The coupling between upper and lower extremity synergies during whole body reaching

Human arm redundancy: a new approach for the inverse kinematics problem

The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for both the task and joint spaces, with joint space represented by either absolute or anatomical joint angles. We assessed the similarities between joint and task sources in each of these joint representations, finding that the time-dependent profiles of the absolute reference frame's sources show greater similarity to corresponding sources in the task space. This result was found to be statistically significant. Our analysis suggests that the nervous system represents multi-joint arm movements using a limited number of basis functions, allowing for simple transformations between task and joint spaces. Additionally, joint space seems to be represented in an absolute reference frame to simplify the IK transformations, given redundancies. Further studies will assess this finding's generalizability and implications for neural control of movement.

Toward a unifying framework for the modeling and identification of motor primitives

A large body of evidence suggests that human and animal movements, despite their apparent complexity and flexibility, are remarkably structured. Quantitative analyses of various classes of motor behaviors consistently identify spatial and temporal features that are invariant across movements. Such invariant features have been observed at different levels of organization in the motor system, including the electromyographic, kinematic, and kinetic levels, and are thought to reflect fixed modules-named motor primitives-that the brain uses to simplify the construction of movement. However, motor primitives across space, time, and organization levels are often described with ad-hoc mathematical models that tend to be domain-specific. This, in turn, generates the need to use model-specific algorithms for the identification of both the motor primitives and additional model parameters. The lack of a comprehensive framework complicates the comparison and interpretation of the results obtained across different domains and studies. In this work, we take the first steps toward addressing these issues, by introducing a unifying framework for the modeling and identification of qualitatively different classes of motor primitives. Specifically, we show that a single model, the anechoic mixture model, subsumes many popular classes of motor primitive models. Moreover, we exploit the flexibility of the anechoic mixture model to develop a new class of identification algorithms based on the Fourier-based Anechoic Demixing Algorithm (FADA). We validate our framework by identifying eight qualitatively different classes of motor primitives from both simulated and experimental data. We show that, compared to established model-specific algorithms for the identification of motor primitives, our flexible framework reaches overall comparable and sometimes superior reconstruction performance. The identification framework is publicly released as a MATLAB toolbox (FADA-T, https://tinyurl.com/compsens) to facilitate the identification and comparison of different motor primitive models.

Evidence for constancy in the modularity of trunk muscle activity preceding reaching: implications for the role of preparatory postural activity

Postural muscle activity precedes voluntary movements of the upper limbs. The traditional view of this activity is that it anticipates perturbations to balance caused by the movement of a limb. However, findings from reach-based paradigms have shown that postural adjustments can initiate center of mass displacement for mobility rather than minimize its displacement for stability. Within this context, altering reaching distance beyond the base of support would place increasing constraints on equilibrium during stance. If the underlying composition of anticipatory postural activity is linked to stability, coordination between muscles (i.e., motor modules) may evolve differently as equilibrium constraints increase. We analyzed the composition of motor modules in functional trunk muscles as participants performed multidirectional reaching movements to targets within and beyond the arm's length. Bilateral trunk and reaching arm muscle activity were recorded. Despite different trunk requirements necessary for successful movement, and the changing biomechanical (i.e., postural) constraints that accompany alterations in reach distance, nonnegative matrix factorization identified functional motor modules derived from preparatory trunk muscle activity that shared common features. Relative similarity in modular weightings (i.e., composition) and spatial activation profiles that reflect movement goals across tasks necessitating differing levels of trunk involvement provides evidence that preparatory postural adjustments are linked to the same task priorities (i.e., movement generation rather than stability).NEW & NOTEWORTHY Reaching within and beyond arm's length places different task constraints upon the required trunk motion necessary for successful movement execution. The identification of constant modular features, including functional muscle weightings and spatial tuning, lend support to the notion that preparatory postural adjustments of the trunk are tied to the same task priorities driving mobility, regardless of the future postural constraints.

Constraints of Load and Posture on Coordination Variability and Marksmanship Performance

The purpose of this study was to assess the establishment of dynamic marksmanship performance under different load and postural configurations. Participants quickly established two postures (forward and high targets) under head, trunk, and extremity loads during marksmanship performance. With the dynamic establishment of posture, load disrupted coordinative dynamics, resulting in reduced speed and accuracy on target. Specifically, torso loads increased segmental variability while establishing posture, and smaller head and upper extremity loads extended quieting time before firing. Increased head extension at the high target further destabilized posture, with reduced accuracy across all loads. Large torso loads reduced the adaptability to modulate postural fluctuations at the foot center of pressure while establishing postures for marksmanship, as evidenced by reductions in center of pressure variability. This study expands traditional static marksmanship research, providing insight into relations between task performance, coordinative variability, and postural control while dynamically establishing precision postures.

Impaired posture, movement preparation, and execution during both paretic and nonparetic reaching following stroke

Posture and movement planning, preparation, and execution of a goal-directed reaching movement are impaired in individuals with stroke. No studies have shown whether the deficits are generally impaired or are specific to the lesioned hemisphere/paretic arm. This study utilized StartReact (SR) responses elicited by loud acoustic stimuli (LAS) to investigate the preparation and execution of anticipatory postural adjustments (APAs) and reach movement response during both paretic and nonparetic arm reaching in individuals with stroke and in age-matched healthy controls. Subjects were asked to get ready after receiving a warning cue and to reach at a "go" cue. An LAS was delivered at -500, -200, and 0 ms relative to the go cue. Kinetic, kinematic, and electromyographic data were recorded to characterize APA-reach movement responses. Individuals with stroke demonstrated systemwide deficits in posture and in movement planning, preparation, and execution of APA-reach sequence as shown by significant reduction in the incidence of SR response and impaired APA-reach performance, with greater deficits during paretic arm reaching. Use of trunk compensation strategy as characterized by greater involvement of trunk and pelvic rotation was utilized by individuals with stroke during paretic arm reaching compared with nonparetic arm reaching and healthy controls. Our findings have implications for upper extremity and postural control, suggesting that intervention should include training not only for the paretic arm but also for the nonparetic arm with simultaneous postural control requirements to improve the coordination of the APA-reach performance and subsequently reduce instability while functional tasks are performed during standing. NEW & NOTEWORTHY Our study is the first to show that nonparetic arm reaching also demonstrates impairment in posture and movement planning, preparation, and execution when performed during standing by individuals with stroke. In addition, we found compensatory trunk and pelvic rotations were used during a standing reach task for the paretic arms. The findings have clinical implications for upper extremity and postural rehabilitation, suggesting that training should include the nonparetic arms and incorporate simultaneous postural control demands.

Hand reach star excursion balance test: An alternative test for dynamic postural control and functional mobility

Tests of dynamic postural control eliciting full-body three-dimensional joint movements in a systematic manner are scarce. The well-established star excursion balance test (SEBT) elicits primarily three-dimensional lower extremity joint movements with minimal trunk and no upper extremity joint movements. In response to these shortcomings we created the hand reach star excursion balance test (HSEBT) based on the SEBT reach directions. The aims of the current study were to 1) compare HSEBT and SEBT measurements, 2) compare joint movements elicited by the HSEBT to both SEBT joint movements and normative range of motion values published in the literature. Ten SEBT and HSEBT reaches for each foot were obtained while capturing full-body kinematics in twenty recreationally active healthy male subjects. HSEBT and SEBT areas and composite scores (sum of reaches) for total, anterior and posterior subsections and individual reaches were correlated. Total reach score comparisons showed fair to moderate correlations (r = .393 to .606), while anterior and posterior subsections comparisons had fair to good correlations (r = .269 to .823). Individual reach comparisons had no to good correlations (r = -.182 to .822) where lateral and posterior reaches demonstrated the lowest correlations (r = -.182 to .510). The HSEBT elicited more and significantly greater joint movements than the SEBT, except for hip external rotation, knee extension and plantarflexion. Comparisons to normative range of motion values showed that 3 of 18 for the SEBT and 8 of 22 joint movements for the HSEBT were within normative values. The findings suggest that the HSEBT can be used for the assessment of dynamic postural control and is particularly suitable for examining full-body functional mobility.

INTERSEGMENTAL COORDINATION IN LOWER EXTREMITIES AND MULTI-SEGMENTAL SPINE DURING DIFFERENT ACTIVITIES OF DAILY LIVING

Background: Human movement consists of numerous degrees of freedom (DOF). How the nervous system (NS) computes the appropriate command to coordinate these DOFs to finish specific tasks is still hotly debated. One common way to simplify the redundant DOFs is to coordinate multiple DOFs by combining them into units or synergies. The present study aimed to investigate the kinematic complexity of five activities of daily living (ADLs) and to detect the amount of kinematic synergy during every ADL and the relationship of the motion pattern between these ADLs. Method: Twenty-six able-bodied male individuals performed level walking, stair climbing, trunk bending, ipsilateral pick-up and contralateral pick-up in sequence. The segmental excursion of the thorax, upper lumbar, lower lumbar, pelvis, thigh and shank was calculated. Principal component analysis (PCA) was applied to determine the motion pattern of every ADL. Result: In the sagittal plane, trunk bending, ipsilateral pick-up and contralateral pick-up could be simplified by using one principal component (PC) with more than 95% variance accounted for (VAF). In addition, the motion pattern of every PC was similar among the three ADLs. Moreover, the angles between the vectors representing the first PC of the three ADLs were all less than 10[Formula: see text]. Level walking and stair climbing needed at least two PCs to reach 95% VAF. In addition, the motion pattern was different between the two ADLs. Moreover, the angle between the first PC of the two ADLs was around 90[Formula: see text]. In the coronal plane, the five ADLs except contralateral pick-up arrived at 90% VAF with two PCs. The motion pattern and the angle between the first PC both demonstrated larger differences among the five ADLs. Conclusion: Two PCs were essential to represent level walking and stair climbing, indicating a complex control strategy used by the NS. Trunk bending, ipsilateral pick-up and contralateral pick-up could be described with one PC in the sagittal plane, showing a strong coupling and simple motion pattern. In addition, the motion pattern varied considerably among these ADLs. The outcomes of this study can help clinicians to select suitable ADLs for the patients with various joint or disc diseases and to conduct corresponding functional test and rehabilitation.

Whole Body Coordination and Knee Movement Control During Five Rehabilitation Exercises

Knee rehabilitation exercises to improve motor control, target movement fluency, and displacement variability. Although knee movement in the frontal plane during exercise is routinely assessed in clinical practice, optimal knee control remains poorly understood. In this study, 29 healthy participants (height: 1.73 ± 0.11 m, mass: 73.5 ± 16.4 kg, age: 28.0 ± 6.9 years) performed 4 repetitions of 5 rehabilitation exercises while motion data were collected using the VICON PlugInGait full-body marker set. Fluency and displacement variability were calculated for multiple landmarks, including center of mass (CoM) and knee joint centers. Fluency was calculated as the inverse of the average number of times a landmark velocity in the frontal plane crossed zero. Variability was defined as the standard deviation of the frontal plane movement trajectories. CoM fluency and displacement variability were significantly different between tasks (p < .001). CoM displacement variability was consistently smallest compared to the constituent landmarks (p < .005). This was interpreted as a whole body strategy of compensatory variability constraining CoM frontal plane movement. Ipsilateral knee fluency (p < .01) and displacement variability (p < .001) differed substantially between tasks. The role of the weight-bearing knee seemed dependent on task constraints of the overall movement and balance, as well as constraints specific for knee joint stability.

PCA-Based Algorithms to Find Synergies for Humanoid Robot Motion Behavior

Applying principal component analysis (PCA) to find synergy signal for specific motion of Robot is a standard method. However, implementation of PCA gives synergy solely on quantitative basis. The algorithms proposed in this paper advocates the enhancement of qualitative measure of PCA to locate well-coordinated synergy signals. The two main control strategies of central nervous system (CNS) are taken into account for enhancement of algorithms. First one is the CNS strategy of separate synergy generation for individual limbs and second is the trajectory generation of complex movement using via-points. The proposed algorithms find the synergy without loss of generality of implementation. Humanoid robot NAO is used as a robotic platform to test the result of the algorithm. The synergy for a group of motors is calculated by implementing the algorithm on motors position sensor data of the robot corresponding to three motion pattern 1. Knee bend sitting–standing, 2. Sitting–standing on chair, and 3. Walking. The improvement in result is statistically measured by calculating error between original and reconstructed signal for proposed algorithms and applying Z-test tested on error signals. Another statistical measure of improvement is treated by calculating ‘Goodness of Fit’ for original and reconstructed signal.

Trunk muscles contribute as functional groups to directionality of reaching during stance

Muscle activity preceding the onset of voluntary movement has been shown to reduce centre of mass (CoM) displacement and stabilise the body during self-induced 'perturbations'. However, based on recent findings in the lower limb, where preparatory muscle activity creates the dynamics necessary for the initiation of movement, this study sought to investigate whether trunk musculature acted consistently to minimise the displacement of the CoM, or in contrast, contribute to the movement. While standing, nine healthy participants made single-step (point-to-point) reaching movements to 13 visual targets throughout a 180° range (target interval = 15°). Full-body kinematics and electromyographic activity from 'focal' arm and 'postural' trunk muscles were analysed for a preparatory phase of 250-ms preceding movement onset (termed pPA). Akin to lower limb findings, direction-specific patterns of anticipatory trunk muscle activity accompanied the onset of rotational kinematics and CoM acceleration in the direction of the desired target. When arranged in terms of peak activation, we found functionally relevant groupings aligned to either ipsi-, central or contra-lateral reaching directions. Contrary to traditional approaches, which focus on CoM stabilisation, this spatial recruitment was in favour of assisting initiation of movement. Such activity suggests that the central nervous system may rely on synergic patterns of muscle activation within an undistinguishable and shared focal/postural motor command for functional voluntary movements.

Revisiting the body-schema concept in the context of whole-body postural-focal dynamics

The body-schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert) but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the equilibrium-point hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory-motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability.

A descriptive analysis of the upper limb patterns during gait in individuals with cerebral palsy

Patients with cerebral palsy (CP) are characterized by a large diversity of gait deviations; thus, lower limb movements during gait have been well-analyzed in the literature. However, the question of upper limb movements and, more particularly, arm movements during gait has received less attention for CP patients as a function of the disease type (Hemiplegic, HE or Diplegic, DI). Thus, the aim of this study was to investigate upper limb movements for a large group of CP patients; we used a retrospective search, including upper limb kinematic parameters and 92 CP patients (42 females and 50 males, mean±standard deviation (SD); age: 15.2±6.7 years). The diagnoses consisted of 48 HE and 44 DI. A control group of 15 subjects (7 females and 8 males, age: 18.4±8.4 years) was included in the study to provide normal gait data. For the DI patients and CG, 88 arms and 30 arms were analyzed, respectively. For the HE patients, 48 affected arms and 48 non-affected arms were analyzed. The kinematic parameters selected and analyzed were shoulder elevation angles; elbow flexion angles; thorax tilt and obliquity angles; hand vertical and anterior-posterior movements; and arm angles. Several gait parameters were also analyzed, such as the gait profile score (GPS) and normalized speed. Statistical analyses were performed to compare CG with the affected and non-affected upper limbs of HE patients and with the two upper limbs of DI patients. The results show that HE and DI patients adopt abnormal upper limb movements. However, DI patients have greater shoulder, elbow, thorax and arm angle movements compared with HE patients. However, HE patients adopt different movements between their affected and non-affected arms. Thus, the patients used their upper limbs to optimize their gait more where gait deviations were more important. These observations confirm that the upper limbs must be integrated into rehabilitation programs to improve inter-limb coordination.

Model selection for the extraction of movement primitives

A wide range of blind source separation methods have been used in motor control research for the extraction of movement primitives from EMG and kinematic data. Popular examples are principal component analysis (PCA), independent component analysis (ICA), anechoic demixing, and the time-varying synergy model (d'Avella and Tresch, 2002). However, choosing the parameters of these models, or indeed choosing the type of model, is often done in a heuristic fashion, driven by result expectations as much as by the data. We propose an objective criterion which allows to select the model type, number of primitives and the temporal smoothness prior. Our approach is based on a Laplace approximation to the posterior distribution of the parameters of a given blind source separation model, re-formulated as a Bayesian generative model. We first validate our criterion on ground truth data, showing that it performs at least as good as traditional model selection criteria [Bayesian information criterion, BIC (Schwarz, 1978) and the Akaike Information Criterion (AIC) (Akaike, 1974)]. Then, we analyze human gait data, finding that an anechoic mixture model with a temporal smoothness constraint on the sources can best account for the data.

Kinematics of the coordination of pointing during locomotion

In natural motor behaviour arm movements, such as pointing or reaching, often need to be coordinated with locomotion. The underlying coordination patterns are largely unexplored, and require the integration of both rhythmic and discrete movement primitives. For the systematic and controlled study of such coordination patterns we have developed a paradigm that combines locomotion on a treadmill with time-controlled pointing to targets in the three-dimensional space, exploiting a virtual reality setup. Participants had to walk at a constant velocity on a treadmill. Synchronized with specific foot events, visual target stimuli were presented that appeared at different spatial locations in front of them. Participants were asked to reach these stimuli within a short time interval after a "go" signal. We analysed the variability patterns of the most relevant joint angles, as well as the time coupling between the time of pointing and different critical timing events in the foot movements. In addition, we applied a new technique for the extraction of movement primitives from kinematic data based on anechoic demixing. We found a modification of the walking pattern as consequence of the arm movement, as well as a modulation of the duration of the reaching movement in dependence of specific foot events. The extraction of kinematic movement primitives from the joint angle trajectories exploiting the new algorithm revealed the existence of two distinct main components accounting, respectively, for the rhythmic and discrete components of the coordinated movement pattern. Summarizing, our study shows a reciprocal pattern of influences between the coordination patterns of reaching and walking. This pattern might be explained by the dynamic interactions between central pattern generators that initiate rhythmic and discrete movements of the lower and upper limbs, and biomechanical factors such as the dynamic gait stability.

Using the Functional Reach Test for Probing the Static Stability of Bipedal Standing in Humanoid Robots Based on the Passive Motion Paradigm

The goal of this paper is to analyze the static stability of a computational architecture, based on the Passive Motion Paradigm, for coordinating the redundant degrees of freedom of a humanoid robot during whole-body reaching movements in bipedal standing. The analysis is based on a simulation study that implements the Functional Reach Test, originally developed for assessing the danger of falling in elderly people. The study is carried out in the YARP environment that allows realistic simulations with the iCub humanoid robot.

Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model

Human upright posture, as a mechanical system, is characterized by an instability of saddle type, involving both stable and unstable dynamic modes. The brain stabilizes such system by generating active joint torques, according to a time-delayed neural feedback control. What is still unsolved is a clear understanding of the control strategies and the control mechanisms that are used by the central nervous system in order to stabilize the unstable posture in a robust way while maintaining flexibility. Most studies in this direction have been limited to the single inverted pendulum model, which is useful for formalizing fundamental mechanical aspects but insufficient for addressing more general issues concerning neural control strategies. Here we consider a double inverted pendulum model in the sagittal plane with small passive viscoelasticity at the ankle and hip joints. Despite difficulties in stabilizing the double pendulum model in the presence of the large feedback delay, we show that robust and flexible stabilization of the upright posture can be established by an intermittent control mechanism that achieves the goal of stabilizing the body posture according to a "divide and conquer strategy", which switches among different controllers in different parts of the state space of the double inverted pendulum. Remarkably, it is shown that a global, robust stability is achieved even if the individual controllers are unstable and the information exploited for switching from one controller to another is severely delayed, as it happens in biological reality. Moreover, the intermittent controller can automatically resolve coordination among multiple active torques associated with the muscle synergy, leading to the emergence of distinct temporally coordinated active torque patterns, referred to as the intermittent ankle, hip, and mixed strategies during quiet standing, depending on the passive elasticity at the hip joint.

Reformulation in the phase plane enhances smoothness rater accuracy in stroke

To improve the characterization of motor impairment, we compared the sensitivities of a phase plane metric with temporal domain measures derived from integrated squared jerk (ISJ). Five subjects with stroke and a cohort of 21 neurologically intact volunteers performed self-paced, isolated elbow flexions. Analysis of angular trajectories from the stroke group revealed that temporal domain metrics failed to detect a performance deficit at the p < .05 level, while the phase plane metric did resolve a deficit (p < .01). When applied to a subset of movements with arrest periods, the phase measure also uniquely identified impairment (Wilcoxon rank-sum test, p < .001). Finally, when tested on a data-driven model, the phase measure, but not temporal metrics, increased monotonically with the severity of trajectory distortions. We conclude that motion smoothness can be accurately measured in the phase plane.

Variant and invariant features characterizing natural and reverse whole-body pointing movements

Previous investigations showed that kinematics and muscle activity associated with natural whole-body movements along the gravity direction present modular organizations encoding specific aspects relative to both the motor plans and the motor programmes underlying movement execution. It is, however, still unknown whether such modular structures characterize also the reverse movements, when the displacement of a large number of joints is required to take the whole body back to a standing initial posture. To study what motor patterns are conserved across the reversal of movement direction, principal component analysis and non-negative matrix factorization were therefore applied, respectively, to the time series describing the temporal evolution of the elevation angles associated with all the body links and to the electromyographic signals of both natural and reverse whole-body movements. Results revealed that elevation angles were highly co-varying in time and that despite some differences in the global parameters characterizing the different movements (indicating differences in high-level variable associated with the selected motor plans), the level of joint co-variation did not change across movement direction. In contrast, muscle organization of the forward whole-body pointing tasks was found to be different with respect to that characterizing the reverse movements. Such results agree with previous findings, according to which the central nervous system exploits, dependently on the direction of motion, different motor plans for the execution of whole-body movements. However, in addition, this study shows how such motor plans are translated into different muscle strategies that equivalently assure a high level of co-variation in the joint space.

Passive motion paradigm: an alternative to optimal control

IN THE LAST YEARS, OPTIMAL CONTROL THEORY (OCT) HAS EMERGED AS THE LEADING APPROACH FOR INVESTIGATING NEURAL CONTROL OF MOVEMENT AND MOTOR COGNITION FOR TWO COMPLEMENTARY RESEARCH LINES: behavioral neuroscience and humanoid robotics. In both cases, there are general problems that need to be addressed, such as the "degrees of freedom (DoFs) problem," the common core of production, observation, reasoning, and learning of "actions." OCT, directly derived from engineering design techniques of control systems quantifies task goals as "cost functions" and uses the sophisticated formal tools of optimal control to obtain desired behavior (and predictions). We propose an alternative "softer" approach passive motion paradigm (PMP) that we believe is closer to the biomechanics and cybernetics of action. The basic idea is that actions (overt as well as covert) are the consequences of an internal simulation process that "animates" the body schema with the attractor dynamics of force fields induced by the goal and task-specific constraints. This internal simulation offers the brain a way to dynamically link motor redundancy with task-oriented constraints "at runtime," hence solving the "DoFs problem" without explicit kinematic inversion and cost function computation. We argue that the function of such computational machinery is not only restricted to shaping motor output during action execution but also to provide the self with information on the feasibility, consequence, understanding and meaning of "potential actions." In this sense, taking into account recent developments in neuroscience (motor imagery, simulation theory of covert actions, mirror neuron system) and in embodied robotics, PMP offers a novel framework for understanding motor cognition that goes beyond the engineering control paradigm provided by OCT. Therefore, the paper is at the same time a review of the PMP rationale, as a computational theory, and a perspective presentation of how to develop it for designing better cognitive architectures.

Development of a 3D immersive videogame to improve arm-postural coordination in patients with TBI

BACKGROUND

Traumatic brain injury (TBI) disrupts the central and executive mechanisms of arm(s) and postural (trunk and legs) coordination. To address these issues, we developed a 3D immersive videogame--Octopus. The game was developed using the basic principles of videogame design and previous experience of using videogames for rehabilitation of patients with acquired brain injuries. Unlike many other custom-designed virtual environments, Octopus included an actual gaming component with a system of multiple rewards, making the game challenging, competitive, motivating and fun. Effect of a short-term practice with the Octopus game on arm-postural coordination in patients with TBI was tested.

METHODS

The game was developed using WorldViz Vizard software, integrated with the Qualysis system for motion analysis. Avatars of the participant's hands precisely reproducing the real-time kinematic patterns were synchronized with the simulated environment, presented in the first person 3D view on an 82-inch DLP screen. 13 individuals with mild-to-moderate manifestations of TBI participated in the study. While standing in front of the screen, the participants interacted with a computer-generated environment by popping bubbles blown by the Octopus. The bubbles followed a specific trajectory. Interception of the bubbles with the left or right hand avatar allowed flexible use of the postural segments for balance maintenance and arm transport. All participants practiced ten 90-s gaming trials during a single session, followed by a retention test. Arm-postural coordination was analysed using principal component analysis.

RESULTS

As a result of the short-term practice, the participants improved in game performance, arm movement time, and precision. Improvements were achieved mostly by adapting efficient arm-postural coordination strategies. Of the 13 participants, 10 showed an immediate increase in arm forward reach and single-leg stance time.

CONCLUSION

These results support the feasibility of using the custom-made 3D game for retraining of arm-postural coordination disrupted as a result of TBI.

Arm motion coupling during locomotion-like actions: an experimental study and a dynamic model

We studied the coordination of arm movements in standing persons who performed an out-of-phase arm-swinging task while stepping in place or while standing. The subjects were instructed to stop one of the arms in response to an auditory signal while trying to keep the rest of the movement pattern unchanged. A significant increase was observed in the amplitude of the arm that continued swinging under both the stepping and standing conditions. This increase was similar between the right and left arms. A dynamic model was developed including two coupled nonlinear van der Pol oscillators. We assumed that stopping an arm did not eliminate the coupling but introduced a new constraint. Within the model, superposition of two factors, a command to stop the ongoing movement of one arm and the coupling between the two oscillators, has been able to account for the observed effects. The model makes predictions for future experiments.

An ensemble analysis of electromyographic activity during whole body pointing with the use of support vector machines

We explored the use of support vector machines (SVM) in order to analyze the ensemble activities of 24 postural and focal muscles recorded during a whole body pointing task. Because of the large number of variables involved in motor control studies, such multivariate methods have much to offer over the standard univariate techniques that are currently employed in the field to detect modifications. The SVM was used to uncover the principle differences underlying several variations of the task. Five variants of the task were used. An unconstrained reaching, two constrained at the focal level and two at the postural level. Using the electromyographic (EMG) data, the SVM proved capable of distinguishing all the unconstrained from the constrained conditions with a success of approximately 80% or above. In all cases, including those with focal constraints, the collective postural muscle EMGs were as good as or better than those from focal muscles for discriminating between conditions. This was unexpected especially in the case with focal constraints. In trying to rank the importance of particular features of the postural EMGs we found the maximum amplitude rather than the moment at which it occurred to be more discriminative. A classification using the muscles one at a time permitted us to identify some of the postural muscles that are significantly altered between conditions. In this case, the use of a multivariate method also permitted the use of the entire muscle EMG waveform rather than the difficult process of defining and extracting any particular variable. The best accuracy was obtained from muscles of the leg rather than from the trunk. By identifying the features that are important in discrimination, the use of the SVM permitted us to identify some of the features that are adapted when constraints are placed on a complex motor task.

A pointing task to improve reaching performance in older adults

OBJECTIVE

The objective of this study was to evaluate whether adding a pointing task would influence functional reach test performance in younger and older adults.

DESIGN

While standing on a force plate, 20 older (73 ± 8 yrs) and 20 younger (23 ± 1 yrs) adults were randomly administered a modification of the functional reach test and the functional point test. Functional pointing involved reaching and pointing at the farthest possible target in a series of 1.27-cm colored craft pom-poms attached at 2.54-cm intervals on a yardstick.

RESULTS

Both older adults (P = 0.001) and younger adults (P = 0.043) reached farther using the functional point test. Older adults also increased their anterior center of pressure displacement with this test (P = 0.037).

CONCLUSIONS

The addition of a pointing task can make the original clinical test more functional and increase reaching distance in both older and younger adults. Further research is needed to determine whether functional pointing challenges subjects' stability limits more than the traditional test does and offers greater sensitivity in the evaluation of functional balance and fall risk.

A regressed phase analysis for coupled joint systems

This study aims to address shortcomings of the relative phase analysis, a widely used method for assessment of coupling among joints of the lower limb. Goniometric data from 15 individuals with spastic diplegic cerebral palsy were recorded from the hip and knee joints during ambulation on a flat surface, and from a single healthy individual with no known motor impairment, over at least 10 gait cycles. The minimum relative phase (MRP) revealed substantial disparity in the timing and severity of the instance of maximum coupling, depending on which reference frame was selected: MRP(knee-hip) differed from MRP(hip-knee) by 16.1±14% of gait cycle and 50.6±77% difference in scale. Additionally, several relative phase portraits contained discontinuities which may contribute to error in phase feature extraction. These vagaries can be attributed to the predication of relative phase analysis on a transformation into the velocity-position phase plane, and the extraction of phase angle by the discontinuous arc-tangent operator. Here, an alternative phase analysis is proposed, wherein kinematic data is transformed into a profile of joint coupling across the entire gait cycle. By comparing joint velocities directly via a standard linear regression in the velocity-velocity phase plane, this regressed phase analysis provides several key advantages over relative phase analysis including continuity, commutativity between reference frames, and generalizability to many-joint systems.

The effect of load weight on balance control during lateral box transfers

Few studies have endeavoured to measure balance control during manual material handling. This study examined the effects of load weight during a stationary manual material handling task. In total, 36 healthy participants completed 180° lateral transfer tasks of a loaded (5% of body weight) and an unloaded box. The projection of the centre of mass onto the base of support, as measured via a passive-marker 3-D motion analysis system, was used to quantify balance control. Muscle activities of lower extremity muscles were also measured. When moving the loaded box, individuals ventured ≥ 1 cm closer to the edges of the base of support and increased centre of mass movement up to 14%. In addition, muscle electromyographic activity on both sides of the shank increased. In summary, during loaded configurations, vulnerability to loss of balance was increased and individuals appeared to adapt by increasing co-contraction of the shank muscles suggesting increased ankle stiffness. STATEMENT OF RELEVANCE: Industries requiring manual material handling have a particularly high rate of injuries due to falls. This study suggests that larger load weights during lateral material handling tasks adversely affect balance control and may create a vulnerability to imbalance throughout the entire manoeuvre.

Effect of viewing angle on arm reaching while standing in a virtual environment: potential for virtual rehabilitation

Functional arm movements, such as reaching while standing, are planned and executed according to our perception of body position in space and are relative to environmental objects. The angle under which the environment is observed is one component used in creating this perception. This suggests that manipulation of viewing angle may modulate whole body movement to affect performance. We tested this by comparing its effect on reaching in a virtually generated environment. Eleven young healthy individuals performed forward and lateral reaches in the virtual environment, presented on a flat screen in third-person perspective. Participants saw a computer-generated model (avatar) of themselves standing in a courtyard facing a semi-circular hedge with flowers. The image was presented in five different viewing angles ranging from seeing the avatar from behind (0 degrees), to viewing from overhead (90 degrees). Participants attempted to touch the furthest flower possible without losing balance or stepping. Kinematic data were collected to analyze endpoint displacement, arm-postural coordination and center of mass (COM) displacement. Results showed that reach distance was greatest with angular perspectives of approximately 45-77.5 degrees , which are larger than those used in analogous real world situations. Larger reaches were characterized by increased involvement of leg and trunk body segments, altered inter-segmental coordination, and decreased inter-segmental movement time lag. Thus a viewing angle can be a critical visuomotor variable modulating motor coordination of the whole body and related functional performance. These results can be used in designing virtual reality games, in ergonomic design, teleoperation training, and in designing virtual rehabilitation programs that re-train functional movement in vulnerable individuals.

A neural mechanism of synergy formation for whole body reaching

The present study proposes a computational model for the formation of whole body reaching synergy, i.e., coordinated movements of lower and upper limbs, characterized by a focal component (the hand must reach a target) and a postural component (the center of mass must remain inside the support base). The model is based on an extension of the equilibrium point hypothesis that has been called Passive Motion Paradigm (PMP), modified in order to achieve terminal attractor features and allow the integration of multiple constraints. The model is a network with terminal attractor dynamics. By simulating it in various conditions it was possible to show that it exhibits many of the spatio-temporal features found in experimental data. In particular, the motion of the center of mass appears to be synchronized with the motion of the hand and with proportional amplitude. Moreover, the joint rotation patterns can be accounted for by a single functional degree of freedom, as shown by principal component analysis. It is also suggested that recent findings in motor imagery support the idea that the PMP network may represent the motor cognitive part of synergy formation, uncontaminated by the effect of execution.

Learning a multi-joint throwing task: a morphometric analysis of skill development

Changes in movement organization were examined during the learning of a multi-joint throwing task. Six participants threw a modified frisbee into the target area over an extended practice period (total of 1,300 trials). Throwing accuracy scores were recorded while 3-D arm motion was collected. Intrinsic shape and variability of end-point path and joint coordination pattern were assessed quantitatively by using generalized procrustes analysis (GPA) to remove extrinsic variability in location, orientation and size of movement configurations. Results indicated that throwing accuracy followed the power law of practice and had an inverse relationship with the actual variability of end-point path. GPA indicated that the intrinsic pattern of end-point path stabilized early during learning while the intrinsic pattern of joint coordination remained variable throughout practice. These findings support the proposal that skill acquisition is composed of two learning processes that occur at different rates. Topology (intrinsic pattern of end-point path) is acquired early during practice, while dynamic control (represented by joint coordination) occurs at a much slower rate.