Degrees of freedom and motor planning in purposive movement

The efficacy of acoustic-based articulatory phenotyping for characterizing and classifying four divergent neurodegenerative diseases using sequential motion rates

Despite the impacts of neurodegeneration on speech function, little is known about how to comprehensively characterize the resulting speech abnormalities using a set of objective measures. Quantitative phenotyping of speech motor impairments may have important implications for identifying clinical syndromes and their underlying etiologies, monitoring disease progression over time, and improving treatment efficacy. The goal of this research was to investigate the validity and classification accuracy of comprehensive acoustic-based articulatory phenotypes in speakers with distinct neurodegenerative diseases. Articulatory phenotypes were characterized based on acoustic features that were selected to represent five components of motor performance: Coordination, Consistency, Speed, Precision, and Rate. The phenotypes were first used to characterize the articulatory abnormalities across four progressive neurologic diseases known to have divergent speech motor deficits: amyotrophic lateral sclerosis (ALS), progressive ataxia (PA), Parkinson's disease (PD), and the nonfluent variant of primary progressive aphasia and progressive apraxia of speech (nfPPA + PAOS). We then examined the efficacy of articulatory phenotyping for disease classification. Acoustic analyses were conducted on audio recordings of 217 participants (i.e., 46 ALS, 52 PA, 60 PD, 20 nfPPA + PAOS, and 39 controls) during a sequential speech task. Results revealed evidence of distinct articulatory phenotypes for the four clinical groups and that the phenotypes demonstrated strong classification accuracy for all groups except ALS. Our results highlight the phenotypic variability present across neurodegenerative diseases, which, in turn, may inform (1) the differential diagnosis of neurological diseases and (2) the development of sensitive outcome measures for monitoring disease progression or assessing treatment efficacy.

Synergies in coordination: a comprehensive overview of neural, computational, and behavioral approaches

At face value, the term "synergy" provides a unifying concept within a fractured field that encompasses complementary neural, computational, and behavioral approaches. However, the term is not used synonymously by different researchers but has substantially different meanings depending on the research approach. With so many operational definitions for the one term, it becomes difficult to use as either a descriptive or explanatory concept, yet it remains pervasive and apparently indispensable. Here we provide a summary of different approaches that invoke synergies in a descriptive or explanatory context, summarizing progress, not within the one approach, but across the theoretical landscape. Bernstein's framework of flexible hierarchical control may provide a unifying framework here, since it can incorporate divergent ideas about synergies. In the current motor control literature, synergy may refer to conceptually different processes that could potentially operate in parallel, across different levels within the same hierarchical control scheme. There is evidence for the concurrent existence of synergies with different features, both "hard-wired" and "soft-wired," and task independent and task dependent. By providing a comprehensive overview of the multifaceted ideas about synergies, our goal is to move away from the compartmentalization and narrow the focus on one level and promote a broader perspective on the control and coordination of movement.

Adaptation of kinematic synergy and postural control to mechanical ankle constraint on an unsteady stance surface

Joint constraint interferes with the coordinative structure in joint movements used to optimize postural stability. This study aimed to investigate changes in postural synergy when the ankle joints were bilaterally braced during a stabilometer stance. Twenty-four young adults stood on a stabilometer plate while wearing a pair of ankle-foot orthoses, which were either unlocked or locked to restrict ankle motion (the ankle constraint (AC) and non-constraint (NC) conditions). Although ankle constraint did not significantly affect the dynamics of the stabilometer movements, the size and regularity of the first principal component (PC1), which explained more than 80% of the variance of joint movements in the lower limb, were increased. In addition, PC1 exhibited higher communalities with angular movements of the knee and hip joints in the AC condition than in the NC condition. Those subjects who exhibited a constraint-induced increase in postural sway (the I group) showed greater increases in the size and regularity of PC1 than did those who exhibited reduced postural sway during ankle constraint (the D group). Constraint-induced changes in postural synergy were group-dependent. Only the I group exhibited an increase of communality of PC1 with the hip angular movement following bilateral ankle constraint. In summary, bilateral ankle constraint altered the coordination solution, with increasing reliance on compensatory knee movement to maintain a balanced posture on the stabilometer. However, accessory hip movement due to ankle constraint was not economical and was disadvantageous to stance stability.

A Riemannian geometry theory of human movement: The geodesic synergy hypothesis

Mass-inertia loads on muscles change with posture and with changing mechanical interactions between the body and the environment. The nervous system must anticipate changing mass-inertia loads, especially during fast multi-joint coordinated movements. Riemannian geometry provides a mathematical framework for movement planning that takes these inertial interactions into account. To demonstrate this we introduce the controlled (vs. biomechanical) degrees of freedom of the body as the coordinate system for a configuration space with movements represented as trajectories. This space is not Euclidean. It is endowed at each point with a metric equal to the mass-inertia matrix of the body in that configuration. This warps the space to become Riemannian with curvature at each point determined by the differentials of the mass-inertia at that point. This curvature takes nonlinear mass-inertia interactions into account with lengths, velocities, accelerations and directions of movement trajectories all differing from those in Euclidean space. For newcomers to Riemannian geometry we develop the intuitive groundwork for a Riemannian field theory of human movement encompassing the entire body moving in gravity and in mechanical interaction with the environment. In particular we present a geodesic synergy hypothesis concerning planning of multi-joint coordinated movements to achieve goals with minimal muscular effort.

Perceptual and motor learning underlies human stick-balancing skill

We investigated the acquisition of skill in balancing a stick (52 cm, 34 g) on the fingertip in nine participants using three-dimensional motion analysis. After 3.5 h of practice over 6 wk, the participants could more consistently balance the stick for longer durations with greatly reduced magnitude and speed of stick and finger movements. Irrespective of level of skill, the balanced stick behaved like a normal noninverted pendulum oscillating under greater-than-gravity torque with simple harmonic motion about a virtual pivot located at the radius of gyration above the center of mass. The control input parameter was the magnitude ratio between the torque applied on the stick by the participant and the torque due to gravity. The participants utilized only a narrow range of this parameter, which did not change with practice, to rotate the stick like a linear mass-spring system. With increased skill, the stick therefore maintained the same period of oscillation but showed marked reductions in magnitude of both oscillation and horizontal translation. Better balancing was associated with 1) more accurate visual localization of the stick and proprioceptive localization of the finger and 2) reduced cross-coupling errors between finger and stick movements in orthogonal directions; i.e., finger movements in the anteroposterior plane became less coupled with stick tip movements in the mediolateral plane, and vice versa. Development of this fine motor skill therefore depended on perceptual and motor learning to provide improved estimation of sensorimotor state and precision of motor commands to an unchanging internal model of the rotational dynamics.

Human stick balancing: an intermittent control explanation

There are two issues in balancing a stick pivoting on a finger tip (or mechanically on a moving cart): maintaining the stick angle near to vertical and maintaining the horizontal position within the bounds of reach or cart track. The (linearised) dynamics of the angle are second order (although driven by pivot acceleration), and so, as in human standing, control of the angle is not, by itself very difficult. However, once the angle is under control, the position dynamics are, in general, fourth order. This makes control quite difficult for humans (and even an engineering control system requires careful design). Recently, three of the authors have experimentally demonstrated that humans control the stick angle in a special way: the closed-loop inverted pendulum behaves as a non-inverted pendulum with a virtual pivot somewhere between the stick centre and tip and with increased gravity. Moreover, they suggest that the virtual pivot lies at the radius of gyration (about the mass centre) above the mass centre. This paper gives a continuous-time control-theoretical interpretation of the virtual-pendulum approach. In particular, by using a novel cascade control structure, it is shown that the horizontal control of the virtual pivot becomes a second-order problem which is much easier to solve than the generic fourth-order problem. Hence, the use of the virtual pivot approach allows the control problem to be perceived by the subject as two separate second-order problems rather than a single fourth-order problem, and the control problem is therefore simplified. The theoretical predictions are verified using the data previously presented by three of the authors and analysed using a standard parameter estimation method. The experimental data indicate that although all subjects adopt the virtual pivot approach, the less expert subjects exhibit larger amplitude angular motion and poorly controlled translational motion. It is known that human control systems are delayed and intermittent, and therefore, the continuous-time strategy cannot be correct. However, the model of intermittent control used in this paper is based on the virtual pivot continuous-time control scheme, handles time delays and moreover masquerades as the underlying continuous-time controller. In addition, the event-driven properties of intermittent control can explain experimentally observed variability.

Increases in cognitive and linguistic processing primarily account for increases in speaking rate with age

Age-related increases of speaking rate are not fully understood, but have been attributed to gains in biologic factors and learned skills that support speech production. This study investigated developmental changes in speaking rate and articulatory kinematics of participants aged 4 (N = 7), 7 (N = 10), 10 (N = 9), 13 (N = 7), 16 (N = 9) years, and young adults (N = 11) in speaking tasks varying in task demands. Speaking rate increased with age, with decreases in pauses and articulator displacements but not increases in articulator movement speed. Movement speed did not appear to constrain the speaking. Rather, age-related increases in speaking rate are due to gains in cognitive and linguistic processing and speech motor control.

Frequency-domain identification of the human controller

System identification techniques applied to experimental human-in-the-loop data provide an objective test of three alternative control-theoretical models of the human control system: non-predictive control, predictive control, and intermittent predictive control. A two-stage approach to the identification of a single-input single-output control system is used: first, the closed-loop frequency response is derived using the periodic property of the experimental data, followed by the fitting of a parametric model. While this approach is well-established for non-predictive and predictive control, it is here used for the first time with intermittent predictive control. This technique is applied to data from experiments with human volunteers who use one of two control strategies, focusing either on position or on velocity, to manually control a virtual, unstable load which requires sustained feedback to maintain position or low velocity. The results show firstly that the non-predictive controller does not fit the data as well as the other two models, and secondly that the predictive and intermittent predictive controllers provide equally good models which cannot be distinguished using this approach. Importantly, the second observation implies that sustained visual manual control is compatible with intermittent control, and that previous results suggesting a continuous control model for the human control system do not rule out intermittent control as an alternative hypothesis. Thirdly, the parameters identified reflect the control strategy adopted by the human controller.

Utilisation of advance motor information is impaired in Friedreich ataxia

Friedreich ataxia (FRDA) is the most common of the genetically inherited ataxias. We sought to examine motor planning ability in 13 individuals with FRDA and 13 age- and sex-matched control participants using two experimental paradigms that examined the ability to incorporate different levels of advance information to plan sequential movements. Individuals with FRDA demonstrated a differential pattern of motor response to advance information and were significantly disadvantaged by conditions requiring initiation of movement without a direct visual cue. There was also a significant negative correlation with age of disease onset and differing levels of advance information, suggesting an impact of FRDA on the development of motor cognition, independent of the effect of disease duration. We suggest that deficits are due to cerebellar impairment disrupting cerebro-ponto-cerebello-thalamo-cerebral loops (and thus cortical function), direct primary cortical pathology or a possible combination of the two.

Modularity and hierarchical organization of action programs in children's acquisition of graphic skills

The organization of actions is based on modules in memory as a result of practice, easing the demand of performing more complex actions. If this modularization occurs, the elements of the module must remain invariant in new tasks. To test this hypothesis, 35 children, age 10 yr., practiced a graphic criterion task on a digital tablet and completed a complex graphic task enclosing the previous one. Total movement and pause times to draw the figure indicated skill acquisition. A module was identified by the variability of relative timing, pause time, and sequencing. Total movement to perform the criterion task did not increase significantly when it was embedded in the more complex task. Modularity was evidenced by the stability of relative timing and pause time and sequencing. The spatial position of new elements did not perturb the module, so the grammar of action may still have been forming.

Intermittent control: a computational theory of human control

The paradigm of continuous control using internal models has advanced understanding of human motor control. However, this paradigm ignores some aspects of human control, including intermittent feedback, serial ballistic control, triggered responses and refractory periods. It is shown that event-driven intermittent control provides a framework to explain the behaviour of the human operator under a wider range of conditions than continuous control. Continuous control is included as a special case, but sampling, system matched hold, an intermittent predictor and an event trigger allow serial open-loop trajectories using intermittent feedback. The implementation here may be described as "continuous observation, intermittent action". Beyond explaining unimodal regulation distributions in common with continuous control, these features naturally explain refractoriness and bimodal stabilisation distributions observed in double stimulus tracking experiments and quiet standing, respectively. Moreover, given that human control systems contain significant time delays, a biological-cybernetic rationale favours intermittent over continuous control: intermittent predictive control is computationally less demanding than continuous predictive control. A standard continuous-time predictive control model of the human operator is used as the underlying design method for an event-driven intermittent controller. It is shown that when event thresholds are small and sampling is regular, the intermittent controller can masquerade as the underlying continuous-time controller and thus, under these conditions, the continuous-time and intermittent controller cannot be distinguished. This explains why the intermittent control hypothesis is consistent with the continuous control hypothesis for certain experimental conditions.

Adjustable primitive pattern generator: a novel cerebellar model for reaching movements

Cerebellum has been assumed as an array of adjustable pattern generators (APGs). In recent years, electrophysiological researches have suggested the existence of modular structures in spinal cord called motor primitives. In our proposed model, each "adjustable primitive pattern generator" (APPG) module in the cerebellum is consisted of a large number of parallel APGs, the output of each module being the weighted sum of the outputs of these APGs. Each spinal field is tuned by a coefficient, representing a descending supraspinal command, which is modulated by ith APPG correspondingly. According to this model, motor control can be interpreted in terms of the modification of these coefficients. Vector summation of force fields implies that the complex nonlinearities in neuronal behavior are eliminated, causing our model to be simple and linear. The force field vectors, derived from motor primitives, depend on the state of movement and its derivative and the time that causes different repertoire of movement. This is physiologically plausible. Our model agrees with virtual trajectory hypothesis, stating that dynamics are not computed explicitly in central nervous system, but the desired trajectory, is fed into the spinal cord. We think that the dysmetria and the ataxia seen in some cerebellar diseases may be the result of local disruption of some APPGs. Accordingly, determining the exact location of related motor primitives in human spinal cord and stimulating them by functional neurostimulation may provide a good management for these clinical signs. Surely, experimental researches and clinical trials are needed to validate our hypothesis.