Automatic control of limb movement and posture

Balance rehabilitation for postural control in children with Autism Spectrum Disorder: A two-case report study

OBJECTIVE

This study aimed to investigate the effect of balance rehabilitation on postural control in both low and increased cognitive load conditions in two children with Autism Spectrum Disorders (ASD).

METHODS

Two children diagnosed with ASD participated in a 4-week personalized balance rehabilitation program with two sessions per week. We assessed postural control in two single task (ST) conditions with low cognitive load: Eyes Closed (EC), Eyes Open (EO); and in five increased cognitive load conditions. Those dual task (DT) conditions consisted of presenting images representing a neutral condition, sadness, anger, happiness, and fear. Postural control parameters (surface, velocity, medio-lateral and antero-posterior sway amplitudes of the center of pressure (CoP)) were collected by a posturographic platform before and after the balance rehabilitation.

RESULTS

The rehabilitation program resulted in a 30-96% improvement of postural control parameters in the ST condition for both participants. In DT, participant 1 progressed on all conditions while participant 2 progressed on 3 of the 5 conditions (sadness, anger and fear).

CONCLUSION

This suggests that these two children with ASD improved their balance control in both low and increased cognitive load conditions. These encouraging results need to be replicated before recommending balance rehabilitation as standard health rehabilitation in children with ASD.

Physical Activity Design for Balance Rehabilitation in Children with Autism Spectrum Disorder

One of the characteristics of autism spectrum disorder (ASD) subjects is postural control deficit, which is significant when somatosensory perception is affected. This study analyzed postural stability evolution after physical therapy exercises based on balance training. The study included 28 children with ASD (average age 8 years, average weight 32.18 kg). The rehabilitation program involved performing balance exercises twice a week for three months. Subject assessment was carried out using the RSScan platform. The parameters were the surface of the confidence ellipse (A) and the length of the curve (L) described by the pressure center, which were evaluated before and after the rehabilitation program. Following data processing, we observed a significant decrease in the surface of the confidence ellipse by 92% from EV1 to EV2. Additionally, a decrease of 42% in the curve length was observed from EV1 to EV2. A t test applied to the ellipse surface showed a p = 0.021 and a Cohen’s coefficient of 0.8 (very large effect size). A t test applied to the length L showed p = 0.029 and Cohen’s coefficient of 1.27 mm. Thus, the results show a significant improvement in the two parameters. The application of the program based on physical exercise led to an improvement in the balance of children with autism under complex evaluation conditions.

The Averaged EMGs Recorded from the Arm Muscles During Bimanual "Rowing" Movements

The main purpose was to analyze quantitatively the the average surface EMGs of the muscles that function around the elbow and shoulder joints of both arms in bimanual “rowing” movements, which were produced under identical elastic loads applied to the levers (“oars”). The muscles of PM group (“pulling” muscles: elbow flexors, shoulder extensors) generated noticeable velocity-dependent dynamic EMG components during the pulling and returning phases of movement and supported a steady-state activity during the hold phase. The muscles of RM group (“returning” muscles: elbow extensors, shoulder flexors) co-contracted with PM group during the movement phases and decreased activity during the hold phase. The dynamic components of the EMGs strongly depended on the velocity factor in both muscle groups, whereas the side and load factors and combinations of various factors acted only in PM group. Various subjects demonstrated diverse patterns of activity redistribution among muscles. We assume that central commands to the same muscles in two arms may be essentially different during execution of similar movement programs. Extent of the diversity in the EMG patterns of such muscles may reflect the subject's skilling in motor performance; on the other hand, the diversity can be connected with redistribution of activity between synergic muscles, thus providing a mechanism directed against development of the muscle fatigue.

Online kinematic regulation by visual feedback for grasp versus transport during reach-to-pinch

PURPOSE

This study investigated novel kinematic performance parameters to understand regulation by visual feedback (VF) of the reaching hand on the grasp and transport components during the reach-to-pinch maneuver. Conventional metrics often signify discrete movement features to postulate sensory-based control effects (e.g., time for maximum velocity to signify feedback delay). The presented metrics of this study were devised to characterize relative vision-based control of the sub-movements across the entire maneuver.

METHODS

Movement performance was assessed according to reduced variability and increased efficiency of kinematic trajectories. Variability was calculated as the standard deviation about the observed mean trajectory for a given subject and VF condition across kinematic derivatives for sub-movements of inter-pad grasp (distance between thumb and index finger-pads; relative orientation of finger-pads) and transport (distance traversed by wrist). A Markov analysis then examined the probabilistic effect of VF on which movement component exhibited higher variability over phases of the complete maneuver. Jerk-based metrics of smoothness (minimal jerk) and energy (integrated jerk-squared) were applied to indicate total movement efficiency with VF.

RESULTS/DISCUSSION

The reductions in grasp variability metrics with VF were significantly greater (p<.05) compared to transport for velocity, acceleration, and jerk, suggesting separate control pathways for each component. The Markov analysis indicated that VF preferentially regulates grasp over transport when continuous control is modeled probabilistically during the movement. Efficiency measures demonstrated VF to be more integral for early motor planning of grasp than transport in producing greater increases in smoothness and trajectory adjustments (i.e., jerk-energy) early compared to late in the movement cycle.

CONCLUSIONS

These findings demonstrate the greater regulation by VF on kinematic performance of grasp compared to transport and how particular features of this relativistic control occur continually over the maneuver. Utilizing the advanced performance metrics presented in this study facilitated characterization of VF effects continuously across the entire movement in corroborating the notion of separate control pathways for each component.

The inflow of sensory information for the control of standing is graded and bidirectional

The control of upright standing is accomplished through the integration of different sources of sensory information and by providing an appropriate motor program to control both expected and unexpected perturbations imposed on the system. However, the dynamic characteristics of postural sway and its interplay with the regulation of Ia sensory information within the spinal cord are largely unknown. Here, using a stochastic technique for analyzing the dynamics of upright standing, we demonstrate that the changes in the dynamics of postural sway were accompanied by modulation of the soleus H-reflex during quiet standing. While the causality of this relation was not established, the results showed that these changes were independent of the sway of the center of pressure and were bidirectional and purposeful. With this novel perspective, the appropriate reflex gain, which is important for balance control, can be predicted from the dynamic characteristics of postural sway. Our current findings provide the first human behavioral evidence to suggest the contribution of the spinal cord in fulfilling the desired motor programming of a complex task. This contribution is, by conventional guess, carried out through interneuronal adjustments, which are under the control of different brain areas.

Differences in learning volitional (manual) and non-volitional (posture) aspects of a complex motor skill in young adult dyslexic and skilled readers

The 'Cerebellar Deficit Theory' of developmental dyslexia proposes that a subtle developmental cerebellar dysfunction leads to deficits in attaining 'automatic' procedures and therefore manifests as subtle motor impairments (e.g., balance control, motor skill learning) in addition to the reading and phonological difficulties. A more recent version of the theory suggests a core deficit in motor skill acquisition. This study was undertaken to compare the time-course and the nature of practice-related changes in volitional (manual) and non-volitional (posture) motor performance in dyslexic and typical readers while learning a new movement sequence. Seventeen dyslexic and 26 skilled young adult readers underwent a three-session training program in which they practiced a novel sequence of manual movements while standing in a quiet stance position. Both groups exhibited robust and well-retained gains in speed, with no loss of accuracy, on the volitional, manual, aspects of the task, with a time-course characteristic of procedural learning. However, the dyslexic readers exhibited a pervasive slowness in the initiation of volitional performance. In addition, while typical readers showed clear and well-retained task-related adaptation of the balance and posture control system, the dyslexic readers had significantly larger sway and variance of sway throughout the three sessions and were less efficient in adapting the posture control system to support the acquisition of the novel movement sequence. These results support the notion of a non-language-related deficit in developmental dyslexia, one related to the recruitment of motor systems for effective task performance rather than to a general motor learning disability.

Need for speed: better movement quality during faster task performance after stroke

BACKGROUND

. Although slow and insufficient muscle activation is a hallmark of hemiparesis poststroke, movement speed is rarely emphasized during upper-extremity rehabilitation. Moving faster may increase the intensity of task-specific training, but positive and/or negative effects on paretic-limb movement quality are unknown.

OBJECTIVE

. To determine whether moving quickly instead of at a preferred speed either enhances or impairs paretic-limb task performance after stroke.

METHODS

. A total of 16 people with poststroke hemiparesis and 11 healthy controls performed reach-grasp-lift movements at their preferred speed and as fast as possible, using palmar and 3-finger grip types. The authors measured durations of the reach and grasp phases, straightness of the reach path, thumb-index finger separation (aperture), efficiency of finger movement, and grip force.

RESULTS

. Reach and grasp phase durations decreased in the fast condition in both groups, showing that participants were able to move more quickly when asked. When moving fast, the hemiparetic group had reach durations equal to those of healthy controls moving at their preferred speed. Movement quality also improved. Reach paths were straighter, and peak apertures were greater in both groups in the fast condition. The group with hemiparesis also showed improved efficiency of finger movement. Differences in peak grip force across speed conditions did not reach significance.

CONCLUSIONS

. People with hemiparesis who can perform reach-grasp-lift movements with a 3-finger grip can move faster than they choose to, and when they do, movement quality improves. Simple instructions to move faster could be a cost-free and effective means of increasing rehabilitation intensity after stroke.

What does body configuration in microgravity tell us about the contribution of intra- and extrapersonal frames of reference for motor control?

The authors report that the reorganization of body configuration during weightlessness is based on an intrapersonal frame of reference such as the configuration of the support surface and the position of the body's center of gravity. These results stress the importance of “knowledge” of the state of internal geometric structures, which cannot be directly signalled by specific receptors responsible for direct dialogue with the physical external world.

Reciprocal and coactivation commands are not sufficient to describe muscle activation patterns

Recent results have shown that the relative activation of muscles is different for isometric contractions and for movements. These results exclude an explanation of muscle activation patterns by a combination ofreciprocal and coactivation commands. These results also indicate that joint stiffness is not uniquely determined and that it may be different for isometric contractions and movements.

Frames of reference interact and are task-dependent

The problem for the CNS in any particular movement task is to coordinate the various frames of reference appropriate to the task. Control variables are determined by this coordination. The coordination problem varies greatly from task to task, and so no single set of control variables is likely to account for a broad range of movement tasks.

The λ model for motor control: More than meets the eye

Understanding of the λ model has greatly increased in recent years as evidenced by most of the commentaries. Some commentators underscored the potential of the model to integrate aspects of different sensorimotor systems in the production of movement. Other commentators focused on not-yet-fully-developed parts of the model. A few persisted in misunderstanding some of its basic concepts, and on these grounds they reject it. In responding to commentaries we continue to elaborate on some fundamental points of the model, especially control variables, the idea of movement production by shifting the positional frame of reference and the hypothesis of biomechanical correspondence in motor control. We also continue to develop our ideas on the intrinsic generation of the frame of reference associated with external space and utilized for the control of arm movement and locomotion. The dynamic principles underlying the model are discussed in light of the dynamical systems approach.

Grip force adjustments during rapid hand movements suggest that detailed movement kinematics are predicted

The λ model suggests that detailed kinematics arise from changes in control variables and need not be explicitly planned. However, we have shown that when moving a grasped object, grip force is precisely modulated in phase with acceleration-dependent inertial load. This suggests that the motor system can predict detailed kinematics. This prediction may be based on a forward model of the dynamics of the loaded limb.

Let us accept a “controlled trade-off” model of motor control

The trade-off between force and length of muscle as adjusted by neural signals is a critical fact in the dynamics of motor control. Whether we call it “length-tension effect,” “feedback-like,” “invariant condition,” or “spring-like” is unimportant. We must not let semantics or details of representation obscure the basic physics of effects introduced by this trade-off in muscle.

Equilibrium-point control? Yes! Deterministic mechanisms of control? No!

The equilibrium-point hypothesis (the λ-model) is superior to all other models of single-joint control and provides deep insights into the mechanisms of control of multi-joint movements. Attempts at associating control variables with neurophysiological variables look confusing rather than promising. Probabilistic mechanisms may play an important role in movement generation in redundant systems.

The unobservability of central commands: Why testing hypotheses is so difficult

The experiments Feldman and Levin suggest do not definitively test their proposed solution to the problem of selecting muscle activations. Their test of the movement directions that elicit EMG activity can be interpreted without regard to the form of the central commands, and their fast elbow flexion test is based on a forward computation that obscures the insensitivity of the predicted trajectory to the details of the putative commands.

Biological variability and control of movements via δλ

Three issues related to Feldman and Levin's treatment of biological variability are discussed. We question the usefulness of the indirect component of δλ. We suggest that trade-offs between speed and accuracy in aimed movements support identification of δλ, rather than λ, as a control variable. We take issue with the authors' proposal for resolving redundancy in multi-joint movements, given recent data.

A few reasons why psychologlsts can adhere to Feldman and Levin's model

We emphasize the relevance to cognitive psychology of Feldman and Levin's theoretical position. Traditional views of motor control have failed to clearly separate “production control” at the level of motor command, based on task-independent CV (control variables), from intentional “product control” based on task-dependent parameters. Because F&L's approach concentrates on the first process (trajectory formation), it can distinguish the product control stage.

Levers to generate movement

The following questions are discussed: (1) Who determines the nature of “control variables”? (2) Is the “positional monopoly” healthy? (3) Does a descending command alter reflex threshold alone without eoncomitantly altering stiffness? (4) How does the CNS deal with history-dependent effects? (5) Should we abandon the idea that the CNS controls classical Newtonian variables such as muscle length?

Kinematic invariances and body schema

Generalizing the notion that muscles are positional frames of reference, a high-dimensional muscle space is defined for multi-muscle systems with an embedded low-dimensional motor manifold of functional articulators. A central representation of such a manifold is proposed as computational body schema. The example of the jaw-tongue system is presented, discussing the relation of functional articulators with kinematic invariances and control problems.

Tendon elasticity and positional control

The spring-like behaviour of a joint following a sudden change of torque is partly a result of the elastic properties of tendons. A large fall in a muscle with a long tendon may be accompanied by tendon recoil causing joint movements as large as 20°.

Command invariants and the frame of reference for human movement

We describe a solution to the redundancy problem related to that proposed in Feldman & Levin's target article. We suggest that the system may use a fixed mapping between commands organized at the level of degrees of freedom and commands to individual muscles. This proposal eliminates the need to maintain an explicit representation of musculoskeletalgeometry in planning movements.

Frameworks on shifting sands

Feldman and Levin present a model for movement control in which the system is said to seek equilibrium points, active movement being produced by shifting frames of reference in space. It is argued that whatever merit this model might have is limited to an understanding of “the how” and not “the why” we move. In this way the authors seem to be forced into a dualistic position leaving the upper level of the proposed control hierarchy “floating.”

Conservative or nonconservative control schemes

The conservative strategy proposed by the authors suggests a solution of the degrees-of-freedom problem of the controller. However, several simple motor control tasks cannot be explained by this strategy. A nonconservative strategy, in which more parameters of the control signal vary, can account for these simple motor tasks. However, the simplicity that distinguishes the proposed model from many others is lost.

The origin and use of positional frames of reference in motor control

A hypothesis about sensorimotor integration (the λ model) is described and applied to movement control and kinesthesia. The central idea is that the nervous system organizes positional frames of reference for the sensorimotor apparatus and produces active movements by shifting the frames in terms of spatial coordinates. Kinematic and electromyographic patterns are not programmed, but emerge from the dynamic interaction among the system s components, including external forces within the designated frame of reference. Motoneuronal threshold properties and proprioceptive inputs to motoneurons may be cardinal components of the physiological mechanism that produces positional frames of reference. The hypothesis that intentional movements are produced by shifting the frame of reference is extended to multi-muscle and multi-degrees-of-freedom systems with a solution of the redundancy problem that allows the control of a joint alone or in combination with other joints to produce any desired limb configuration and movement trajectory. The model also implies that for each motor behavior, the nervous system uses a strategy that minimizes the number of changeable control variables and keeps the parameters of these changes invariant. Examples are provided of simulated kinematic and electromyographic signals from single- and multi-joint arm movements produced by suggested patterns of control variables. Empirical support is provided and additional tests of the model are suggested. The model is contrasted with others based on the ideas of programming of motoneuronal activity, muscle forces, stiffness, or movement kinematics.

Origins of origins of motor control

Examination of infant spontaneous and goal-directed arm movements supports Feldman and Levin's hypothesis of a functional hierarchy. Early infant movements are dominated by biomechanical and dynamic factors without external frames of reference. Development involves not only learning to generate these frames of reference, but also protecting the higher-level goal of the movement from internal and external perturbations.

Spatial frames for motor control would be commensurate with spatial frames for vision and proprioception, but what about control of energy flows?

The model identifies a spatial coordinate frame within which the sensorimotor apparatus produces movement. Its spatial nature simplifies its coupling with spatial reference frames used concurrently by vision and proprioception. While the positional reference frame addresses the performance of spatial tasks, it seems to have little to say about movements involving energy expenditure as the principle component of the task.

Interneurons as backseat drivers and the elusive control variable

It is proposed here that the spinal network of proprioceptive feedback from length and force receptors constitutes the mechanism underlying the coordination of activation thresholds for muscles acting about the same and neighboring joints. For the most part, these circuits come between motoneurons and supraspinal signals, invalidating the idea that the activation thresholds constitute control variables for the motor system.

Two joints are more than twice one joint

An alternative multi-joint extension to the lambda model is proposed. According to this extension, the activity of a muscle depends not only on the difference between lambda and length of that muscle, but also on the difference between lambda and length of other muscles. This 2-D extension can describe more neurophysiological experiments than the extension proposed in the target article.

Control parameters, equilibria, and coordination dynamics

Important similarities exist between the dynamical concepts implicit in Feldman & Levin's extended λ model and those basic to a dynamical systems approach. We argue that careful application of the key concepts of control and order parameters, equilibria, and stability, can relate known facts of neuromuscular processes to the observables of functional, task-specific behavior.

Shifting frames of reference but the same old point of view

Models of central control variables (CVs) that are expressed in positional reference frames and rely on proprioception as the dominant specifier of muscle activation patterns have not yet been shown to be adequate for the description of fast, voluntary movement, even of single joints. An alternative model with illustrative data is proposed.

Inverse kinematic problem: Solutions by pseudoinversion, inversion and no-inversion

Kinematic properties of reaching movements reflect constraints imposed on the joint angles. Contemporary models present solutions to the redundancy problem by a pseudoinverse procedure (Whitney 1969) or without any inversion (Berkenblit et al. 1986). Feldman & Levin suggest a procedure based on a regular inversion. These procedures are considered as an outcome of a more general approach.

Natural unconstrained movements obey rules different from constrained elementary movements

The concept of a conservative control strategy minimizing the number of degrees of freedom used is criticised with reference to 3-D simple reaching and grasping experiments. The vector error in a redundant system would not be the prime controlled variable, but rather the posture for reaching, as exemplified by nearly straight displacements in joint space as opposed to curved ones in task space.

Is λ an appropriate control variable for locomotion?

The lambda model predicts that the command received by each motor nucleus during locomotion is specific for the joint at which its muscle acts and is independent of external conditions. However, investigation of the commands received by motor nuclei during fictive locomotion and of the sensitivity of these commands to feedback from the limb during locomotion indicates that neither condition is satisfied.

How far should we extend the equilibrium point (lambda) hypothesis?

A key feature of the lambda model is the hypothesis of a local spring-like muscle-reflex system defined by a central control variable that has units of position. This is intriguing, especially for a study of postural stability in large-scale systems, but it has limited direct application to skilled everyday movements. If movement is considered as a goal-directed, neuro-optimization problem, however, theavailabilityof lambda-like peripheral models (vs. conventional musculoskeletal models) deserves exploration.

Odd sensation induced by moving-phantom which triggers subconscious motor program

Our motor actions are sometimes not properly performed despite our having complete understanding of the environmental situation with a suitable action intention. In most cases, insufficient skill for motor control can explain the improper performance. A notable exception is the action of stepping onto a stopped escalator, which causes clumsy movements accompanied by an odd sensation. Previous studies have examined short-term sensorimotor adaptations to treadmills and moving sleds, but the relationship between the odd sensation and behavioral properties in a real stopped-escalator situation has never been examined. Understanding this unique action-perception linkage would help us to assess the brain function connecting automatic motor controls and the conscious awareness of action.

Here we directly pose a question: Does the odd sensation emerge because of the unfamiliar motor behavior itself toward the irregular step-height of a stopped escalator or as a consequence of an automatic habitual motor program cued by the escalator itself. We compared the properties of motor behavior toward a stopped escalator (SE) with those toward moving escalator and toward a wooden stairs (WS) that mimicked the stopped escalator, and analyzed the subjective feeling of the odd sensation in the SE and WS conditions. The results show that moving escalator-specific motor actions emerged after participants had stepped onto the stopped escalator despite their full awareness that it was stopped, as if the motor behavior was guided by a “phantom” of a moving escalator. Additionally, statistical analysis reveals that postural forward sway that occurred after the stepping action is directly linked with the odd sensation.

The results suggest a dissociation between conscious awareness and subconscious motor control: the former makes us perfectly aware of the current environmental situation, but the latter automatically emerges as a result of highly habituated visual input no matter how unsuitable the motor control is. This dissociation appears to yield an attribution conflict, resulting in the odd sensation.

Review of motor control mechanisms underlying impact absorption from falls

The absorption of impacts resulting from contact with a landing surface during gait, running and drop landings has received considerable attention in the literature. This research has important clinical relevance as failure to appropriately plan and control impact absorption may lead to injuries to the musculo-skeletal system. This review attempts to summarize evidence gathered by studies on the motor control aspects of impact absorption during landing movements. Although this review focuses primarily on the control of landings from self-initiated falls or 'drop landings', an understanding of the motor control mechanisms underlying impact absorption is essential to understand common anticipatory and reflex mechanisms involved in a broader variety of movements such as running and jumping. The review is structured in three parts: the first two parts examine the preparatory muscle activity occurring during the fall (Part I) and after touch down (Part II). Part III explores the proposed sensorimotor mechanisms underlying the control of landing. The review concludes with as yet unresolved questions and directions for future research.

Dynamic use of tactile afferent signals in control of dexterous manipulation

During object manipulation, humans select and activate neural action programs acquired during ontogenetic development. A basic issue in understanding the control of dexterous manipulation is to learn how people use sensory information to adapt the output of these neural programs such that the fingertip actions matches the requirements imposed by the physical properties of the manipulated object, e.g., weight (mass), slipperiness, shape, and mass distribution. Although visually based identification processes contribute to predictions of required fingertip actions, the digital tactile sensors provide critical information for the control of fingertip forces. The present account deals with the tactile afferent signals from the digits during manipulation and focuses on some specific issues that the neural controller has to deal with to make use of tactile information.

Biomechanics of reaching: clinical implications for individuals with acquired brain injury

PURPOSE

Outline the biomechanics of reaching both in healthy individuals and in individuals with acquired brain injury (ABI), and to discuss the clinical implications for using valid biomechanical models to assess reaching.

METHODS

A review of current literature, including a MEDLINE search using keywords of reaching, ABI, stroke, biomechanics and motor control.

RESULTS

Current assessments of the upper extremity in ABI are focused on single-joint characteristics of range of motion, strength and spasticity. However, reaching is a functional multijoint task requiring interjoint coordination in addition to feedback and feedforward control to position the hand optimally at a desired location so that it may interact with the environment. From the literature, biomechanical measures of reaching such as movement time, movement distance and interjoint coordination have been shown to discriminate changes to hand path quality following brain injury. These measures have also been shown to correlate with measures of sensorimotor function (e.g. Fugl-Meyer) in the upper extremity.

CONCLUSIONS

Further development of reliable and valid multi-joint biomechanical evaluations is required, particularly for natural and goal-oriented reaching movements. The biomechanical assessment of reaching in ABI can provide an understanding of the specific deficits in physiological structures or motor planning underlying altered reaching ability, assist in the evaluation of new therapies, and characterize the recovery process following ABI.

Predictions specify reactive control of individual digits in manipulation

When humans proactively manipulate objects, the applied fingertip forces primarily depend on feedforward, predictive neural control mechanisms that depend on internal representations of the physical properties of the objects. Here we investigate whether predictions of object properties also control fingertip forces that subjects generate reactively. We analyzed fingertip forces reactively supporting grasp stability in a restraining task that engaged two fingers. Each finger contacted a plate mounted on a separate torque motor, and, at unpredictable times, both plates were loaded simultaneously with forces tangential to the plates or just one of the plates was loaded. Thus, the apparatus acted as though the plates were mechanically linked or as though they were two independent objects. In different test series, each with a predominant behavior of the apparatus and with interspersed catch trials, we showed that the reactive responses clearly reflected the predominant behavior of the apparatus. Whether subject performed the task with one hand or bimanually, appropriate reactive fingertip forces developed when predominantly both contact plates were loaded or just one of the plates was loaded. When a finger was unexpectedly loaded during a catch trial, a weak initial reactive response was triggered, but the effective force development was delayed by approximately 100 msec. We conclude that the predicted physical properties of an object not only control fingertip forces during proactive but also in reactive manipulative tasks. Specifically, the automatic reactive responses reflect predictions at the level of individual digits as to the mechanical linkage of items contacted by the fingertips in manipulation.

Visual and non-visual control of landing movements in humans

1. The role of vision in controlling leg muscle activation in landing from a drop was investigated. Subjects (n = 8) performed 10 drops from four heights (0.2, 0.4, 0.6 and 0.8 m) with and without vision. Drop height was maintained constant throughout each block of trials to allow adaptation. The aim of the study was to assess the extent to which proprioceptive and vestibular information could substitute for the lack of vision in adapting landing movements to different heights. 2. At the final stages of the movement, subjects experienced similar peak centre of body mass (CM) displacements and joint rotations, regardless of the availability of vision. This implies that subjects were able to adapt the control of landing to different heights. The amplitude and timing of electromyographic signals from the leg muscles scaled to drop height in a similar fashion with and without vision. 3. However, variables measured throughout the execution of the movement indicated important differences. Without vision, landings were characterised by 10 % larger ground reaction forces, 10 % smaller knee joint rotations, different time lags between peak joint rotations, and more variable ground reaction forces and times to peak CM displacement. 4. We conclude that non-visual sensory information (a) could not fully compensate for the lack of continuous visual feedback and (b) this non-visual information was used to reorganise the motor output. These results suggest that vision is important for the very accurate timing of muscle activity onset and the kinematics of landing.

Postural and resting tremor in the upper limb

OBJECTIVE

Tremor from multiple segments of the upper limb was recorded under postural and resting conditions. The aims of this study were to examine the nature of tremor within a single limb segment, intra- and inter-limb co-ordination of tremor, and the influence of cardiac mechanical events on physiological tremor.

METHODS

Tremor was recorded from eight healthy adult subjects during a postural pointing task where the level of support for the upper limb segments was successively increased. The dynamics of tremor within a single segment were examined using power spectral, ApEn and amplitude analyses. Inter-segment tremor relations were determined using coherence and Cross-correlation analyses.

RESULTS

Single segment analysis demonstrated that each (unsupported) limb segment contained two major frequency peaks (at 1-4 Hz and 8-12 Hz). Both peaks were still evident in the distal segments when the proximal segments were supported. External support of the more proximal limb segments also resulted in decreased finger tremor, but these changes were not simply additive over segments within a limb or equal across fingers. There were significant relations between adjacent proximal and distal limb segment pairs but no correlations between contralateral limb segments or between heart rate and limb tremor.

CONCLUSIONS

These findings imply that: the low frequency component (1-4 Hz) of physiological tremor in the hand and finger could not be attributed to passive transmission of oscillations from the upper arm and forearm; and the contribution of proximal segments on tremor in the index finger tremor could not be predicted from mechanical principles alone. The minimization of finger tremor involved compensatory coupling of segments of the upper arm with particular emphasis upon active control of the wrist joint.

Multi-muscle control of head movements in monkeys: the referent configuration hypothesis

It is suggested that the nervous system may specify a referent configuration (R) of the body determined by the set of the threshold joint angles at which all skeletal muscles may be silent. At the same time, electromyographic (EMG) activity and forces are generated to resist deflections of the body from this configuration. The R configuration may thus be considered an internal geometric image with which the actual body configuration (Q) is compared. Thereby the difference between the R and Q is a major factor determining the recruitment and gradation of the activity of each skeletal muscle. Control systems may produce movements by changing the R configuration according to task demands. The referent hypothesis predicts that when the R and Q configurations match each other, a global minimum in the EMG activity of all muscles involved should occur, an event most likely observed in movements with reversal in direction. To test the validity of the R hypothesis for head movements, three-dimensional kinematics and EMG activity of 14 functionally diverse neck muscles were analysed in monkeys during head rotations to and from fruit targets placed beyond the oculomotor range. Despite the functional and anatomical diversity of the neck muscles, the activity of all muscles was minimised at a reversal point of the movement trajectory, as predicted by the R hypothesis. This study thus illustrates the notion that a change in the internal geometric image of a biomechanical system may underlie movement production.

Load-regulating mechanisms in gait and posture: comparative aspects

How is load sensed by receptors, and how is this sensory information used to guide locomotion? Many insights in this domain have evolved from comparative studies since it has been realized that basic principles concerning load sensing and regulation can be found in a wide variety of animals, both vertebrate and invertebrate. Feedback about load is not only derived from specific load receptors but also from other types of receptors that previously were thought to have other functions. In the central nervous system of many species, a convergence is found between specific and nonspecific load receptors. Furthermore, feedback from load receptors onto central circuits involved in the generation of rhythmic locomotor output is commonly found. During the stance phase, afferent activity from various load detectors can activate the extensor part in such circuits, thereby providing reinforcing force feedback. At the same time, the flexion is suppressed. The functional role of this arrangement is that activity in antigravity muscles is promoted while the onset of the next flexion is delayed as long as the limb is loaded. This type of reinforcing force feedback is present during gait but absent in the immoble resting animal.

Effect of gaze on postural responses to neck proprioceptive and vestibular stimulation in humans

1. We studied the effect of gaze orientation on postural responses evoked by vibration of neck dorsal muscles or by galvanic stimulation of the vestibular system during quiet standing in healthy humans. Various gaze orientations were obtained by different combinations of horizontal head-on-feet (-90, -45, 0, 45, 90 deg) and eye-in-orbit (-30, 0, 30 deg) positions. The instantaneous centre of foot pressure was recorded with a force platform. 2. With a symmetrical position of the vibrator relative to the spine, neck muscle vibration elicited a body sway in the direction of the head naso-occipital axis when the eyes were aligned with it. The same result was obtained both during head rotations and when the head and trunk were rotated together. 3. For lateral eye deviations, the direction of the body sway was aligned with gaze orientation. The effect of gaze was present both with eyes open and eyes closed. After long-lasting (1 min) lateral fixation of the target the effect of gaze decreased significantly. 4. Postural responses to galvanic vestibular stimulation tended to occur orthogonal to the head naso-occipital axis (towards the anodal ear) but in eight of the 11 subjects the responses were also biased by the direction of gaze. 5. The prominent effect of gaze in reorienting automatic postural reactions indicates that both neck proprioceptive and vestibular stimuli are processed in the context of visual control of posture. The results point out the importance of a viewer-centred frame of reference for processing multisensory information.

Control of grip force when tilting objects: effect of curvature of grasped surfaces and applied tangential torque

When we manipulate objects in everyday tasks, there are variations in the shape of the grasped surfaces, and the loads that potentially destabilize the grasp include time-varying linear forces and torques tangential to the grasped surfaces. Previous studies of the control of fingertip forces for grasp stability have dealt principally with flat grip surfaces and linear force loads. Here, we studied the regulation of grip force with changes in curvature of grasped surfaces and changes in tangential torque applied by the index finger and thumb when humans lifted an object and rotated it about the horizontal grip axis through an angle of 65 degrees. The curvatures of the matched pair of spherical surfaces varied from -50 m-1 (concave with radius 20 mm) to 200 m-1 (convex with radius 5 mm). The applied tangential torque at the orientation of 65 degrees was varied sixfold. Regardless of the values of curvature and end torque, grip force and tangential torque were coordinated, increasing in parallel throughout the tilt with an approximately linear relationship; the slope of the line increased progressively with increasing surface curvature. This parametric scaling of grip force was directly related to the minimum grip force required to prevent rotational slip, resulting in an adequate safety margin against slip in all cases. We conclude that surface curvature parametrically influences grip force regulation when the digits are exposed to torsional loads. Furthermore, the sensorimotor programs that control the grip force apparently predict the effect of the total load comprising linear forces and tangential torques.

Sensory input and control of grip

When we use our digits to manipulate objects the applied fingertip forces and torques tangential to the grip surfaces are a result of complex muscle activity. These patterns are acquired during our ontogenetic development and we select them according to the manipulative intent. But the basic force coordination expressed in these patterns has to be tuned to the physical properties of the current object, e.g. shape, surface friction and weight. This takes place primarily by parametric adjustments of the force output based on internal models of the target object, i.e. implicit memory systems that represent critical object properties. From visual or haptic information we identify objects and automatically retrieve the relevant models. These models are then used to adapt the motor commands prior to their execution. The formation of models and their swift updating with changes in object properties depend, however, on signals from tactile sensors in the fingertips.

H-reflex modulations during voluntary and automatic movements following upper motor neuron damage

OBJECTIVES

It is not known whether similar mechanisms account for the impairments of voluntary movement and automatic postural responses of individuals with spasticity secondary to damage to the sensorimotor cortex and its projections (i.e. upper motor neuron syndrome (UMN)).

METHODS

The present study examined changes in soleus H-reflexes preceding and during voluntary tibialis anterior (TA) muscle contraction of standing subjects and during balance platform induced postural perturbations that elicited similar TA muscle contractions. Twenty-two subjects (12 non-disabled; 4 with spastic-type cerebral palsy; 6 with adult-onset cerebral vascular accident) participated in the study. Data were analyzed using ANOVAs and Tukey HSD post-hoc comparison tests to assess the timing and magnitude of soleus H-reflex amplitude changes relative to the onset of TA muscle activation.

RESULTS

Results indicated that, regardless of the level of TA activation, soleus H-reflexes of subjects with UMN involvement did not demonstrate inhibition either. during voluntary movements or during automatic postural perturbations.

CONCLUSIONS

These findings indicate that postural reflexes, as well as volitional movements, are impaired following UMN damage and that deficits in neural pathways subserving reciprocal inhibition contribute to the impairments.