Superposition of independent units of coordination during pointing movements involving the trunk with and without visual feedback

Effects of postural instability on the coordination between posture and arm reaching

Reaching from standing requires adjustments of hand movement and posture, which are assured by redundant kinematic degrees of freedom. However, the increased demand for postural adjustments may interfere with the stability of reaching. The objective of this study was to investigate the effect of postural instability on the use of kinematic redundancy to stabilize the finger and center-of-mass trajectories during reaching from standing in healthy adults. Sixteen healthy young adults performed reaching movements from standing with and without postural instability induced by small base-of-support. The three-dimensional positions of 48 markers were recorded at 100 Hz. The uncontrolled manifold (UCM) analysis was performed separately with the finger and center-of-mass positions being the performance variables, and joint angles being the elemental variables. ΔV, the normalized difference between the variance in joint angle that does not affect task performance (V_UCM) and the variance that does affect task performance (V_ORT), was calculated separately for finger (ΔV_EP) and center-of-mass (ΔV_COM) positions, and was compared between stable and unstable base-of-support conditions. ΔV_EP decreased after movement onset and reached its minimum value at around 30-50% of the normalized movement time, and increased until movement offset, while ΔV_COM remained stable. At 60%-100% normalized movement time, ΔV_EP was significantly reduced in the unstable base-of-support, compared to the stable base-of-support condition. ΔV_COM remained similar between the two conditions. At movement offset, ΔV_EP was significantly reduced in the unstable base-of-support, compared to the stable base-of-support condition, and was associated with a substantial increase in V_ORT. Postural instability might reduce the ability to use kinematic redundancy to stabilize the reaching movement. The central nervous system may prioritize the maintenance of postural stability over focal movement when postural stability is challenged.

The physical characteristics underpinning performance of wheelchair fencing athletes: A Delphi study of Paralympic coaches

Wheelchair fencing (WF) is a Paralympic sport which is practised by athletes with physical disabilities and is classified into three categories according to the degree of activity limitation the impairment causes in the sport. All Paralympic sports are requested to develop their own evidence-based classification system to enhance the confidence in the classification process; however, this is yet to be achieved in WF. Research within WF is scarce; therefore, the aim of this study was to reach expert consensus on the physical characteristics that underpin performance of athletes competing in the sport as this is known as one of the initial steps required to achieve an evidence-based classification system. Sixteen Paralympic WF coaches were invited to take part in a three-round Delphi study, with experts drawing consensus on qualities of speed, strength, power, flexibility and motor control of the trunk and fencing arm being associated with increased athletic success. The required qualities of the non-fencing arm led to diverging opinions across the expert panel. This study provides clear guidance of the physical qualities to be developed to maximize athletic performance while also providing the initial framework to guide future WF classification research.

Sensory contributions to stabilization of trunk posture in the sagittal plane

Trunk stabilization is required to control posture and movement during daily activities. Various sensory modalities, such as muscle spindles, Golgi tendon organs and the vestibular system, might contribute to trunk stabilization and our aim was to assess the contribution of these modalities to trunk stabilization. In 35 healthy subjects, upper-body sway was evoked by continuous unpredictable, force-controlled perturbations to the trunk in the anterior direction. Subjects were instructed to either 'maximally resist the perturbation' or to 'relax but remain upright' with eyes closed. Frequency response functions (FRFs) of admittance, the amount of movement per unit of force applied, and reflexes, the modulation of trunk extensor activity per unit of trunk displacement, were obtained. To these FRFs, we fitted physiological models, to estimate intrinsic trunk stiffness and damping, as well as feedback gains and delays. The different model versions were compared to assess which feedback loops contribute to trunk stabilization. Intrinsic stiffness and damping and muscle spindle (short-delay) feedback alone were sufficient to accurately describe trunk stabilization, but only with unrealistically low reflex delays. Addition of muscle spindle acceleration feedback or inhibitory Golgi tendon organ feedback yielded realistic delays and improved the model fit, with a significantly better model fit with acceleration feedback. Addition of vestibular feedback did not improve the model fit. In conclusion, muscle spindle feedback and intrinsic mechanical properties are sufficient to describe trunk stabilization in the sagittal plane under small mechanical perturbations, provided that muscle spindles encode acceleration in addition to velocity and position information.

Stability of Phase Relationships While Coordinating Arm Reaches with Whole Body Motion

The human movement repertoire is characterized by the smooth coordination of several body parts, including arm movements and whole body motion. The neural control of this coordination is quite complex because the various body parts have their own kinematic and dynamic properties. Behavioral inferences about the neural solution to the coordination problem could be obtained by examining the emerging phase relationship and its stability. Here, we studied the phase relationships that characterize the coordination of arm-reaching movements with passively-induced whole-body motion. Participants were laterally translated using a vestibular chair that oscillated at a fixed frequency of 0.83 Hz. They were instructed to reach between two targets that were aligned either parallel or orthogonal to the whole body motion. During the first cycles of body motion, a metronome entrained either an in-phase or an anti-phase relationship between hand and body motion, which was released at later cycles to test phase stability. Results suggest that inertial forces play an important role when coordinating reaches with cyclic whole-body motion. For parallel reaches, we found a stable in-phase and an unstable anti-phase relationship. When the latter was imposed, it readily transitioned or drifted back toward an in-phase relationship at cycles without metronomic entrainment. For orthogonal reaches, we did not find a clear difference in stability between in-phase and anti-phase relationships. Computer simulations further show that cost models that minimize energy expenditure (i.e. net torques) or endpoint variance of the reach cannot fully explain the observed coordination patterns. We discuss how predictive control and impedance control processes could be considered important mechanisms underlying the rhythmic coordination of arm reaches and body motion.

Comparison of Reaching Velocity, Upper Trunk Movement, and Center of Force Movement between a Dominant and Nondominant Hand Reaching Task

[Purpose] The purpose of this study was to compare the reaching velocity of the upper trunk and the center of force (COF) during a reaching task with the dominant and nondominant hands. [Subjects] Ten males between the ages of 20 and 30 years participated in this study. [Methods] This study measured the reaching velocity, upper trunk movement, and center of force movement during a reaching task using the dominant and nondominant hands. [Results] There was no significant difference in reaching velocity between the dominant and nondominant hands in the reaching task. The forward movement of the upper trunk and COF movement in reaching with nondominant hand were significantly decreased compared with those of the dominant hand. [Conclusion] Therefore, when evaluating the reaching performance of patients clinically, it is necessary to evaluate trunk movement, reaching velocity, and the subsequent movement of the body center.

Interactions of touch feedback with muscle vibration and galvanic vestibular stimulation in the control of trunk posture

This study investigated the effect of touch on trunk sway in a seated position. Two touch conditions were included: touching an object with the index finger of the right hand (hand-touch) and maintaining contact with an object at the level of the spine of T10 on the mid back (back-touch). In both touch conditions, the exerted force stayed below 2N. Furthermore, the interaction of touch with paraspinal muscle vibration and galvanic vestibular stimulation (GVS) was studied. Thirteen healthy subjects with no history of low-back pain participated in this study. Subjects sat on a stool and trunk sway was measured with a motion capture system tracking a cluster marker on the trunk. Subjects performed a total of 12 trials of 60-s duration in a randomized order, combining the experimental conditions of no-touch, hand-touch or back-touch with no sensory perturbation, paraspinal muscle vibration or GVS. The results showed that touch through hand or back decreased trunk sway and decreased the effects of muscle vibration and GVS. GVS led to a large increase in sway whereas the effect of muscle vibration was only observed as an increase of drift and not of sway. In the current experimental set-up, the stabilizing effect of touch was strong enough to mask any effects of perturbations of vestibular and paraspinal muscle spindle afference. In conclusion, tactile information, whenever available, seems to play a dominant role in seated postural sway and therefore has important implications for studying trunk control.

Coordination deficits during trunk-assisted reach-to-grasp movements in Parkinson's disease

The present study investigated how Parkinson's disease (PD) affects temporal coordination among the trunk, arm, and fingers during trunk-assisted reach-to-grasp movements. Seated participants with PD and healthy controls made prehensile movements. During the reach to the object, the involvement of the trunk was altered based on the instruction; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. For the transport component, the individuals with PD substantially delayed the onset of trunk motion relative to that of arm motion in conditions where the trunk was moved in the direction opposite from the arm reaching toward the object. At the same time, variability of intervals between the onsets and intervals between the velocity peaks of the trunk and wrist movements was increased. The magnitudes of the variability measures were significantly correlated with the severity of PD. Regarding the grasp component, the individuals with PD delayed the onset of finger movements during reaching. These results imply that PD impairs temporal coordination between the axial and distal body segments during goal-directed skilled actions. When there is a directional discrepancy between the trunk and wrist motions, individuals with PD appear to prioritize wrist motion that is tied to the task goal over the trunk motion. An increase in disease severity magnifies the coordination deficits.

Habilidades motoras de cadeirantes influenciadas pelo controle de tronco

O objetivo deste estudo foi analisar a efetividade de um protocolo de treinamento de estabilização segmentar lombar (ESL) no controle de tronco e nas habilidades em cadeira de rodas (CR) em indivíduos paraplégicos. A amostra foi composta por 5 homens (31,2±12,9 anos) com lesão medular abaixo de T6. O deslocamento total (DT) e as amplitudes ântero-posterior (AP) e médio-lateral (ML) do centro de pressão (CP) foram analisados por meio de uma plataforma de força, em duas posições de teste (mãos no joelho e braços cruzados) e as habilidades na cadeira de rodas foram analisadas pelo Wheelchair Skills Test (WST), pré e pós protocolo de treinamento de ESL. A análise estatística foi realizada no software SPSS (15.0), utilizando o teste ANOVA para α ≤ 0,05. Na comparação pré e pós-treino, houve redução significativa do deslocamento total do CP na posição sentada com mãos nos joelhos (P<0,01) e braços cruzados (P<0,01). Não se observou mudança nas habilidades com CR do WST entre as avaliações pré e pós treinamento em nenhum dos níveis estudados. O protocolo de treinamento de ESL proposto foi efetivo para a melhora do controle de tronco, mas não modificou as habilidades no manejo de cadeira de rodas em indivíduos paraplégicos.

Accuracy of pointing movements relies upon a specific tuning between anticipatory postural adjustments and prime mover activation

AIM

Equilibrium-perturbing forces associated with a voluntary upper-limb movement can be strong enough to displace the whole-body centre of mass. In this condition, anticipatory postural adjustments (APAs), developing in muscles other than the prime mover, are essential in maintaining the whole-body balance. Here, we test the hypothesis that APAs preceding an upper-limb target-reaching movement could play a role also in controlling the movement accuracy.

METHODS

Standing subjects (10) were asked to flex the right shoulder and touch with the index fingertip the centre of a target positioned in front of them. The reaching task was also performed while wearing and after doffing prismatic lenses (shifting the eye field rightward). EMGs from different upper- and lower-limb muscles and the mechanical actions to the ground were recorded.

RESULTS

(i) Before wearing prisms, subjects were very accurate in hitting the target, and the pointing movements were accompanied by APAs in quadriceps (Q) and tibialis anterior (TA) of both sides, and in right hamstrings (H) and soleus (SOL). (ii) After donning prisms, rightward pointing errors occurred, associated with a significant APA increase in right Q and TA, but without changes in the recruitment of right anterior deltoid (prime mover) and biceps brachii. (iii) These pointing errors were progressively compensated in about 10 trials, indicating a sensorimotor adaptation, and APAs returned to values recorded before wearing prisms. (iv) After doffing prisms, pointing errors occurred in the opposite direction but changes in APAs did not reach significance.

CONCLUSION

We propose that, besides preserving the whole-body balance, APAs are also tailored to obtain an accurate voluntary movement.

Effects of aging and tai chi on a finger-pointing task with a choice paradigm

Background. This cross-sectional study examined the effect of aging on performing finger-pointing tasks involving choices and whether experienced older Tai Chi practitioners perform better than healthy older controls in such tasks. Methods. Thirty students and 30 healthy older controls were compared with 31 Tai Chi practitioners. All the subjects performed a rapid index finger-pointing task. The visual signal appeared randomly under 3 conditions: (1) to touch a black ball as quickly and as accurately as possible, (2) not to touch a white ball, (3) to touch only the white ball when a black and a white ball appeared simultaneously. Reaction time (RT) of anterior deltoid electromyogram, movement time (MT) from electromyogram onset to touching of the target, end-point accuracy from the center of the target, and the number of wrong movements were recorded. Results. Young students displayed significantly faster RT and MT, achieving significantly greater end-point accuracy and fewer wrong movements than older controls. Older Tai Chi practitioners had significantly faster MT than older controls. Conclusion. Finger-pointing tasks with a choice paradigm became slower and less accurate with age. Positive findings suggest that Tai Chi may slow down the aging effect on eye-hand coordination tasks involving choices that require more cognitive progressing.

Control of aperture closure initiation during trunk-assisted reach-to-grasp movements

The present study investigated how the involvement and direction of trunk movement during reach-to-grasp movements affect the coordination between the transport and grasping components. Seated young adults made prehensile movements in which the involvement of the trunk was varied; the trunk was not involved, moved forward (flexion), or moved backward (extension) in the sagittal plane during the reach to the object. Each of the trunk movements was combined with an extension or flexion motion of the arm during the reach. Regarding the relationship between the trunk and arm motion for arm transport, the onset of wrist motion relative to that of the trunk was delayed to a greater extent for the trunk extension than for the trunk flexion. The variability of the time period from the peak of wrist velocity to the peak of trunk velocity was also significantly greater for trunk extension compared to trunk flexion. These findings indicate that trunk flexion was better integrated into the control of wrist transport than trunk extension. In terms of the temporal relationship between wrist transport and grip aperture, the relationship between the time of peak wrist velocity and the time of peak grip aperture did not change or become less steady across conditions. Therefore, the stability of temporal coordination between wrist transport and grip aperture was maintained despite the variation of the pattern of intersegmental coordination between the arm and the trunk during arm transport. The transport-aperture coordination was further assessed in terms of the control law according to which the initiation of aperture closure during the reach occurs when the hand crosses a hand-to-target distance threshold for grasp initiation, which is a function of peak aperture, wrist velocity and acceleration, trunk velocity and acceleration, and trunk-to-target distance at the time of aperture closure initiation. The participants increased the hand-to-target distance threshold for grasp initiation in the conditions where the trunk was involved compared to the conditions where the trunk was not involved. An increase also occurred when the trunk was extended compared to when it was flexed. The increased distance threshold implies an increase in the hand-to-target distance-related safety margin for grasping when the trunk is involved, especially when it is extended. These results suggest that the CNS significantly utilizes the parameters of trunk movement together with movement parameters related to the arm and the hand for controlling grasp initiation.

Grip forces during object manipulation: experiment, mathematical model, and validation

When people transport handheld objects, they change the grip force with the object movement. Circular movement patterns were tested within three planes at two different rates (1.0, 1.5 Hz) and two diameters (20, 40 cm). Subjects performed the task reasonably well, matching frequencies and dynamic ranges of accelerations within expectations. A mathematical model was designed to predict the applied normal forces from kinematic data. The model is based on two hypotheses: (a) the grip force changes during movements along complex trajectories can be represented as the sum of effects of two basic commands associated with the parallel and orthogonal manipulation, respectively; (b) different central commands are sent to the thumb and virtual finger (Vf-four fingers combined). The model predicted the actual normal forces with a total variance accounted for of better than 98%. The effects of the two components of acceleration-along the normal axis and the resultant acceleration within the shear plane-on the digit normal forces are additive.

Effects of aging and Tai Chi on finger-pointing toward stationary and moving visual targets

Kwok JC, Hui-Chan CW, Tsang WW. Effects of aging and Tai Chi on finger-pointing toward stationary and moving visual targets.

OBJECTIVE

To examine the aging effect on speed and accuracy in finger pointing toward stationary and moving visual targets between young and older healthy subjects and whether or not Tai Chi practitioners perform better than healthy older controls in these tasks.

DESIGN

Cross-sectional study.

SETTING

University-based rehabilitation center.

PARTICIPANTS

University students (n=30) (aged 24.2+/-3.1y), were compared with healthy older control subjects (n=30) (aged 72.3+/-7.2y) and experienced (n=31) (mean years of practice, 7.1+/-6.5y) Tai Chi practitioners (aged 70.3+/-5.9y).

INTERVENTIONS

Not applicable.

MAIN OUTCOME MEASURES

Subjects pointed with the index finger of their dominant hand from a fixed starting position on a desk to a visual signal (1.2cm diameter dot) appearing on a display unit, as quickly and as accurately as possible. Outcome measures included (1) reaction time-the time from the appearance of the dot to the onset of the anterior deltoid electromyographic response; (2) movement time-the time from onset of the electromyographic response to touching of the dot; and (3) accuracy-the absolute deviation of the subject's finger-pointing location from center of the dot.

RESULTS

Young subjects achieved significantly faster reaction and movement times with significantly better accuracy than older control subjects in all finger-pointing tasks. Tai Chi practitioners attained significantly better accuracy than older controls in pointing to stationary visual signals appearing contralaterally and centrally to their pointing hand. They also demonstrated significantly better accuracy when the target was moving. Accuracy in Tai Chi practitioners was similar to young controls.

CONCLUSIONS

Eye-hand coordination in finger-pointing declines with age in time and accuracy domains. However, Tai Chi practitioners attained significantly better accuracy than control subjects similar in age, sex, and physical activity 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.

Vestibular system may provide equivalent motor actions regardless of the number of body segments involved in the task

The vestibulospinal system likely plays an essential role in motor equivalence--the ability to reach the desired motor goal despite intentional or imposed changes in the number of body segments involved in the task. To test this hypothesis, we compared the ability of healthy subjects and patients with unilateral vestibular lesions (surgical acoustic neuroma resection 0.6 to 6.7 yr before the study) to maintain either the same hand position or the same trajectory of within arm reach movements while flexing the trunk, in the absence of vision. In randomly selected trials, the trunk motion was prevented by an electromagnetic device. Healthy subjects were able to preserve the hand position or trajectory by modifying the elbow and shoulder joint rotations in a condition-dependent way, at a minimal latency of about 60 ms after the trunk movement onset. In contrast, six of seven patients showed deficits in the compensatory angular modifications at least in one of two tasks so that 30-100% of the trunk displacement was not compensated and thus influenced the hand position or trajectory. Results suggest that vestibular influences evoked by the head motion during trunk flexion play a major role in maintaining the consistency of arm motor actions in external space despite changes in the number of body segments involved. Our findings also suggest that despite long-term plasticity in the vestibular system and related neural structures, unilateral vestibular lesion may reduce the capacity of the nervous system to achieve motor equivalence.

How to extend the elbow with a weak or paralyzed triceps: control of arm kinematics for aiming in C6-C7 quadriplegic patients

This study aims to investigate how quadriplegic patients with a C6-C7 spinal lesion coordinate their upper limb to extend the elbow despite the paralysis or weakness of the triceps brachii, and what is the effect of a surgical musculotendinous transfer. For this purpose, aiming movements in a wide workspace were recorded in seven healthy subjects and in patients with incomplete (five cases) or complete (eight cases) triceps paralysis and after musculotendinous transfer (eight cases). We used four electromagnetic field sensors to quantify hand trajectory and to compute the angles describing the rotations at the scapula, glenohumeral joint, elbow and wrist (10 degrees of freedom). Extent and smoothness of the hand trajectories and hand velocity profiles were surprisingly similar between healthy subjects and quadriplegic patients. The reduction of elbow extension observed in patients was compensated by rotations distributed across several degrees of freedom including the scapula. Principal components analysis showed that the joint rotations could be summarized by an additive combination of two synergies, respectively orientating and stretching out the limb, which explained similar amounts of variance in healthy subjects and in patients. The participations of degrees of freedom in the synergies were roughly similar in the different groups of subjects, the main difference concerning scapular medial-lateral rotation, which seems to be critical in patients with a complete triceps paralysis. This demonstrates that elbow extension in quadriplegic patients is due to anticipated mechanical interaction coupling between upper limb segments. We propose that the persisting (incomplete paralysis) or restored (musculotendinous transfer) elbow extensor strength may act by stabilizing the elbow. This counterintuitive preservation of limb kinematics for horizontal aiming movements in quadriplegic patients despite the drastic changes in muscle action provoked by paralysis and/or by surgery strongly suggests that the motor system does not primarily control forces but the morphological aspects of movement, via joint rotation synergies.

Workspace location influences joint coordination during reaching in post-stroke hemiparesis

The purpose of this study was to determine the influence of workspace location on joint coordination in persons with post-stroke hemiparesis when trunk motion was required to complete reaches beyond the arm's functional reach length. Seven subjects with mild right hemiparesis following a stroke and seven age and gender matched control subjects participated. Joint motions and characteristics of hand and trunk movement were measured over multiple repetitions. The variance (across trials) of joint combinations was partitioned into two components at every point in the hand's trajectory using the uncontrolled manifold approach; the first component is a measure of the extent to which equivalent joint combinations are used to control a given hand path, and reflects performance flexibility. The second component of joint variance reflects the use of non-equivalent joint combinations, which lead to hand path error. Compared to the control subjects, persons with hemiparesis demonstrated a significantly greater amount of non-equivalent joint variability related to control of the hand's path and of the hand's position relative to the trunk when reaching toward the hemiparetic side (ipsilaterally), but not when reaching to the less involved side. The relative timing of the hand and trunk was also altered when reaching ipsilaterally. The current findings support the idea that the previously proposed "arm compensatory synergy" may be deficient in subjects with hemiparesis. This deficiency may be due to one or a combination of factors: changes in central commands that are thought to set the gain of the arm compensatory synergy; a limited ability to combine shoulder abduction and elbow extension that limits the expression of an appropriately set arm compensatory synergy; or a reduction of the necessary degrees-of-freedom needed to adequately compensate for poor trunk control when reaching ipsilaterally.

Rapid adaptation of torso pointing movements to perturbations of the base of support

We investigated whether pointing movements made with the torso would adapt to movement-contingent augmentation or attenuation of their spatial amplitude. The pointing task required subjects standing on a platform in the dark to orient the mid-sagittal plane of their torso to the remembered locations of just extinguished platform-fixed visual targets without moving their feet. Subjects alternated pointing at two chest-high targets, 60 degrees apart, (1) in a baseline period with the stance platform stationary, (2) during exposure to concomitant contra or ipsiversive platform rotations that grew incrementally to 50% of the velocity of torso rotation, and (3) after return in one step to stationary platform conditions. The velocity and amplitude of torso movements relative to space decreased 25-50% during exposure to contraversive platform rotations and increased 20-50% during ipsiversive rotations. Torso rotation kinematics relative to the platform (as well as the platform-fixed targets and feet) remained virtually constant throughout the incremental exposure period. Subjects were unaware of the altered motion of their body in space imposed by the platform and did not perceive their motor adjustments. Upon return to stationary conditions, torso rotation movements were smaller and slower following adaptation to contraversive rotations and larger and faster after ipsiversive platform rotations. These results indicate a rapid sensory-motor recalibration to the altered relationship between spatial (inertial) torso motion and intended torso motion relative to the feet, and rapid re-adaptation to normal conditions. The adaptive system producing such robust torso regulation provides a critical basis for control of arm, head, and eye movements.

Pointing to a target from an upright standing position: anticipatory postural adjustments are modulated by the size of the target in humans

To examine the influence of the target size onto postural EMG activity, eight subjects performed, from a standing position, rapid and accurate pointings to a target located within reach. The target size was varied across blocks of trials. Hand movement time increased when the target size was decreased. Interestingly, the magnitude of the integrated EMG activity of lower limb muscles (TAi, TFLc, RFi) decreased with a decreasing target size, while that of the erector spinae increased. The effects were observed as early as 200 ms before the hand movement onset. When standing, these early commands could influence the control of the hand during the acceleration phase. The target size was specified within the postural command before any hand movement took place suggesting the characteristics of the pointing task were integrated in a feedforward manner.

Arm-trunk coordination in the absence of proprioception

During trunk-assisted reaching to targets placed within arm's length, the influence of trunk motion on the hand trajectory is compensated for by changes in the arm configuration. The role of proprioception in this compensation was investigated by analyzing the movements of 2 deafferented and 12 healthy subjects. Subjects reached to remembered targets (placed approximately 80 degrees ipsilateral or approximately 45 degrees contralateral to the sagittal midline) with an active forward movement of the trunk produced by hip flexion. In 40% of randomly selected trials, trunk motion was mechanically blocked. No visual feedback was provided during the experiment. The hand trajectory and velocity profiles of healthy subjects remained invariant whether or not the trunk was blocked. The invariance was achieved by changes in arm interjoint coordination that, for reaches toward the ipsilateral target, started as early as 50 ms after the perturbation. Both deafferented subjects exhibited considerable, though incomplete, compensation for the effects of the perturbation. Compensation was more successful for reaches to the ipsilateral target. Both deafferented subjects showed invariance between conditions (unobstructed or blocked trunk motion) in their hand paths to the ipsilateral target, and one did to the contralateral target. For the other deafferented subject, hand paths in the two types of trials began to deviate after about 50% into the movement, because of excessive elbow extension. In movements to the ipsilateral target, when deafferented subjects compensated successfully, the changes in arm joint angles were initiated as early as 50 ms after the trunk perturbation, similar to healthy subjects. Although the deafferented subjects showed less than ideal compensatory control, they compensated to a remarkably large extent given their complete loss of proprioception. The presence of partial compensation in the absence of vision and proprioception points to the likelihood that not only proprioception but also vestibulospinal pathways help mediate this compensation.

Interjoint coordination dynamics during reaching in stroke

A technique is described that characterizes the dynamics of the interjoint coordination of arm reaching movements in healthy subjects (n=10) and in patients who had sustained a left-sided cerebrovascular accident (n=18). All participants were right-handed. Data from the affected right arm of patients with stroke were compared with those from the right arm of healthy subjects. Seated subjects made 25 pointing movements in a single session. Movements were made from an initial target located ipsilaterally to the right arm beside the body, to a final target located in front of the subject in the contralateral arm workspace. Kinematic data from the finger, wrist, elbow, both shoulders and sternum were recorded in three dimensions at 200 Hz with an optical tracking system. Analysis of interjoint coordination was based on the patterns of temporal delay between rotations at two adjacent joints (shoulder and elbow). The data were reduced to a single graph (Temporal Coordination or TC index) integrating the essential temporal characteristics of joint movement (the angular displacements, velocities and timing). TC segments, duration and amplitude, were analysed. The analysis was sensitive to the differences in interjoint coordination between healthy subjects and patients with arm motor deficits. In patients, the temporal coordination between elbow and shoulder movements was disrupted from the middle to the end of the reach. More specifically, in mid-reach, all patients had difficulty coordinating elbow flexion with shoulder horizontal adduction. In addition, patients with severe arm hemiparesis had difficulty changing elbow movement direction from flexion to extension and in coordinating this change with shoulder movement. At the end of the reach, patients with severe hemiparesis had deficits in the execution of elbow extension while all patients had impaired coordination of elbow extension and shoulder horizontal adduction. In addition, active ranges of joint motions were significantly decreased in the stroke compared to the healthy subjects. Finally, TC analysis revealed significant relationships between specific aspects of disrupted interjoint coordination and the level of motor impairment, suggesting that it may be a useful tool in the identification of specific movement coordination deficits in neurological impaired populations that can be targeted in treatment for arm motor recovery.

Vestibular contribution to combined arm and trunk motion

Recent studies have shown that the hand-pointing movements within arm's reach remain invariant whether the trunk is recruited or not or its motion is unexpectedly prevented. This suggests the presence of compensatory arm-trunk coordination minimizing the deflections of the hand from the intended trajectory. It has been postulated that vestibular signals elicited by the trunk motion and transmitted to the arm motor system play a major role in the compensation. One prediction of this hypothesis is that vestibular stimulation should influence arm posture and movement during reaching. It has been demonstrated that galvanic vestibular stimulation (GVS) can influence the direction of pointing movements when body motion is restrained. In the present study, we analyzed the effects of GVS on trunk-assisted pointing movements. Subjects either moved the hand to a target or maintained a steady-state posture near the target, while moving the trunk forward with the eyes closed. When GVS was applied, the final position of the hand was deviated in the lateral and sagittal direction in both tasks. This was the result of two independent effects: a deviation of the trunk trajectory and a modification of the arm position relative to the trunk. Thus, the vestibular system might be directly involved not only in the control of trunk motion but also in the arm-trunk coordination during trunk-assisted reaching movements.

Effects of visual information and task constraints on intersegmental coordination in playground swinging

The authors investigated how and to what extent visual information and associated task constraints are negotiated in the coordinative structure of playground swinging. Participants (N = 20) were invited to pump a swing from rest to a prescribed maximal amplitude under 4 conditions: normal vision, no vision, and 2 visual conditions involving explicit phasing constraints. In the latter conditions, participants were presented with a flow pattern consisting of a periodically expanding and contracting optical structure. They were instructed to phase the swing motion so that the forward turning point coincided with either the maximal size (enhanced optical flow) or the minimal size (reduced optical flow) of the presented flow pattern. Removal of visual information clearly influenced the swinging behavior, in that intersegmental coordination became more stereotyped, reflecting a general stiffening of the swinger. The conditions involving explicit phasing requirements also affected the coordination, but in an opposite way: The coordination became less stereotyped. The two phasing instructions had differential effects: The intersegmental coordination deviated more from normal swinging (i.e., without phasing constraints) when optical flow was enhanced than when it was reduced. Collectively, those findings show that visual information plays a formative role in the coordinative structure of swinging, in that variations of visual information and task constraints were accompanied by subtle yet noticeable changes in intersegmental coordination.

Coordinated turn-and-reach movements. II. Planning in an external frame of reference

The preceding study demonstrated that normal subjects compensate for the additional interaction torques generated when a reaching movement is made during voluntary trunk rotation. The present paper assesses the influence of trunk rotation on finger trajectories and on interjoint coordination and determines whether simultaneous turn-and-reach movements are most simply described relative to a trunk-based or an external reference frame. Subjects reached to targets requiring different extents of arm joint and trunk rotation at a natural pace and quickly in normal lighting and in total darkness. We first examined whether the larger interaction torques generated during rapid turn-and-reach movements perturb finger trajectories and interjoint coordination and whether visual feedback plays a role in compensating for these torques. These issues were addressed using generalized Procrustes analysis (GPA), which attempts to overlap a group of configurations (e.g., joint trajectories) through translations and rotations in multi-dimensional space. We first used GPA to identify the mean intrinsic patterns of finger and joint trajectories (i.e., their average shape irrespective of location and orientation variability in the external and joint workspaces) from turn-and-reach movements performed in each experimental condition and then calculated their curvatures. We then quantified the discrepancy between each finger or joint trajectory and the intrinsic pattern both after GPA was applied individually to trajectories from a pair of experimental conditions and after GPA was applied to the same trajectories pooled together. For several subjects, joint trajectories but not finger trajectories were more curved in fast than slow movements. The curvature of both joint and finger trajectories of turn-and-reach movements was relatively unaffected by the vision conditions. Pooling across speed conditions significantly increased the discrepancy between joint but not finger trajectories for most subjects, indicating that subjects used different patterns of interjoint coordination in slow and fast movements while nevertheless preserving the shape of their finger trajectory. Higher movement speeds did not disrupt the arm joint rotations despite the larger interaction torques generated. Rather, subjects used the redundant degrees of freedom of the arm/trunk system to achieve similar finger trajectories with differing joint configurations. We examined finger movement patterns and velocity profiles to determine the frame of reference in which turn-and-reach movements could be most simply described. Finger trajectories of turn-and-reach movements had much larger curvatures and their velocity profiles were less smooth and less bell-like in trunk-based coordinates than in external coordinates. Taken together, these results support the conclusion that turn-and-reach movements are controlled in an external frame of reference.

Coordinated turn-and-reach movements. I. Anticipatory compensation for self-generated coriolis and interaction torques

When reaching movements involve simultaneous trunk rotation, additional interaction torques are generated on the arm that are absent when the trunk is stable. To explore whether the CNS compensates for such self-generated interaction torques, we recorded hand trajectories in reaching tasks involving various amplitudes and velocities of arm extension and trunk rotation. Subjects pointed to three targets on a surface slightly above waist level. Two of the target locations were chosen so that a similar arm configuration relative to the trunk would be required for reaching to them, one of these targets requiring substantial trunk rotation, the other very little. Significant trunk rotation was necessary to reach the third target, but the arm's radial distance to the body remained virtually unchanged. Subjects reached at two speeds-a natural pace (slow) and rapidly (fast)-under normal lighting and in total darkness. Trunk angular velocity and finger velocity relative to the trunk were higher in the fast conditions but were not affected by the presence or absence of vision. Peak trunk velocity increased with increasing trunk rotation up to a maximum of 200 degrees /s. In slow movements, peak finger velocity relative to the trunk was smaller when trunk rotation was necessary to reach the targets. In fast movements, peak finger velocity was approximately 1.7 m/s for all targets. Finger trajectories were more curved when reaching movements involved substantial trunk rotation; however, the terminal errors and the maximal deviation of the trajectory from a straight line were comparable in slow and fast movements. This pattern indicates that the larger Coriolis, centripetal, and inertial interaction torques generated during rapid reaches were compensated by additional joint torques. Trajectory characteristics did not vary with the presence or absence of vision, indicating that visual feedback was unnecessary for anticipatory compensations. In all reaches involving trunk rotation, the finger movement generally occurred entirely during the trunk movement, indicating that the CNS did not minimize Coriolis forces incumbent on trunk rotation by sequencing the arm and trunk motions into a turn followed by a reach. A simplified model of the arm/trunk system revealed that additional interaction torques generated on the arm during voluntary turning and reaching were equivalent to < or =1.8 g (1 g = 9.81 m/s(2)) of external force at the elbow but did not degrade performance. In slow-rotation room studies involving reaching movements during passive rotation, Coriolis forces as small as 0.2 g greatly deflect movement trajectories and endpoints. We conclude that compensatory motor innervations are engaged in a predictive fashion to counteract impending self-generated interaction torques during voluntary reaching movements.

Trajectories of target reaching arm movements in individuals with spinal cord injury: effect of external trunk support

DESIGN

Deficits in trunk control due to spinal cord injury (SCI) lead to slower target-reaching movements of the hand. We investigated whether the movement path is also affected, and whether providing external support for the trunk can abolish the kinematic differences.

OBJECTIVE

To compare movement trajectories between individuals with SCI and neurologically normal individuals, with and without external trunk support.

SETTING

Neural Control/Biomechanics Laboratory, University of Illinois, Chicago, USA.

METHODS

Five subjects with levels of injury between C7 and T4 were tested 3-8 years post-injury, and compared with five control subjects. Two targets were employed. Trajectories were recorded by a motion-capture system using infrared emitting markers. Peak speed and path curvature were calculated for the fingertip and for the acromion.

RESULTS

Compared with control subjects, the subjects with SCI exhibited lower peak speed of the fingertip but not of the acromion, and less straight paths for both. When the trunk was supported externally, the difference in fingertip speed persisted. The support abolished the difference in path curvature for the fingertip but accentuated that for the acromion.

CONCLUSION

The slower hand movements of individuals with SCI are not simply time-scaled versions of those of normal subjects, and the provision of trunk support does not erase the kinematic differences between the reaching movements of the two groups.

Pointing movements may be produced in different frames of reference depending on the task demand

Movements are likely guided by the nervous system in task-specific spatial frames of reference (FRs). We tested this hypothesis by analyzing fast arm pointing movements involving the trunk made to targets located within the reach of the arm. In the first experiment, subjects pointed to a motionless target and, in the second experiment, to a target moving synchronously with the trunk. Vision of the arm and targets was prevented before movement onset. Each experiment started after three to five training trials. In randomly selected trials of both experiments, an electromagnet device unexpectedly prevented the trunk motion. When the trunk was arrested, the hand trajectory and velocity profile remained invariant in an FR associated with the experimental room in the first or in an FR moving with the trunk in the second experiment. Substantial changes in the arm interjoint coordination in response to the trunk arrest were observed in the first but not in the second experiment. The results demonstrate the ability of the nervous system to rapidly adapt behavior at the joint level to transform motor performance from a spatial FR associated with the environment to one associated with the body. A theoretical framework is suggested in which FRs are considered as pre-existing neurophysiological structures permitting switching between different FRs and guiding multiple joints and muscles without redundancy problems.

Sequential control signals determine arm and trunk contributions to hand transport during reaching in humans

When reaching towards objects placed outside the arm workspace, the trunk assumes an active role in transport of the hand by contributing to the extent of movement while simultaneously maintaining the direction of reach. We investigated the spatial-temporal aspects of the integration of the trunk motion into reaching. Specifically, we tested the hypothesis that the efficiency ('gain') of the arm-trunk co-ordination determining the contribution of the trunk to the extent of hand movement may vary substantially with the phase of reaching. Sitting subjects made fast pointing movements towards ipsi- and a contralateral targets placed beyond the reach of the right arm so that a forward trunk motion was required to assist in transporting the hand to the target. Sight of the arm and target was blocked before the movement onset. In randomly selected trials, the trunk motion was unexpectedly prevented by an electromagnet. Subjects were instructed to make stereotypical movements whether or not the trunk was arrested. In non-perturbed trials, most subjects began to move the hand and trunk simultaneously. In trunk-blocked trials, it was impossible for the hand to cover the whole pointing distance but the hand trajectory and velocity profile initially matched those from the trials in which the trunk motion was free, approximately until the hand reached its peak velocity. The arm inter-joint co-ordination substantially changed in response to the trunk arrest at a minimal latency of 40 ms after the perturbation onset. The results suggest that when the trunk was free, the influence of the trunk motion on the hand trajectory and velocity profile was initially neutralized by appropriate changes in the arm joint angles. Only after the hand had reached its peak velocity did the trunk contribute to the extent of pointing. Previous studies suggested that the central commands underlying the transport component of arm movements are completed when the hand reaches peak velocity. These studies, together with the present finding that the trunk only begins to contribute to the hand displacement at peak hand velocity, imply that the central commands that determine the contributions of the arm and the trunk to the transport of the hand are generated sequentially, even though the arm and trunk move in parallel.