Unconstrained three-dimensional reaching in rhesus monkeys

Musculoskeletal Modeling and Inverse Dynamic Analysis of Precision Grip in the Japanese Macaque

Toward clarifying the biomechanics and neural mechanisms underlying coordinated control of the complex hand musculoskeletal system, we constructed an anatomically based musculoskeletal model of the Japanese macaque (Macaca fuscata) hand, and then estimated the muscle force of all the hand muscles during a precision grip task using inverse dynamic calculation. The musculoskeletal model was constructed from a computed tomography scan of one adult male macaque cadaver. The hand skeleton was modeled as a chain of rigid links connected by revolute joints. The path of each muscle was defined as a series of points connected by line segments. Using this anatomical model and a model-based matching technique, we constructed 3D hand kinematics during the precision grip task from five simultaneous video recordings. Specifically, we collected electromyographic and kinematic data from one adult male Japanese macaque during the precision grip task and two sequences of the precision grip task were analyzed based on inverse dynamics. Our estimated muscular force patterns were generally in agreement with simultaneously measured electromyographic data. Direct measurement of muscle activations for all the muscles involved in the precision grip task is not feasible, but the present inverse dynamic approach allows estimation for all the hand muscles. Although some methodological limitations certainly exist, the constructed model analysis framework has potential in clarifying the biomechanics and neural control of manual dexterity in macaques and humans.

Interlimb differences in coordination of unsupported reaching movements

Previous research suggests that interlimb differences in coordination associated with handedness might result from specialized control mechanisms that are subserved by different cerebral hemispheres. Based largely on the results of horizontal plane reaching studies, we have proposed that the hemisphere contralateral to the dominant arm is specialized for predictive control of limb dynamics, while the non-dominant hemisphere is specialized for controlling limb impedance. The current study explores interlimb differences in control of 3-D unsupported reaching movements. While the task was presented in the horizontal plane, participant's arms were unsupported and free to move within a range of the vertical axis, which was redundant to the task plane. Results indicated significant dominant arm advantages for both initial direction accuracy and final position accuracy. The dominant arm showed greater excursion along a redundant axis that was perpendicular to the task, and parallel to gravitational forces. In contrast, the non-dominant arm better impeded motion out of the task-plane. Nevertheless, non-dominant arm task errors varied substantially more with shoulder rotation excursion than did dominant arm task errors. These findings suggest that the dominant arm controller was able to take advantage of the redundant degrees of freedom of the task, while non-dominant task errors appeared enslaved to motion along the redundant axis. These findings are consistent with a dominant controller that is specialized for intersegmental coordination, and a non-dominant controller that is specialized for impedance control. However, the findings are inconsistent with previously documented conclusions from planar tasks, in which non-dominant control leads to greater final position accuracy.

Intersegmental Coordination in the Kinematics of Prehension Movements of Macaques

The most popular model to explain how prehensile movements are organized assumes that they comprise two "components", the reaching component encoding information regarding the object's spatial location and the grasping component encoding information on the object's intrinsic properties such as size and shape. Comparative kinematic studies on grasping behavior in the humans and in macaques have been carried out to investigate the similarities and differences existing across the two species. Although these studies seem to favor the hypothesis that macaques and humans share a number of kinematic features it remains unclear how the reaching and grasping components are coordinated during prehension movements in free-ranging macaque monkeys. Twelve hours of video footage was filmed of the monkeys as they snatched food items from one another (i.e., snatching) or collect them in the absence of competitors (i.e., unconstrained). The video samples were analyzed frame-by-frame using digitization techniques developed to perform two-dimensional post-hoc kinematic analyses of the two types of actions. The results indicate that only for the snatching condition when the reaching variability increased there was an increase in the amplitude of maximum grip aperture. Besides, the start of a break-point along the deceleration phase of the velocity profile correlated with the time at which maximum grip aperture occurred. These findings suggest that macaques can spatially and temporally couple the reaching and the grasping components when there is pressure to act quickly. They offer a substantial contribution to the debate about the nature of how prehensile actions are programmed.

Leveraging biomedical informatics for assessing plasticity and repair in primate spinal cord injury

Recent preclinical advances highlight the therapeutic potential of treatments aimed at boosting regeneration and plasticity of spinal circuitry damaged by spinal cord injury (SCI). With several promising candidates being considered for translation into clinical trials, the SCI community has called for a non-human primate model as a crucial validation step to test efficacy and validity of these therapies prior to human testing. The present paper reviews the previous and ongoing efforts of the California Spinal Cord Consortium (CSCC), a multidisciplinary team of experts from 5 University of California medical and research centers, to develop this crucial translational SCI model. We focus on the growing volumes of high resolution data collected by the CSCC, and our efforts to develop a biomedical informatics framework aimed at leveraging multidimensional data to monitor plasticity and repair targeting recovery of hand and arm function. Although the main focus of many researchers is the restoration of voluntary motor control, we also describe our ongoing efforts to add assessments of sensory function, including pain, vital signs during surgery, and recovery of bladder and bowel function. By pooling our multidimensional data resources and building a unified database infrastructure for this clinically relevant translational model of SCI, we are now in a unique position to test promising therapeutic strategies' efficacy on the entire syndrome of SCI. We review analyses highlighting the intersection between motor, sensory, autonomic and pathological contributions to the overall restoration of function. This article is part of a Special Issue entitled SI: Spinal cord injury.

Torque response to external perturbation during unconstrained goal-directed arm movements

It is unclear to what extent control strategies of 2D reaching movements of the upper limbs also apply to movements with the full seven degrees of freedom (DoFs) including rotation of the forearm. An increase in DoFs may result in increased movement complexity and instability. This study investigates the trajectories of unconstrained reaching movements and their stability against perturbations of the upper arm. Reaching movements were measured using an ultrasound marker system, and the method of inverse dynamics was applied to compute the time courses of joint torques. In full DoF reaching movements, the velocity of some joint angles showed multiple peaks, while the bell-shaped profile of the tangential hand velocity was preserved. This result supports previous evidence that tangential hand velocity is an essential part of the movement plan. Further, torque responses elicited by external perturbation started shortly after perturbation, almost simultaneously with the perturbation-induced displacement of the arm, and were mainly observed in the same joint angles as the perturbation torques, with similar shapes but opposite signs. These results indicate that these torque responses were compensatory and contributed to system stabilization.

Reach-to-grasp movements in Macaca fascicularis monkeys: the Isochrony Principle at work

Humans show a spontaneous tendency to increase the velocity of their movements depending on the linear extent of their trajectory in order to keep execution time approximately constant. Termed the isochrony principle, this compensatory mechanism refers to the observation that the velocity of voluntary movements increases proportionally with their linear extension. Although there is a wealth of psychophysical data regarding isochrony in humans, there is none regarding non-human primates. The present study attempts to fill that gap by investigating reach-to-grasp movement kinematics in free-ranging macaques. Video footage of monkeys grasping objects located at different distances was analyzed frame-by-frame using digitalization techniques. The amplitude of arm peak velocity was found to be correlated with the distance to be covered, and total movement duration remained invariant although target distances varied. Like in humans, the "isochrony principle" seems to be operative as there is a gearing down/up of movement velocity that is proportional to the distance to be covered in order to allow for a relatively constant movement duration. Based on a centrally generated temporal template, this mode of motor programming could be functional in macaques given the high speed and great instability of posture and joint kinematics characterizing their actions. The data presented here take research in the field of comparative motor control a step forward as they are based on precise measurements of spontaneous grasping movements by animals living/acting in their natural environment.

Methods for functional assessment after C7 spinal cord hemisection in the rhesus monkey

BACKGROUND

Reliable outcome measures are essential for preclinical modeling of spinal cord injury (SCI) in primates.

MEASURES

need to be sensitive to both increases and decreases in function in order to demonstrate potential positive or negative effects of therapeutics.

OBJECTIVES

To develop behavioral tests and analyses to assess recovery of function after SCI in the nonhuman primate.

METHODS

In all, 24 male rhesus macaques were subjected to complete C7 lateral hemisection. The authors scored recovery of function in an open field and during hand tasks in a restraining chair. In addition, EMG analyses were performed in the open field, during hand tasks, and while animals walked on a treadmill. Both control and treated monkeys that received candidate therapeutics were included in this report to determine whether the behavioral assays were capable of detecting changes in function over a wide range of outcomes.

RESULTS

The behavioral assays are shown to be sensitive to detecting a wide range of motor functional outcomes after cervical hemisection in the nonhuman primate. Population curves on recovery of function were similar across the different tasks; in general, the population recovers to about 50% of baseline performance on measures of forelimb function.

CONCLUSIONS

The behavioral outcome measures that the authors developed in this preclinical nonhuman primate model of SCI can detect a broad range of motor recovery. A set of behavioral assays is an essential component of a model that will be used to test efficacies of translational candidate therapies for SCI.

Animal models of neurologic disorders: a nonhuman primate model of spinal cord injury

Primates are an important and unique animal resource. We have developed a nonhuman primate model of spinal cord injury (SCI) to expand our knowledge of normal primate motor function, to assess the impact of disease and injury on sensory and motor function, and to test candidate therapies before they are applied to human patients. The lesion model consists of a lateral spinal cord hemisection at the C7 spinal level with subsequent examination of behavioral, electrophysiological, and anatomical outcomes. Results to date have revealed significant neuroanatomical and functional differences between rodents and primates that impact the development of candidate therapies. Moreover, these findings suggest the importance of testing some therapeutic approaches in nonhuman primates prior to the use of invasive approaches in human clinical trials. Our primate model is intended to: 1) lend greater positive predictive value to human translatable therapies, 2) develop appropriate methods for human translation, 3) lead to basic discoveries that might not be identified in rodent models and are relevant to human translation, and 4) identify new avenues of basic research to "reverse-translate" important questions back to rodent models.

Syndromics: a bioinformatics approach for neurotrauma research

Substantial scientific progress has been made in the past 50 years in delineating many of the biological mechanisms involved in the primary and secondary injuries following trauma to the spinal cord and brain. These advances have highlighted numerous potential therapeutic approaches that may help restore function after injury. Despite these advances, bench-to-bedside translation has remained elusive. Translational testing of novel therapies requires standardized measures of function for comparison across different laboratories, paradigms, and species. Although numerous functional assessments have been developed in animal models, it remains unclear how to best integrate this information to describe the complete translational "syndrome" produced by neurotrauma. The present paper describes a multivariate statistical framework for integrating diverse neurotrauma data and reviews the few papers to date that have taken an information-intensive approach for basic neurotrauma research. We argue that these papers can be described as the seminal works of a new field that we call "syndromics", which aim to apply informatics tools to disease models to characterize the full set of mechanistic inter-relationships from multi-scale data. In the future, centralized databases of raw neurotrauma data will enable better syndromic approaches and aid future translational research, leading to more efficient testing regimens and more clinically relevant findings.