the hypothesis that a major advantage of a control scheme that utilizes motor abundance is the ability to resolve multiple task constraints simultaneously without undue interference among them.

Manipulation of a fragile object

We investigated strategies of adjustments in kinetic and kinematic patterns, and in multi-digit synergies during quick vertical transport of an instrumented handle that collapsed when the grasping force exceeded a certain magnitude (quantified with a fragility index). The collapse threshold of the object was set using a novel electromagnetic device. Moving a fragile object is viewed as a task with two constraints on the grip force defined by the slipping and crushing thresholds. When moving more fragile objects, subjects decreased object peak acceleration, increased movement time, showed a drop in the safety margin (SM) (extra force over the slipping threshold), and showed a tendency toward violating the minimum-jerk criterion. Linear regression analysis of grip force against load force has shown tight coupling between the two with a decline in the coefficient of determination with increased fragility index. The SM was lower in bimanual tasks, compared to unimanual tasks, for both fragile and non-fragile objects. Two novel indices have been introduced and studied, the SM due to fragility and the drop-crush index. Both indices showed a decrease with increased object fragility. Changes in the drop-crush index showed that the subjects would rather crush the fragile objects as opposed to dropping them, possibly reflecting the particular experimental procedure. We did not find differences between the performance indices of the dominant and non-dominant hand thus failing to support the recently formulated dominance hypothesis. The synergies stabilizing grip force were quantified at two levels of an assumed two-level control hierarchy using co-variation indices between elemental variables across trials. There were strong synergies at the upper level of the hierarchy (the task is shared between the opposing groups of digits) that weakened with an increase in object fragility. At the lower level (action of an effector is shared among the four fingers), higher fragility led to higher synergy indices. Analysis of force variance showed that an increase in object fragility was accompanied by exploring a smaller range of equivalent combinations of elemental variables. The additional constraint imposed by high fragility facilitated synergies at the lower level of the hierarchy, while there was evidence for a trade-off between synergies at the two levels.

The sources of two components of variance: an example of multifinger cyclic force production tasks at different frequencies

In a multifinger cyclic force production task, the finger force variance measured across trials can be decomposed into two components, one that affects the combined force output ("bad variance") and one that does not ("good variance"). Previous studies have found similar time patterns of "bad variance" and force rate leading to an approximately linear relationship between them. Based on this finding and a recently developed model of multifinger force production, we expected the "bad variance" during cyclic force production to increase monotonically with the rate of force change, both within a cycle and across trials at different frequencies. Alternatively, "bad variance" could show a dependence on task frequency, not on actual force derivative values. Healthy subjects were required to produce cyclic force patterns to prescribed targets by pressing on unidimensional force sensors, at a frequency set by a metronome. The task was performed with only the index finger, and with all four fingers. In the task with all four fingers, the "good variance" increased approximately linearly with an increase in the force magnitude. The "bad variance" showed within-a-cycle modulation similar to that of the force rate. However, an increase in the frequency did not lead to an increase in the "bad variance" that could be expected based on the natural relationships between action frequency and the rate of force change modulation. The results have been interpreted in the framework of an earlier model of multifinger force production where "bad variance" is a result of variance of the timing parameter. The unexpected lack of modulation of the "bad variance" with frequency suggests a drop in variance of the timing parameter with increased frequency. This mechanism may serve to maintain a constant acceptable level of variance under different conditions.

The effects of strength training on finger strength and hand dexterity in healthy elderly individuals

We investigated the effect of 6 wk of strength training on maximal pressing (MVC) force, indexes of finger individuation (enslaving), and performance in accurate force production tests and in functional hand tests in healthy, physically fit, elderly individuals. Twelve participants (average age 76 yr) exercised with both hands. One of the hands exercised by pressing with the proximal phalanges (targeting mainly intrinsic hand muscles), whereas the other hand exercised by pressing with the finger tips (targeting mainly extrinsic hand muscles). Training led to higher MVC forces, higher enslaving indexes, and improved performance on the pegboard grooved test. Changes in an index of multi-finger force stabilizing synergy showed a significant correlation with changes in the index of force variability in the accurate force production test. Strong transfer effects were seen to the site that did not perform strength training exercise within each hand. Effects of exercise at the proximal site were somewhat stronger compared with those of exercise at the finger tips, although the differences did not reach significance level. Control tests showed that repetitive testing by itself did not significantly change the maximal finger force and enslaving. The results suggest that strength training is an effective way to improve finger strength. It can also lead to changes in finger interaction and in performance of accurate force production tasks. Adaptations at a neural level are likely to mediate the observed effects. Overall, the data suggest that strength training can also improve the hand function of less healthy elderly subjects.

Do synergies decrease force variability? A study of single-finger and multi-finger force production

We tested a hypothesis that force production by multi-finger groups leads to lower indices of force variability as compared to similar single-finger tasks. Three experiments were performed with quick force production, steady-state force production under visual feedback, and steady-state force production without visual feedback. In all experiments, a range of force levels was used computed as percentages of the maximal voluntary contraction force for each involved finger combination. Force standard deviation increased linearly with force magnitude across all three experiments and all finger combinations. There were modest differences between multi-finger and single-finger tasks in the indices of force variability, significant only in the tasks with steady-state force production under visual feedback. When fingers acted in groups, each finger showed significantly higher force variability as compared to its single-finger task and as compared to the multi-finger group as a whole. Fingers that were not instructed to produce force also showed close to linear relations between force standard deviation and force magnitude. For these fingers, indices of force variability were much higher as compared to those computed for the forces produced by instructed fingers. We interpret the findings within a feed-forward scheme of multi-finger control with two inputs only one of which is related to the explicit task. The total force variability reflects variability in only the task-related component, while variability of the finger forces is also due to variability of the component that is not related to the task. The findings tentatively suggest that total force variability originates at an upper level of the control hierarchy in accordance to the Weber-Fechner law rather than reflects a "neural noise" at the segmental level.

What do synergies do? Effects of secondary constraints on multidigit synergies in accurate force-production tasks

We used the framework of the uncontrolled manifold (UCM) hypothesis to explore changes in the structure of variability in multifinger force-production tasks when a secondary task was introduced. Healthy young subjects produced several levels of the total force by pressing with the four fingers of the hand on force sensors. The frame with the sensors rested on the table (Stable condition) or on a narrow supporting beam (Unstable conditions) that could be placed between different finger pairs. Most variance in the finger mode space was compatible with a fixed value of the total force across all conditions, whereas the patterns of sharing of the total force among the fingers were condition dependent. Moment of force was stabilized only in the Unstable conditions. The finger mode data were projected onto the UCM computed for the total force and subjected to principal component (PC) analysis. Two PCs accounted for >90% of the variance. The directions of the PC vectors varied across subjects in the Stable condition, whereas two "default" PCs were observed under the Unstable conditions. These observations show that different persons coordinate their fingers differently in force-production tasks. They converge on similar solutions when an additional constraint is introduced. The use of variable solutions allows avoiding a loss in accuracy of performance when the same elements get involved in another task. Our results suggest a mechanism underlying the principle of superposition suggested in a variety of human and robotic studies.

Emerging and disappearing synergies in a hierarchically controlled system

The purpose of the study was to explore the ability of the central nervous system (CNS) to organize synergies at two levels of a hypothetical control hierarchy involved in two-hand, multi-finger tasks. We investigated indices (DeltaV) of finger force co-variation across trials as reflections of synergies stabilizing the total force (F (TOT)). Subjects produced constant force with one or two finger-pairs (from one hand or two hands). In trials starting with one finger-pair, subjects added another finger-pair without changing F (TOT). In trials starting with two finger-pairs, subjects removed one of the finger-pairs without changing F (TOT). Adding or removing a finger-pair resulted in a transient drop in DeltaV computed for the finger-pair that remained active throughout the trial. This drop in DeltaV was seen simultaneously with force changes. Compared to the original steady-state, addition of a finger-pair led to a significant drop in DeltaV at the newly established steady-state. This drop eliminated negative co-variation among finger forces that had stabilized F (TOT). In contrast, in trials starting with two finger-pairs, no negative co-variation between finger forces within-a-pair was seen. Removing a finger-pair led to the emergence of negative co-variation between finger forces at the new steady-state. The DeltaV index computed across two finger-pairs confirmed the existence of negative force co-variation. The emergence and disappearance of force stabilizing synergies within a finger-pair may signal limitations in the ability of the CNS in forming synergies at two different hierarchical levels.

Muscle modes and synergies during voluntary body sway

We studied the coordination of muscle activity during voluntary body sway performed by human subjects at different frequencies. Subjects stood on the force platform and performed cyclic shifts of the center of pressure (COP) while being paced by the metronome. A major question was: does the makeup of muscle synergies and their ability to assure reproducible sway trajectory vary with the speed of the sway? Principal component analysis was used to identify three muscle groups (M-modes) within the space of integrated indices of muscle activity. M-mode vectors were similar across both subjects and sway frequencies. There were also similar relations between changes in the magnitudes of all three M-modes and COP shifts (the Jacobians) across the sway frequencies. Variance in the M-mode space across sway cycles was partitioned into two components, one that did not affect the average value of COP shift ("good variance") and the other that did. An index (DeltaV) was computed reflecting the relative amount of the "good variance"; this index has been interpreted as reflecting a multi-M-mode synergy stabilizing the COP trajectory. The average value of DeltaV was similar across all sway frequencies; DeltaV showed a within-a-cycle modulation at low but not at high sway frequencies. The modulation was mostly due to variations in the "good variance". We conclude that muscle modes and their mapping on COP shifts are robust across a wide range of rates of COP shifts. Multi-M-mode synergies stabilize COP shifts (assure its reproducibility) within a wide range of its speeds, but only during cyclic COP changes. Taken together with earlier studies that showed weak or absent multi-M-mode synergies during fast discrete COP shifts, the results suggest a basic difference between the neural control assuring stability of steady-state processes (postural or oscillatory) and transient processes (such as discrete actions). Current results provide the most comprehensive support for the notion of multi-M-mode synergies stabilizing time profiles of important performance variables in motor tasks involving large muscle groups.

Age-related changes in multifinger synergies in accurate moment of force production tasks

The purpose of this investigation was to document and quantify age-related differences in the coordination of fingers during a task that required production of an accurate time profile of the total moment of force by the four fingers of a hand. We hypothesized that elderly subjects would show a decreased ability to stabilize a time profile of the total moment of force, leading to larger indexes of moment variability compared with young subjects. The subjects followed a trapezoidal template on a computer screen by producing a time profile of the total moment of force while pressing down on force sensors with the four fingers of the right (dominant) hand. To quantify synergies, we used the framework of the uncontrolled manifold hypothesis. The elderly subjects produced larger total force, larger variance of both total force and total moment of force, and larger involvement of fingers that produced moment of force against the required moment direction (antagonist moment). This was particularly prominent during supination efforts. Young subjects showed covariation of commands to fingers across trials that stabilized the moment of total force (moment-stabilizing synergy), while elderly subjects failed to do so. Both subject groups showed similar indexes of covariation of commands to the fingers that stabilized the time profile of the total force. The lack of moment-stabilizing synergies may be causally related to the documented impairment of hand function with age.

Elderly show decreased adjustments of motor synergies in preparation to action

BACKGROUND

Aging is associated with decreased manual dexterity. Recent findings have identified changes in multi-finger synergies in elderly individuals. The purpose of current work was to study age-related changes in adjustments of multi-finger synergies in preparation to a quick targeted force pulse production task.

METHODS

Right-handed elderly and young subjects produced quick force pulses by pressing on individual force sensors with the four fingers of the right hand. Prior to the force pulse, the subjects produced a constant low level of the total force. An index of multi-finger synergies was computed across trials for each time sample for each subject and each condition.

FINDINGS

During steady-state force production, subjects showed co-variation of commands to fingers that stabilized the total force. An index of this co-variation started to decrease prior to the initiation of the force pulse (anticipatory synergy adjustment). Anticipatory synergy adjustments in young subjects started earlier and were larger than in elderly subjects. In particular, young and elderly subjects showed significant anticipatory synergy adjustments starting about 150ms and about 50ms prior to the force pulse initiation, respectively. There were no significant differences between the two groups in other indices of performance such as reaction time, time to peak force, and magnitude of the peak force.

INTERPRETATION

We conclude that healthy aging is associated with decreased feed-forward adjustments of multi-finger synergies in preparation to action. This may contribute to the age-related decline in the hand function. Based on similarities in age-related changes in anticipatory postural adjustments and anticipatory synergy adjustments we suggest a hypothesis that the two phenomena may share common mechanisms.

Hierarchies of synergies: an example of two-hand, multi-finger tasks

We explored the ability of the central nervous system (CNS) to assemble synergies stabilizing the output of sets of effectors at two levels of a control hierarchy. Specifically, we asked a question: can the CNS organize both two-hand and within-a-hand force stabilizing synergies in a simple two-hand force production task that involves two fingers per hand? Intuitively, one could expect a positive answer; that is, forces produced by each hand are expected to co-vary negatively across trials to bring down the total force variability, while forces produced by each finger within-a-hand are expected to co-vary negatively to reduce the variability of that hand's contribution to the total force. The subjects were instructed to follow a trapezoidal time profile with the signal corresponding to the force produced by a set of instructed fingers in one-hand tasks with two-finger force production and in two-hand tasks with involvement of both symmetrical and asymmetrical finger pairs in the two hands. Finger force co-variation across trials was quantified and used as an index of stabilization of the force produced by all the instructed fingers, and of the force produced by finger pairs within-a-hand. No major differences were seen between the dominant and the non-dominant hand and between the two-hand tasks with symmetrical and asymmetrical finger involvement. Stronger synergies were seen in the index-middle finger pair as compared to the ring-little finger pair. The main result of the study is the significantly weaker or even lacking two-finger force stabilizing synergies within-a-hand during two-hand tasks while such synergies were present in one-hand tasks. This observation points at a potential limitation in the ability of the CNS to organize synergies at two levels of a control hierarchy simultaneously. It also allows suggesting a hypothesis on two types of synergies in the human motor repertoire, well-practiced synergies that form a library serving as the foundation for all novel actions, and freshly assembled synergies.

Hand dominance and multi-finger synergies

Recent studies of arm movement reaching to a target have provided support for the Dynamic Dominance model of handedness, which proposes that each hemisphere/limb system is specialized for controlling different features of performance: The dominant system for control of the trajectory, and the nondominant system for control of the steady state final position. We now examine a more general form of this hypothesis by investigating differences between the right and left hands of right-handed persons in their ability to stabilize the combined action of a set of fingers. The subjects produced very quick pulses and steps of force from a low background force level while pressing with four fingers of one hand. An index of force stabilizing synergy showed a strong multi-finger synergy during steady-state force production followed by a small anticipatory drop in the index prior to the force increase. Hand differences emerged during the force increase: The left (non-dominant) hand showed a significantly larger drop in the synergy index. While our findings support the idea that the dominant system is specialized for stabilizing quick changes in performance variables, we failed to support a nondominant specialization for stabilizing steady-state isometric force. This may be a ceiling effect due to the simplicity of the task for either hand, or it might indicate that this aspect of the dynamic dominance hypothesis does not generalize to isometric conditions.

Finger synergies during multi-finger cyclic production of moment of force

We investigated multi-finger synergies stabilizing the total moment of force and the total force when the subjects produced a quick cyclic change in the total moment of force. The seated subjects performed the task with the fingers of the dominant arm while paced by the metronome at 1.33 Hz. They were required to produce a rhythmic, sine-like change in the total pronation-supination moment of force computed with respect to the midpoint between the middle and ring fingers. The framework of the uncontrolled manifold hypothesis was used to compute indices of stabilization of the total moment and of the total force across 20 cycles. Variance of the total moment showed a cyclic pattern with peaks close to the peak rate of the moment change. Variance of the total force was maximal close to peak moment into supination. Higher magnitudes of the moment directed against the required moment direction (antagonist moment) were produced by individual fingers during supination efforts as compared to pronation efforts. Indices of multi-finger synergies showed across-trials stabilization of the total moment over the whole cycle but not of the total force. These indices were smaller during supination efforts. We conclude that the central nervous system facilitates multi-finger synergies stabilizing the total rotational action across a variety of tasks. Synergies stabilizing the total force are not seen in tasks that do not explicitly require accurate force control. Pronation efforts are performed more efficiently and with better stabilization of the action.

Accurate production of time-varying patterns of the moment of force in multi-finger tasks

We investigated the production of time profiles of the total moment of force produced in isometric conditions by the four fingers of a hand. We hypothesized that these tasks would be associated with multi-finger synergies stabilizing the time profile of the total moment across trials but not necessarily stabilizing the time profile of the total force produced by the fingers. We also expected the multi-finger synergies to prevent an increase in the moment variability with its magnitude. Seated subjects pressed on force sensors with the four fingers of the right hand and produced two time profiles of the total moment of force, starting from a certain pronation effort, leading to a similar supination effort, and back to the initial pronation effort. One of the profiles was a sequence of straight lines (M-Ramp) while the other was a smooth curve (M-Sine). The subjects showed an increase in the total force during each task. This was accompanied by an increase in the force produced by the fingers opposing the required direction of the total moment-antagonist fingers. Variability of the total force and of the total moment showed complex, non-monotonic changes with the magnitude of the force and moment, respectively. In both tasks, the subjects showed patterns of co-variation of commands to fingers that stabilized the required moment profile over trials. The time profile of the total force was stabilized to a lesser degree or not stabilized at all. The share of fingers with larger moment arms (index finger for pronation efforts and little finger for supination efforts) was higher when the fingers acted to produce moments in a required direction but not necessarily when they acted as antagonists. The results demonstrate the existence of multi-finger synergies stabilizing the combined rotational action. They fit a hypothesis that stabilization of rotational actions may be a default strategy conditioned by everyday experience. The data also suggest that the mechanical advantage hypothesis is valid for sets of effectors that act in the required direction but not for sets of effectors that act as antagonists.