A novel shoulder–elbow mechanism for increasing speed in a multijoint arm movement

Contribution of interaction torques during dart throwing: Differences between novices and experts

We examined if experts and novices show different utilization of the torque components impulses during dart throwing. Participants threw darts continuously at a dartboard aiming for the centre (target bull's eye). The upper-limb joint torque impulses were obtained through inverse dynamics with anthropometric and motion capture data as input. Depending on the joint degree of freedom (DOF) and movement phase (acceleration and follow-through), three main strategies of net torque (NET) impulse generation through joint muscle (MUS) and interaction (INT) torque impulses were highlighted. Firstly, our results showed that the elbow flexion-extension DOF leads the movement according to the joint leading hypothesis. Then, considering the acceleration phase, the analysis revealed differences in torque impulse decomposition between expert and novices. For the glenohumeral (GH) joint abduction-adduction and for wrist flexion, the INT torque impulse contributed positively to NET joint torque impulse in the group of experts unlike novices. This allowed to lower the necessary MUS torque impulse at these DOFs. Also, GH axial rotation was actively controlled by muscle torque impulse in the group of experts. During the follow-through, the experts used the INT torque impulse more proficiently than novices to break the elbow extension. The comparison between experts and novices through inverse dynamics document the link between the exploitation of interaction torques impulses and expertise in dart throwing for which the main objective is precision rather than velocity.

Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

The study aimed at investigating the extent to which the brain adaptively exploits or compensates interaction torque (IT) during movement control in various velocity and load conditions. Participants performed arm pointing movements toward a horizontal plane without a prescribed reach endpoint at slow, neutral and rapid speeds and with/without load attached to the forearm. Experimental results indicated that IT overall contributed to net torque (NT) to assist the movement, and that such contribution increased with limb inertia and instructed speed and led to hand trajectory variations. We interpreted these results within the (inverse) optimal control framework, assuming that the empirical arm trajectories derive from the minimization of a certain, possibly composite, cost function. Results indicated that mixing kinematic, energetic and dynamic costs was necessary to replicate the participants' adaptive behavior at both kinematic and dynamic levels. Furthermore, the larger contribution of IT to NT was associated with an overall decrease of the kinematic cost contribution and an increase of its dynamic/energetic counterparts. Altogether, these results suggest that the adaptive use of IT might be tightly linked to the optimization of a composite cost which implicitly favors more the kinematic or kinetic aspects of movement depending on load and speed.

On the nature of motor planning variables during arm pointing movement: Compositeness and speed dependence

The purpose of this study was to investigate the nature of the variables and rules underlying the planning of unrestrained 3D arm reaching. To identify whether the brain uses kinematic, dynamic and energetic values in an isolated manner or combines them in a flexible way, we examined the effects of speed variations upon the chosen arm trajectories during free arm movements. Within the optimal control framework, we uncovered which (possibly composite) optimality criterion underlays at best the empirical data. Fifteen participants were asked to perform free-endpoint reaching movements from a specific arm configuration at slow, normal and fast speeds. Experimental results revealed that prominent features of observed motor behaviors were significantly speed-dependent, such as the chosen reach endpoint and the final arm posture. Nevertheless, participants exhibited different arm trajectories and various degrees of speed dependence of their reaching behavior. These inter-individual differences were addressed using a numerical inverse optimal control methodology. Simulation results revealed that a weighted combination of kinematic, energetic and dynamic cost functions was required to account for all the critical features of the participants' behavior. Furthermore, no evidence for the existence of a speed-dependent tuning of these weights was found, thereby suggesting subject-specific but speed-invariant weightings of kinematic, energetic and dynamic variables during the motor planning process of free arm movements. This suggested that the inter-individual difference of arm trajectories and speed dependence was not only due to anthropometric singularities but also to critical differences in the composition of the subjective cost function.

Cortical and corticospinal output modulations during reaching movements with varying directions and magnitudes of interaction torques

The neural command required to coordinate a multi-joint movement is inherently complex. During multi-joint movement of the limb, the force created from movement at one joint may create a torque at a second joint known as an interaction torque. Interaction torques may be assistive or resistive thereby aiding or opposing the motion of the second joint, respectively. For movement to be effectively controlled, the central nervous system should modulate neural output to the muscles to appropriately account for interaction torques. The present study examined the neural output from the primary motor cortex before and during reaching movements that required different combinations of assistive and resistive interaction torques occurring at the shoulder and elbow joints. Using transcranial magnetic stimulation to probe neural output from the primary motor cortex, results indicate that corticospinal output controlling the upper arm is related to resistive interaction torques occurring at the shoulder joint. Further, cortical output to bi-articular muscles is associated with interaction torque and this may be driven by the fact that these muscles are in an advantageous position to control torques produced between inter-connection segments. Humans have a tendency to avoid reaching movements that involve resistive interaction torques and this may be driven by the requirement of increased neural output associated with these 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.

Immediate compensation for variations in self-generated Coriolis torques related to body dynamics and carried objects

We have previously shown that the Coriolis torques that result when an arm movement is performed during torso rotation do not affect movement trajectory. Our purpose in the present study was to examine whether torso motion-induced Coriolis and other interaction torques are counteracted during a turn and reach (T&R) movement when the effective mass of the hand is augmented, and whether the dominant arm has an advantage in coordinating intersegmental dynamics as predicted by the dynamic dominance hypothesis (Sainburg RL. Exp Brain Res 142: 241-258, 2002). Subjects made slow and fast T&R movements in the dark to just extinguished targets with either arm, while holding or not holding a 454-g object. Movement endpoints were equally accurate at both speeds, with either hand, and in both weight conditions, but subjects tended to angularly undershoot and produce more variable endpoints for targets requiring greater torso rotation. There were no changes in endpoint accuracy or trajectory deviation over repeated movements. The dominant right arm was more stable in its control of trajectory direction across targets, whereas the nondominant left arm had an improved ability to stop accurately on the target for higher levels of interaction torques. The trajectories to more eccentric targets were straighter when performed at higher speeds but slightly more deviated when subjects held the weight. Subjects did not slow their torso velocity or change the timing of the arm and torso velocities when holding the weight, although there was a slight decrease in their hand velocity relative to the torso. The delay between the onsets of torso and finger movements was almost twice as large for the right arm than the left, suggesting the right arm was better able to account for torso rotation in the arm movement. Holding the weight increased the peak Coriolis torque by 40% at the shoulder and 45% at the elbow and, for the most eccentric target, increased the peak net torque by 12% at the shoulder and 34% at the elbow. In accordance with Sainburg's dynamic dominance hypothesis, the right arm exhibited an advantage for coordinating intersegmental dynamics, showing a more stable finger velocity in relation to the torso across targets, decreasing error variability with movement speed, and more synchronized peaks of finger relative and torso angular velocities in conditions with greater joint torque requirements. The arm used had little effect on the movement path and the magnitude of the joint torques in any of the conditions. These results indicate that compensations for forthcoming Coriolis torque variations take into account the dynamic properties of the body and of external objects, as well as the planned velocities of the torso and arm.