Origins of submovements during pointing movements

Artificial and biological supports are different for pea plants

Previous studies on the kinematics of pea plants' ascent and attach behavior have demonstrated that the signature of their movement varies depending on the kind of support. So far, these studies have been confined to artificial supports (e.g. wooden sticks). Little is known regarding the conditions under which pea plants could rely on biological supports (e.g. neighboring plants) for climbing toward the light. In this study, we capitalize on the 3D kinematic analysis of movement to ascertain whether pea plants scale their kinematics differently depending on whether they aim for artificial or biological support. Results suggest that biological support determines a smoother and more accurate behavior than that elicited by the artificial one. These results shed light on pea plants' ability to detect and classify the properties of objects and implement a movement plan attuned to the very nature of the support. We contend that such differences depend on the augmented multisensory experience elicited by the biological support.

Role of the Cerebellum in the Construction of Functional and Geometrical Spaces

The perceptual and motor systems appear to have a set of movement primitives that exhibit certain geometric and kinematic invariances. Complex patterns and mental representations can be produced by (re)combining some simple motor elements in various ways using basic operations, transformations, and respecting a set of laws referred to as kinematic laws of motion. For example, point-to-point hand movements are characterized by straight hand paths with single-peaked-bell-shaped velocity profiles, whereas hand speed profiles for curved trajectories are often irregular and more variable, with speed valleys and inflections extrema occurring at the peak curvature. Curvature and speed are generically related by the 2/3 power law. Mathematically, such laws can be deduced from a combination of Euclidean, affine, and equi-affine geometries, whose neural correlates have been partially detected in various brain areas including the cerebellum and the basal ganglia. The cerebellum has been found to play an important role in the control of coordination, balance, posture, and timing over the past years. It is also assumed that the cerebellum computes forward internal models in relationship with specific cortical and subcortical brain regions but its motor relationship with the perceptual space is unclear. A renewed interest in the geometrical and spatial role of the cerebellum may enable a better understanding of its specific contribution to the action-perception loop and behavior's adaptation. In this sense, we complete this overview with an innovative theoretical framework that describes a possible implementation and selection by the cerebellum of geometries adhering to different mathematical laws.

The type 1 submovement conundrum: an investigation into the function of velocity zero-crossings within two-component aiming movements

In rapid manual aiming, traditional wisdom would have it that two components manifest from feedback-based processes, where error accumulated within the primary submovement can be corrected within the secondary submovement courtesy of online sensory feedback. In some aiming contexts, there are more type 1 submovements (overshooting) compared to types 2 and 3 submovements (undershooting), particularly for more rapid movements. These particular submovements have also been attributed to a mechanical artefact involving movement termination and stabilisation. Hence, the goal of our study was to more closely examine the function of type 1 submovements by revisiting some of our previous datasets. We categorised these submovements according to whether the secondary submovement moved the limb closer (functional), or not (non-functional), to the target. Overall, there were both functional and non-functional submovements with a significantly higher proportion for the former. The displacement at the primary and secondary submovements, and negative velocity peak were significantly greater in the functional compared to non-functional. The influence of submovement type on other movement characteristics, including movement time, was somewhat less clear. These findings indicate that the majority of type 1 submovements are related to intended feedforward- and/or feedback-based processes, although there are a portion that can be attributed an indirect manifestation of a mechanical artefact. As a result, we suggest that submovements should be further categorised by their error-reducing function.

Motor invariants in action execution and perception

The nervous system is sensitive to statistical regularities of the external world and forms internal models of these regularities to predict environmental dynamics. Given the inherently social nature of human behavior, being capable of building reliable predictive models of others' actions may be essential for successful interaction. While social prediction might seem to be a daunting task, the study of human motor control has accumulated ample evidence that our movements follow a series of kinematic invariants, which can be used by observers to reduce their uncertainty during social exchanges. Here, we provide an overview of the most salient regularities that shape biological motion, examine the role of these invariants in recognizing others' actions, and speculate that anchoring socially-relevant perceptual decisions to such kinematic invariants provides a key computational advantage for inferring conspecifics' goals and intentions.

Reaching and Grasping Movements in Parkinson's Disease: A Review

Parkinson's disease (PD) is known to affect the brain motor circuits involving the basal ganglia (BG) and to induce, among other signs, general slowness and paucity of movements. In upper limb movements, PD patients show a systematic prolongation of movement duration while maintaining a sufficient level of endpoint accuracy. PD appears to cause impairments not only in movement execution, but also in movement initiation and planning, as revealed by abnormal preparatory activity of motor-related brain areas. Grasping movement is affected as well, particularly in the coordination of the hand aperture with the transport phase. In the last fifty years, numerous behavioral studies attempted to clarify the mechanisms underlying these anomalies, speculating on the plausible role that the BG-thalamo-cortical circuitry may play in normal and pathological motor control. Still, many questions remain open, especially concerning the management of the speed-accuracy tradeoff and the online feedback control. In this review, we summarize the literature results on reaching and grasping in parkinsonian patients. We analyze the relevant hypotheses on the origins of dysfunction, by focusing on the motor control aspects involved in the different movement phases and the corresponding role played by the BG. We conclude with an insight into the innovative stimulation techniques and computational models recently proposed, which might be helpful in further clarifying the mechanisms through which PD affects reaching and grasping movements.

Online control of rapid target-directed aiming using blurred visual feedback

The accuracy and precision of target-directed aiming is contingent upon the availability of online visual feedback. The present study aimed to examine the visual regulation of aiming with blurred vision. The aiming task was executed using a stylus on a graphics digitizing board, which was translated onto a screen in the form of a cursor (representing the moving limb) and target. The vision conditions involved the complete disappearance or blur of the cursor alone, target alone, and cursor+target. These conditions involved leaving the screen uncovered or covering with a diffusing sheet to induce blur. The distance between the screen and sheet was increased to make the blur progressively more severe (0 cm, 3 cm). Results showed significantly less radial and variable error under blurred compared to no vision of the cursor and cursor+target. These findings were corroborated by the movement kinematics including a shorter proportion of time to peak velocity, more negative within-participant correlation between the distances travelled to and after peak velocity, and lower spatial variability from peak velocity to the end of the movement under blurred vision. The superior accuracy and precision under the blurred compared to no vision conditions is consistent with functioning visual regulation of aiming, which is primarily contingent upon the online visual feedback of the moving limb. This outcome may be attributed to the processing of low spatial-high temporal frequencies. Potential implications for low vision diagnostics are discussed.

Optimization in Manual Aiming: Relating Inherent Variability and Target Size, and Its Influence on Tendency

For manual aiming, the optimized submovement model predicts a tendency toward target-center of primary movement endpoints (probabilistic strategy), while the minimization model predicts target undershooting ("play-it-safe" strategy). The spatial variability of primary movement endpoints directed toward a cross-hair (400-500 ms) (Session 1) were scaled by a multiplicative factor (x1 - 4) to form circular targets of different sizes (Session 2). In recognition of both models, it was predicted that the more that inherent variability exceeded the target size, the greater the tendency to shift from target-center aiming to target undershooting. The central tendency of primary movement endpoints was not influenced by the targets, while it neared target-center. These findings concur with a probabilistic strategy, although we speculate on factors that might otherwise foster a "play-it-safe" strategy.

Age and Not the Preferred Limb Influences the Kinematic Structure of Pointing Movements

In goal-directed movements, effective open-loop control reduces the need for feedback-based corrective submovements. The purpose of this study was to determine the influence of hand preference and aging on submovements during single- and two-joint pointing movements. A total of 12 young and 12 older right-handed participants performed pointing movements that involved either elbow extension or a combination of elbow extension and horizontal shoulder flexion with their right and left arms to a target. Kinematics were used to separate the movements into their primary and secondary submovements. The older adults exhibited slower movements, used secondary submovements more often, and produced relatively shorter primary submovements. However, there were no interlimb differences for either age group or for the single- and two-joint movements. These findings indicate that open-loop control is similar between arms but compromised in older compared to younger adults.

On-line control of movement in plants

At first glance, plants seem relatively immobile and, unlike animals, unable to interact with the surroundings or escape stressful environments. But, although markedly different from those of animals, movement pervades all aspects of plant behaviour. Here, we focused our investigation on the approaching movement of climbing plants, that is the movement they perform to reach-to-climb a support. In particular, we examined whether climbing plants evolved a motor accuracy mechanism as to improve the precision of their movement and how this eventually differs from animal species. For this purpose, by means of three-dimensional kinematical analysis, we investigated whether climbing plants have the ability to correct online their movement by means of secondary submovements, and if their frequency production is influenced by the difficulty of the task. Results showed, not only that plants correct their movement in flight, but also that they strategically increase the production of secondary submovements when the task requires more precision, exactly as humans do. These findings support the hypothesis that the movement of plants is far cry from being a simple cause-effect mechanism, but rather is appropriately planned, controlled and eventually corrected.

Are Sub-Movements Induced Visually in Discrete Aiming Tasks?

There is a long-held view that discrete movements aimed to a target are composed of a sequence of movement units (sub-movements) that have different roles in motor control (e.g., initial impulse, error correction and movement termination) depending on the task constraints (e.g., spatial-temporal requirements). Here we report findings from the manipulation of vision/no-vision on the prevalence and type of sub-movements in discrete movement tasks over a range of space-time task criteria. The presence of vison resulted in longer movement times compared to the no-vision counterpart in time-matching tasks. A similar vision effect was observed in the highest Index of Difficulty for time-minimization tasks. Conditions that resulted/required longer movement times demonstrated more pre-velocity-peak and post-velocity-peak types of sub-movements whereas short movement times increased the likelihood of overshooting sub-movements. The present study results are consistent with the idea that movement time is the variable associated with changes in sub-movement profiles.

Sensorimotor control and linear visuomotor gains

In everyday life, we often use graphical interfaces where the visual space is mapped to the motor space with a visuomotor gain called the control display gain. One of the key objectives in the field of Human Computer Interaction is to design this control display gain so as to enhance users' performance. Although the control display gain involved in operating systems has been found to improve users' pointing performance, the reasons for this improvement have not yet been fully elucidated, especially because the control display gains on operating systems are both non-constant and non-linear. Here, we tested non-constant but linear velocity-based control display gains to determine which parameters were responsible for pointing performance changes based on analyses of the movement kinematics. Using a Fitts' paradigm, constant gains of 1 and 3 were compared with a linearly increasing gain (i.e., the control display gain increases with the motor velocity) and a decreasing gain (i.e., the control display gain decreases with the motor velocity). Three movements with various indexes of difficulty (ID) were tested (3, 5 and 7 bits). The increasing gain was expected to increase the velocity of the initial impulse phase and decrease that of the correction phase, thus decreasing the movement time (MT), and the contrary in the case of the decreasing gain. Although the decreasing gain increased MT at ID3, the increasing gain was found to be less efficient than the constant gain of 3, probably because a non-constant gain between the motion and its visual consequences disrupted the sensorimotor control. In addition, the kinematic analyses of the movements suggested that the motion profile was planned by the central nervous system based on the visuomotor gain at maximum motor velocity, as common features were observed between the constant gain of 1 and the decreasing gain, and between the constant gain of 3 and the increasing gain. By contrast, the amplitude of the velocity profile seemed to be specific to each particular visuomotor mapping process.

Energy minimization within target-directed aiming: the mediating influence of the number of movements and target size

In target-directed aiming, performers tend to more greatly undershoot targets when aiming down compared to up because they try to avoid an overshoot error and subsequently minimize the time and energy expenditure that is required to suddenly combat gravitational forces. The present study aims to further examine this principle of time and energy minimization by directly mediating the perceived cost of potential errors as well as the likelihood of their occurrence by manipulating the number of movements and target size, respectively. Participants executed rapid aiming movements in the up/down direction as part of a one-/two-target movement towards a small/large target. Primary movement endpoints showed greater undershooting when aiming in the downward compared to upward direction and small compared to large targets. Meanwhile, the overall movement time showed that slower movements were generated for down compared to up, but only when aiming toward large targets. The failure to mediate the central tendency as a function of the number of movements and target size indicates that the feature of minimization is highly prominent within the performers’ pre-response planning. However, the continued minimization of energy in the presence of large targets may inadvertently cost the movement time.

Early Impulse Control: Treatment of Potential Errors within Pre-Programming and Control

Early aiming adjustments following an online perturbation are made possible by impulse control. This process may unfold even earlier when perturbations impose a greater risk of a costly overshoot error. Participants executed upward and downward aims to mediate the cost of potential errors-downward overshoots require more energy to correct against gravity. On 33% of the trials, texture elements on the aiming surface were shifted following onset to appear congruent or incongruent with the aiming direction, and consequently generate a misperception of the limb moving slower or faster, respectively. Thus, the risk of potential errors could be influenced by the online perturbation (e.g., increased perceived likelihood of overshooting following the incongruent background). Findings indicated greater undershooting for down compared to up, which reflects the principle of movement optimisation. There was also more undershooting for an incongruent compared to congruent background, which is consistent with early online adjustments counter-acting the misperceived limb velocity. However, there were no interactions throughout the movement trajectory. We suggest that while the initial pre-programme considers the cost of potential errors (target direction), early impulse control fails to discriminate the likelihood of these errors occurring following an online perturbation (moving background).

Effect of Stroke on Joint Control during Reach-to-Grasp: A Preliminary Study

We investigated changes in control of inter-segmental dynamics underlying upper extremity dyscoordination caused by stroke. Individuals with stroke and healthy individuals performed a natural reach-to-grasp movement. Kinetic analysis revealed that both groups rotated the shoulder by muscle torque and used interaction torque to rotate the elbow. However, individuals with stroke used interaction torque less than healthy individuals, actively suppressing a substantial portion of it. This resulted in inefficient use of active control and dyscoordination of the upper extremity. The degree of interaction torque suppression and inefficiency of active control at the elbow positively correlated with stroke severity. The increased interaction torque suppression can be a strategy used by individuals with stroke to compensate for deficient feedforward control of this torque.

Submovement control processes in discrete aiming as a function of space-time constraints

There is preliminary evidence that there are several types of submovements in movement aiming that reflect different processes of control and can result from particular task constraints. The purpose of the study was to investigate the effect of movement space and time task criteria on the prevalence of different submovement control characteristics in discrete aiming. Twelve participants completed 3 distance x 5 time conditions each with 100 trials in a target-aiming movement task. The kinematic structure of the trajectory determined the prevalence of 5 submovement types (none; pre-peak, post-peak movement velocity; undershoot, overshoot). The findings showed that the overall number of submovements increased in the slower space-time conditions and was predominantly characterized by post-peak trajectory submovements rather than discrete overshoot submovements. Overshoot submovements were more frequent in the high average movement velocity and short time duration conditions. We concluded that there are qualitatively different distributional patterns of submovement types in discrete aiming tasks that are organized by the quantitative scaling of the average movement velocity arising from multiple control processes to meet the specific space-time task constraints.

The impact of aging on the spatial accuracy of quick corrective arm movements in response to sudden target displacement during reaching

Age-related declines in visuomotor processing speed can have a large impact on motor performance in elderly individuals. Contrary to previous findings, however, recent studies revealed that elderly individuals are able to quickly react to displacement of a visual target during reaching. Here, we investigated the influence of aging on quick, corrective responses to perturbations during reaching in the terms of their functional contribution to accuracy. Elderly and young adults performed reaching movements to a visual target that could be displaced during reaching, and they were requested to move their hand to reach the final target location as quickly as possible. Results showed that, for the younger group, the variance in the directional error of the corrective response correlated with the variance in the reaching trajectory at the halfway point of the reach, but the correlation decreased at the end of the reaching. On the other hand, such correlations were not significant in elderly participants, although the variance of the directional error did not show a significant difference between age groups. Thus, the quick, corrective response seems to play an important role in decreasing variability, especially before the end of reaching, and aging can impair this process.

Combining sigma-lognormal modeling and classical features for analyzing graphomotor performances in kindergarten children

This paper investigates the advantage of using the kinematic theory of rapid human movements as a complementary approach to those based on classical dynamical features to characterize and analyze kindergarten children's ability to engage in graphomotor activities as a preparation for handwriting learning. This study analyzes nine different movements taken from 48 children evenly distributed among three different school grades corresponding to pupils aged 3, 4, and 5 years. On the one hand, our results show that the ability to perform graphomotor activities depends on kindergarten grades. More importantly, this study shows which performance criteria, from sophisticated neuromotor modeling as well as more classical kinematic parameters, can differentiate children of different school grades. These criteria provide a valuable tool for studying children's graphomotor control learning strategies. On the other hand, from a practical point of view, it is observed that school grades do not clearly reflect pupils' graphomotor performances. This calls for a large-scale investigation, using a more efficient experimental design based on the various observations made throughout this study regarding the choice of the graphic shapes, the number of repetitions and the features to analyze.

A novel approach to enhancing limb control in older adults

Two recent experiments have demonstrated that young adult participants were able to make faster and more harmonic movements in a typical reciprocal Fitts task (ID = 6) following a practice session of sine wave tracking (Boyle et al. in Exp Brain Res 223:377-387, 2012; J Mot Behav 46:277-285, 2014). The purpose of the present experiment was to replicate these findings with a young adult population (age 18-25) and determine whether sine wave tracking also enhances goal-directed limb movements in an older adult population (age 65-90). To establish a performance baseline, all participants were first pretested on a typical ID = 6 Fitts task. Participants in each age group were then randomly assigned to one of the two training conditions where they practiced (45 trials) on a typical Fitts task (ID = 6) or they were asked to track a sine wave template (45 trials). Following practice, all participants were then posttested under the ID = 6 Fitts conditions. The results demonstrated that both young and older adult participants that practiced under the sine wave conditions enhanced their Fitts task performance compared to participants in their respective age groups who practiced under the Fitts conditions. These enhancements included faster movement times, smaller dwell times, and more harmonic movements, all without decreases in movement accuracy. These results replicate our previous findings with young adults and extend the finding to older adult participants. Interestingly, the performances of the older adults following sine wave practice were as fast and as accurate as the young adults following Fitts task practice.

The StartReact effect in tasks requiring end-point accuracy

OBJECTIVE

Fast and accurate movements are often performed in response to a sensory signal. In reaction time tasks, execution of open loop movements is speeded up when a startling auditory stimulus (SAS) is applied together with the imperative signal (IS). In this study, we examined the effects of a SAS on the performance of a task that demands accuracy.

METHODS

Nine subjects were asked to move a monitored pen to a target point located in a table at a fixed angular distance of 30 degrees from a start point. The target was a spot of three possible diameters: 5, 10, and 20mm. Finger force for pen holding, pen tip pressure against the table and kinematic variables of the forearm movement were measured for three conditions: control, SAS delivered at IS (SAS-IS trials) and SAS delivered during movement execution (SAS-MOV trials).

RESULTS

Two movement phases could be identified in the movement trajectory and force profile. The first phase, ballistic, was significantly shortened in SAS-MOV trials, with earlier and larger peak velocity and peak force with respect to control trials. The second phase, slow approach to target, was longer in SAS-IS trials but not in SAS-MOV trials. Accuracy was maintained throughout all conditions and stimulation modes.

CONCLUSIONS

A SAS speeds up only the first (ballistic) part of the movement in an accuracy task. Slower target approach compensates for the accelerated initial movement. No changes in the last part of the movement are seen when a SAS is delivered after movement onset.

SIGNIFICANCE

The StartReact effect is restricted to the onset of a complex movement, when muscles are activated in a ballistic mode, without feedback.

Characterizing and predicting submovements during human three-dimensional arm reaches

We have demonstrated that 3D target-oriented human arm reaches can be represented as linear combinations of discrete submovements, where the submovements are a set of minimum-jerk basis functions for the reaches. We have also demonstrated the ability of deterministic feed-forward Artificial Neural Networks (ANNs) to predict the parameters of the submovements. ANNs were trained using kinematic data obtained experimentally from five human participants making target-directed movements that were decomposed offline into minimum-jerk submovements using an optimization algorithm. Under cross-validation, the ANNs were able to accurately predict the parameters (initiation-time, amplitude, and duration) of the individual submovements. We also demonstrated that the ANNs can together form a closed-loop model of human reaching capable of predicting 3D trajectories with VAF >95.9% and RMSE ≤4.32 cm relative to the actual recorded trajectories. This closed-loop model is a step towards a practical arm trajectory generator based on submovements, and should be useful for the development of future arm prosthetic devices that are controlled by brain computer interfaces or other user interfaces.

Primary and submovement control of aiming in C6 tetraplegics following posterior deltoid transfer

BACKGROUND

Upper limb motor control in fast, goal-directed aiming is altered in tetraplegics following posterior-deltoid musculotendinous transfer. Specifically, movements have similar end-point accuracy but longer duration and lower peak velocity than those of age-matched, neurotypical controls. Here, we examine in detail the interplay between primary movement and submovement phases in five C6 tetraplegic and five control participants.

METHODS

Aiming movements were performed in two directions (20 cm away or toward), with or without vision. Trials that contained a submovement phase (i.e., discontinuity in velocity, acceleration or jerk) were identified. Discrete kinematic variables were then extracted on the primary and submovements phases.

RESULTS

The presence of submovements did not differ between the tetraplegic (68%) and control (57%) groups, and almost all submovements resulted from acceleration and jerk discontinuities. Tetraplegics tended to make a smaller amplitude primary movement, which had lower peak velocity and greater spatial variability at peak velocity. This was followed by a larger amplitude and longer duration secondary submovement. Peak velocity of primary movement was not related to submovement incidence. Together, the primary and submovement phases of both groups were equally effective in reducing end-point error.

CONCLUSIONS

C6 tetraplegic participants exhibit some subtle differences in measures of motor behaviour compared to control participants, but importantly feedforward and feedback processes work effectively in combination to achieve accurate goal-directed aiming.

Spectral analyses of wrist motion in individuals poststroke: the development of a performance measure with promise for unsupervised settings

BACKGROUND

Upper extremity use in daily life is a critical ingredient of continued functional recovery after cerebral stroke. However, time-evolutions of use-dependent motion quality are poorly understood due to limitations of existing measurement tools.

OBJECTIVE

Proof-of-concept study to determine if spectral analyses explain the variability of known temporal kinematic movement quality (ie, movement duration, number of peaks, jerk) for uncontrolled reach-to-grasp tasks.

METHODS

Ten individuals with chronic stroke performed unimanual goal-directed movements using both hands, with and without task object present, wearing accelerometers on each wrist. Temporal and spectral measures were extracted for each gesture. The effects of performance condition on outcome measures were determined using 2-way, within subject, hand (nonparetic vs paretic) × object (present vs absent) analysis of variance. Regression analyses determined if spectral measures explained the variability of the temporal measures.

RESULTS

There were main effects of hand on all 3 temporal measures and main effects of object on movement duration and peaks. For the paretic limb, spectral measures explain 41.2% and 51.1% of the variability in movement duration and peaks, respectively. For the nonparetic limb, spectral measures explain 40.1%, 42.5%, and 27.8% of the variability of movement duration, peaks, and jerk, respectively.

CONCLUSIONS

Spectral measures explain the variability of motion efficiency and control in individuals with stroke. Signal power from 1.0 to 2.0 Hz is sensitive to changes in hand and object. Analyzing the evolution of this measure in ambient environments may provide as yet uncharted information useful for evaluating long-term recovery.

Two-phase strategy of neural control for planar reaching movements: II--relation to spatiotemporal characteristics of movement trajectory

In the companion paper utilizing a quantitative model of optimal motor coordination (Part I, Rand and Shimansky, in Exp Brain Res 225:55-73, 2013), we examined coordination between X and Y movement directions (XYC) during reaching movements performed under three prescribed speeds, two movement amplitudes, and two target sizes. The obtained results indicated that the central nervous system (CNS) utilizes a two-phase strategy, where the initial and the final phases correspond to lower and higher precision of information processing, respectively, for controlling goal-directed reach-type movements to optimize the total cost of task performance including the cost of neural computations. The present study investigates how two different well-known concepts used for describing movement performance relate to the concepts of optimal XYC and two-phase control strategy. First, it is examined to what extent XYC is equivalent to movement trajectory straightness. The data analysis results show that the variability, the movement trajectory's deviation from the straight line, increases with an increase in prescribed movement speed. In contrast, the dependence of XYC strength on movement speed is opposite (in total agreement with an assumption of task performance optimality), suggesting that XYC is a feature of much higher level of generality than trajectory straightness. Second, it is tested how well the ballistic and the corrective components described in the traditional concept of two-component model of movement performance match with the initial and the final phase of the two-phase control strategy, respectively. In fast reaching movements, the percentage of trials with secondary corrective submovement was smaller under larger-target shorter-distance conditions. In slower reaching movements, meaningful parsing was impossible due to massive fluctuations in the kinematic profile throughout the movement. Thus, the parsing points determined by the conventional submovement analysis did not consistently reflect separation between the ballistic and error-corrective components. In contrast to the traditional concept of two-component movement performance, the concept of two-phase control strategy is applicable to a wide variety of experimental conditions.

Predicting the initiation of minimum-jerk submovements in three-dimensional target-oriented human arm trajectories

Target-oriented human arm trajectories can be represented as a series of summed minimum-jerk submovements. Under this framework, corrections for errors in reaching trajectories could be implemented by adding another submovement to the ongoing trajectory. It has been proposed that a feedback-feedforward error-detection process continuously evaluates trajectory error, but this process initiates corrections at discrete points in time. The present study demonstrates the ability of a feed-forward Artificial Neural Network (ANN) to learn the function of this error-detection process. Experimentally recorded human target-oriented arm trajectories were decomposed into submovements. It was assumed that the parameters of each submovement are known at their onset. Trained on these parameters, for each of three participants, an ANN can predict presence of corrections with sensitivity and specificity > 80%, and can predict their timing with R(2) > 40%.

Two-phase strategy of neural control for planar reaching movements: I. XY coordination variability and its relation to end-point variability

A quantitative model of optimal transport-aperture coordination (TAC) during reach-to-grasp movements has been developed in our previous studies. The utilization of that model for data analysis allowed, for the first time, to examine the phase dependence of the precision demand specified by the CNS for neurocomputational information processing during an ongoing movement. It was shown that the CNS utilizes a two-phase strategy for movement control. That strategy consists of reducing the precision demand for neural computations during the initial phase, which decreases the cost of information processing at the expense of lower extent of control optimality. To successfully grasp the target object, the CNS increases precision demand during the final phase, resulting in higher extent of control optimality. In the present study, we generalized the model of optimal TAC to a model of optimal coordination between X and Y components of point-to-point planar movements (XYC). We investigated whether the CNS uses the two-phase control strategy for controlling those movements, and how the strategy parameters depend on the prescribed movement speed, movement amplitude and the size of the target area. The results indeed revealed a substantial similarity between the CNS's regulation of TAC and XYC. First, the variability of XYC within individual trials was minimal, meaning that execution noise during the movement was insignificant. Second, the inter-trial variability of XYC was considerable during the majority of the movement time, meaning that the precision demand for information processing was lowered, which is characteristic for the initial phase. That variability significantly decreased, indicating higher extent of control optimality, during the shorter final movement phase. The final phase was the longest (shortest) under the most (least) challenging combination of speed and accuracy requirements, fully consistent with the concept of the two-phase control strategy. This paper further discussed the relationship between motor variability and XYC variability.

Influence of planar manipulandum to the hand trajectory during point to point movement

We present the analysis of the planar manipulandum effects to the trajectory of point to point movements in horizontal plane. This analysis is of significance for the control of a haptic robot that can be used for the rehabilitation of hemiplegic patients. The effects were assessed by comparing data collected in experiments with healthy subjects when performing simple movements that are used in the therapy of stroke patients. We found significant differences between the preferred trajectories and the deviations from the preferred trajectories (p<0.01) when moving with and without the manipulandum. This result suggests that for the design of the controller of a robot assistant inertial properties of the robot mechanism must be considered even in the case that it is used only for the assessment (passive) or within the bio-feedback.

Kinematic characteristics of bidirectional delta-lognormal primitives in young and older subjects

In this paper, 14 healthy subjects in two age groups have produced rapid handwriting strokes with a direction reversal. The delta-lognormal model was used to obtain a detailed description of the velocity of these movements and of the neuromuscular synergy that produces them. This modeling also allowed the derivation of new hypothesis on the nature of the slowing effect due to aging (i.e., a direct effect or a coping strategy) and on its repartition on the different steps of the movement production (i.e., its preparation versus its execution). Our analysis revealed a substantial increase of neuromuscular response delays and a decrease of the command amplitudes with age. For the parameters that show a significant decrease in performance, the agonist and antagonist systems were affected similarly. In addition, we observed that the age has a proportional effect on the various time characteristics of the movements and that even in the case of a significant slowing down of the neuromuscular systems, the elderly can still achieve optimal movement responses, characterized by the use of a single delta-lognormal primitive. This performance might be related to the preservation of some movement timing properties and relationships between the agonist and the antagonist neuromuscular systems.

Does movement planning follow Fitts' law? Scaling anticipatory postural adjustments with movement speed and accuracy

We wanted to determine whether movement planning followed Fitts' law by investigating the relationship between movement planning and movement performance in experienced dancers executing a typical classical ballet step in which the big toe was pointed to targets at different distances and of different widths so as to obtain several indices of difficulty (ID). Movement time, velocity and variability at the target were the variables of movement performance kinematics; movement planning was evaluated by analysis of anticipatory postural adjustments (APAs) to assess their modulation at different IDs. Movement time and peak of velocity were found to scale with the ID only when individual movement distance across target widths was entered into the analysis. APA magnitude and duration both scaled according to movement parameters but not in the same way. APA magnitude scaled with movement velocity, while APA duration was sensitive to the amplitude-to-accuracy ratio following the ID for movements performed in the shortest time interval when on-line feedback control is probably not available. Here we show that timing of muscle activation acts as an independent central command that triggers fine-tuning for speed-accuracy trade-off.

Timing and the control of rhythmic upper-limb movements

Accurate timing of limb displacement is crucial for effective motor control. The authors examined the effects of movement velocity, duration, direction, added mass, and auditory cueing on timing, spatial, and trajectory variability of single- and multijoint rhythmic movements. During single-joint movements, increased velocity decreased timing and spatial variability, whereas increased movement duration increased timing variability but decreased spatial variability. For multijoint movements, regardless of condition, increasing velocity decreased joint timing, spatial, and trajectory variability, but all hand variabilities were unaffected by velocity, duration, load, or direction. Timing, spatial, and trajectory variability was greater at the shoulder compared with the elbow and minimal at the hand, supporting the notion that reaching movements are planned in hand space as opposed to joint space.

Origins of submovements in movements of elderly adults

Background

Slowness is a well-recognized feature of movements in aging. One of the possible reasons for slowness suggested by previous research is production of corrective submovements that compensate for shortened primary submovement to the target. Here, we re-examine this traditional interpretation and argue that the majority of submovements in older adults may be a consequence rather than the cause of slowness.

Methods

Pointing movements in young and older adults were recorded. Conditions for submovement emergence were manipulated by using small and large targets and three movement modes: discrete (required stopping on the target), reciprocal (required reversal on the target), and passing (required crossing the target and stopping after that). Movements were parsed into a primary and secondary submovement based on zero-crossings of velocity (type 1 submovements), acceleration (type 2 submovements), and jerk (type 3 submovements). In the passing mode, secondary submovements were analyzed only after crossing the target to exclude that they were accuracy adjustments.

Results

Consistent with previous research, the primary submovement was shortened and total secondary submovement incidence was increased in older adults. However, comparisons across conditions suggested that many submovements were non-corrective in both groups. Type 1 submovements were non-corrective because they were more frequent for large than small targets. They predominantly emerged due to arm stabilization and energy dissipation during motion termination in the discrete and passing mode. Although type 2 and 3 submovements were more frequent for small than large targets, this trend was also observed in the passing mode, suggesting that many of these submovements were non-corrective. Rather, they could have been velocity fluctuations associated predominantly with low speed of movements to small targets.

Conclusion

The results question the traditional interpretation of frequent submovements in older adults as corrective adjustments. Rather, the increased incidence of submovements in older adults is directly related to low movement speed observed in aging, whereas the relationship between submovement incidence and target size is a result of speed-accuracy trade-off. Aging-related declines in muscular control that may contribute to the disproportional increases in submovement incidence during slow movements of older adults are discussed.