Does movement planning follow Fitts' law? Scaling anticipatory postural adjustments with movement speed and accuracy. Neuroscience. 2010;171:205-213. [PMID: 20804822 DOI: 10.1016/j.neuroscience.2010.08.023]

I-BaR: integrated balance rehabilitation framework

Neurological diseases are observed in approximately 1 billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders often experience cognitive, motor, sensory, and lower extremity dysfunctions. Thus, the possibility of falling and balance problems arise due to the postural control deficiencies that occur as a result of the deterioration in the integration of multi-sensory information. We propose a novel rehabilitation framework, Integrated Balance Rehabilitation (I-BaR), to improve the effectiveness of the rehabilitation with objective assessment, individualized therapy, convenience with different disability levels and adoption of assist-as-needed paradigm and, with integrated rehabilitation process as whole, that is, ankle-foot preparation, balance, and stepping phases, respectively. Integrated Balance Rehabilitation allows patients to improve their balance ability by providing multi-modal feedback: visual via utilization of virtual reality; vestibular via anteroposterior and mediolateral perturbations with the robotic platform; proprioceptive via haptic feedback.

Postural adjustments to self-triggered perturbations under conditions of changes in body orientation

We studied anticipatory and compensatory postural adjustments (APAs and CPAs) associated with self-triggered postural perturbations in conditions with changes in the initial body orientation. In particular, we were testing hypotheses on adjustments in the reciprocal and coactivation commands, role of proximal vs. distal muscles, and correlations between changes in indices of APAs and CPAs. Healthy young participants stood on a board with full support or reduced support area and held a standard load in the extended arms. They released the load in a self-paced manned with a standard small-amplitude arm movement. Electromyograms of 12 muscles were recorded and used to compute reciprocal and coactivation indices between three muscle pairs on both sides of the body. The subject's body was oriented toward one of three targets: straight ahead, 60° to the left, and 60° to the right. Body orientation has stronger effects on proximal muscle pairs compared to distal muscles. It led to more consistent changes in the reciprocal command compared to the coactivation command. Indices of APAs and CPAs showed positive correlations across conditions. We conclude that the earlier suggested hierarchical relations between the reciprocal and coactivation command could be task-specific. Predominance of negative or positive correlations between APA and CPA indices could also be task-specific.

Influence of Target Width and Distance on Postural Adjustments in a Fencing Lunge

The aim of this study was to examine whether target width and target distance influence the planning phase of a fencing lunge (early and anticipatory postural adjustments) as well as the execution phase of a fencing lunge. Eight elite female fencers participated in the study. The displacement of the center of foot pressure, muscle activity of the tibialis anterior, and kinematics of center of mass were recorded using force plates. The results show that target width and distance have no effect on early and anticipatory postural adjustments as well as the acceleration and velocity of the center of mass at the moment of foot-off. However, a greater target distance was associated with a greater max center of mass acceleration and velocity, and larger target width resulted in a greater max center of mass acceleration during lunging (p < 0.05). We suppose that the effect of task parameters on preparing a fencing lunge may be mitigated due to the specific technique adopted by expert fencers and the ballistic nature of a fencing lunge.

Dual-Task Interference Slows Down Proprioception

It is well-known that multitasking impairs the performance of one or both of the concomitant ongoing tasks. Previous studies have mainly focused on how a secondary task can compromise visual or auditory information processing. However, despite dual tasking being critical to motor performance, the effects of dual-task performance on proprioceptive information processing have not been studied yet. The purpose of the present study was, therefore, to investigate whether sensorimotor task performance would be affected by the dual task and if so, in which phase of the sensorimotor task performance would this negative effect occur. The kinematic variables of passive and active knee movements elicited by the leg drop test were analyzed. Thirteen young adults participated in the study. The dual task consisted of performing serial subtractions. The results showed that the dual task increased both the reaction time to counteract passive knee-joint movements in the leg drop test and the threshold to detect those movements. The dual task did not affect the speed and time during the active knee movement and the absolute angle error between the final and the target knee angles. Furthermore, the results showed that the time to complete the sensorimotor task was prolonged in dual tasking. Our findings suggest that dual tasking reduces motor performance due to slowing down proprioceptive information processing without affecting movement execution.

Hierarchical Motion Learning for Goal-Oriented Movements With Speed-Accuracy Tradeoff of a Musculoskeletal System

Generating various goal-oriented movements via the flexible muscle model of the musculoskeletal system as fast and accurately as possible is a pressing problem, which is also the basis of most human adaptive behaviors, such as reaching, catching, interception, and pointing. This article focuses on the adaptive motion generation of fast goal-oriented motion on the musculoskeletal system by implementing the speed-accuracy tradeoff (SAT) in a hierarchical motion learning framework. First, we introduce Fitts' Law into the modified basal ganglia circuit-inspired iterative decision-making model for achieving dynamic and adaptive decision making. Then, as a time constraint, the decision is decomposed into a series of supervised terms by the proposed striatal FSI-SPN interneuron circuit-inspired velocity modulator to implement the tradeoff smoothly on the musculoskeletal system. Finally, an improved policy gradient algorithm is suggested to generate the muscle excitations of the modulated motion via the proposed muscle co-contraction policy, which promotes general cooperation between flexor and extensor muscles. In experiments, a redundant musculoskeletal arm model is trained to perform the adaptive quick pointing movements. By combining the muscle co-contraction policy with SAT, our algorithm shows the most efficient training and the best performance in the adaptive motion generation among the other three popular reinforcement learning algorithms on the musculoskeletal model.

Transcranial Direct Current Stimulation (tDCS) modulates motor execution in a limb reaching task

The majority of human activities show a trade-off between movement speed and accuracy. Here we tested 16 participants in a quick pointing action after 20 minutes (2mA) of transcranial Direct Current Stimulation (tDCS) delivered at the Supplementary Motor Area (SMA) in a single-blind crossover design study for testing the feedforward components in the control of action. tDCS stimuli were delivered in three randomized sessions of stimulations as anodal, cathodal and sham as a control. The task performed Pre and Post tDCS stimulation, was to point as fast and as precise as possible with the big toe to targets having different sizes (2 and 8 cm; Width) and positioned at different Distances (20 and 60 cm; Distance). An optoelectronic motion capture system was used to collect the kinematics of movement. Result indicates that individuals after receiving anodal stimulation decreased their movement time and increased their movement speed while the opposite happened after receiving a cathodal stimulation. The scarcity of studies in this area invites us to plan a research that aims at the trade-off especially in the clinical settings.

Does visual cueing improve gait initiation in people with Parkinson's disease?

Anticipatory postural adjustments (APAs) prior to gait initiation are impaired in people with Parkinson's disease (PD), particularly in those who report Freezing of Gait (FOG). External cues can improve gait parameters in people with PD, but the effects of visual cues on gait initiation are poorly known. The study aimed to (i) assess differences, during gait initiation, between people with PD with (FOG+) and without FOG (FOG-) and healthy controls (HC), (ii) explore the effect of disease severity on gait initiation and (iii) investigate the acute effect of visual cueing on gait initiation and straight-ahead gait. Twenty FOG- and twenty FOG+, and eighteen HC participated in this study. Participants were asked to perform self-initiated gait with and without visual cues presented as transverse taped lines on the floor. Gait initiation and gait were characterized with wireless inertial measurement units. Results showed that FOG+ had smaller APAs than HC and FOG-; although no differences were detected between FOG+ and FOG- when taking into account disease severity. Significant correlations between MDS-UPDRS III scores and gait initiation/straight-ahead gait variables confirmed that differences between FOG+ and FOG- were driven by disease severity. In gait initiation, visual cues elicited different behaviors in people with and without PD. Particularly, people with PD showed smaller and longer APAs, whereas HC showed longer first step durations, compared to baseline. However, the adopted visual cues improved gait speed and stride length in all individuals. These results suggest that people with PD, despite the presence of FOG, utilize different motor strategies, compared to HC, to adapt to the new biomechanical requirements of gait initiation dictated by the visual cues.

Postural threat influences the coupling between anticipatory and compensatory postural adjustments in response to an external perturbation

Fear of falling increases conscious control of balance and postural threat warrants accurate anticipatory motor commands for keeping a safe body posture. This study examines the anticipatory (APAs) and compensatory (CPAs) postural adjustments generated in response to an external perturbation while individuals are positioned at two different altitudes (2 cm and 80 cm) from the floor level. The main result indicates that due to the perceived emotional threat, different agonist and antagonist muscles synergies (R and C-Indexes) are manifested, particularly during the anticipatory phase. The results suggest that the CNS sends central commands for anticipating postural adjustments by adopting primarily a muscle reciprocal activation instead of a muscle co-activation strategy. Interestingly, the APAs strategies were modified under different postural threats by controlling the agonist-antagonist muscles at different joints of lower extremity. For CPAs the reciprocal activation was less applied compared to muscles co-activation to unsure larger margin for compensatory adjustments as needed and re-establish the postural stability. The results indicate that when facing to a postural threat, the CNS modulates the anticipatory and compensatory phases of postural adjustments to minimize the risk of falling.

Variability in the Center of Mass State During Initiation of Accurate Forward Step Aimed at Targets of Different Sizes

Motor control for forward step initiation begins with anticipatory postural adjustments (APAs). During APAs, the central nervous system controls the center of pressure (CoP) to generate an appropriate center of mass (CoM) position and velocity for various task requirements. In this study, we investigated the effect of required stepping accuracy on the CoM and CoP parameters during APA for a step initiation task. Sixteen healthy young participants stepped forward onto the targets on the ground as soon as and as fast as possible in response to visual stimuli. Two target sizes (small: 2 cm square and large: 10 cm square) and two target distances (short: 20% and long: 40% of the body height) were tested. CoP displacement during the APA and the CoM position, velocity, and extrapolated CoM at the timing of the takeoff of the lead leg were compared among the conditions. In the small condition, comparing with the large condition, the CoM position was set closer to the stance limb side during the APA, which was confirmed by the location of the extrapolated center of mass at the instance of the takeoff of the lead leg [small: 0.09 ± 0.01 m, large: 0.06 ± 0.01 m, mean and standard deviation, F _{(1, 15)} = 96.46, p < 0.001, η² = 0.87]. The variability in the mediolateral extrapolated center of mass location was smaller in the small target condition than large target condition when the target distance was long [small: 0.010 ± 0.002 m, large: 0.013 ± 0.004 m, t(15) = 3.8, p = 0.002, d = 0.96]. These findings showed that in the step initiation task, the CoM state and its variability were task-relevantly determined during the APA in accordance with the required stepping accuracy.

Postural Adjustments and Kinematic Index Finger Features in Frail Older Adults under Different Equilibrium Constraints

Background: Anticipatory postural adjustments (APAs) are significantly affected by age and may represent restrictions on functional independence. Previous studies in young adults have already highlighted that changing postural stability (i.e., seated vs. upright posture) affects the motor planning and APAs. In frail older adults (FOAs), the effect of these different conditions of postural stability have not yet been established, and the present study aimed to disentangle this issue. Methods: Participants executed an arm-pointing task to reach a diode immediately after it turned on, under different conditions of stability (seated with and without foot support and in an upright posture). A kinematic profile of the index finger and postural electromyographic data were registered in their dominant-side leg muscles: tibialis anterior, soleus, rectus femoris, and semitendinosus. Results: The main finding of this study was that the adopted posture and body stabilization in FOAs did not reflect differences in APAs or kinematic features. In addition, they did not present an optimal APA, since postural muscles are recruited simultaneously with the deltoid. Conclusion: Thus, FOAs seem to use a single non-optimal motor plan to assist with task performance and counterbalance perturbation forces in which they present similar APAs and do not modify their kinematics features under different equilibrium constraints.

Anticipatory and pre-planned actions: A comparison between young soccer players and swimmers

The present study investigated whether a difference exists in reactive and proactive control for sport considered open or closed skills dominated. Sixteen young (11–12 years) athletes (eight soccer players and eight swimmers) were asked to be engaged into two games competitions that required either a reactive and a proactive type of control. By means of kinematic (i.e. movement time and duration) and dynamic analysis through the force platform (i.e. Anticipatory Postural Adjustments, APAs), we evaluated the level of ability and stability in reacting and anticipating actions. Results indicated that soccer players outperformed swimmers by showing higher stability and a smaller number of falls during the competition where proactive control was mainly required. Soccer players were able to reach that result by anticipating actions through well-modulated APAs. On the contrary, during the competition where reactive control was mainly required, performances were comparable between groups. Therefore, the development of specific action control is already established at 11–12 years of age and is enhanced by the training specificity.

Postural Adjustments during Interactions with an Active Partner

Ensuring stability of the human vertical posture is a complex task requiring both anticipatory and compensatory postural strategies when a standing person performs fast actions and interacts with the environment, which can include other persons. How people adjust their preparatory and compensatory postural adjustments in situations when they interact with an active partner is still poorly understood. In this study we investigated the postural adjustments while two healthy persons played a traditional childhood game. While standing facing each other, they were asked to push with their hands against the hands of the opponent only, and to make the opponent to take a step. We explored strategies when pushing the opponent's hands generated perturbations to the posture of both players and when one of the players withdrew the arms to neutralize the opponent's pushing action. Electromyograms were recorded from the leg and trunk muscles and used to quantify early (EPAs), anticipatory (APAs) and compensatory (CPAs) postural adjustments, as well as the co-activation and reciprocal changes in the activity of agonist-antagonist pairs. Results showed higher indices of muscle co-activation during EPAs during the game compared to the control conditions. We found that postural preparation strategies defined whether a participant kept or lost balance during the game. Our results highlight the importance of muscle co-activation, the role of anticipation, and the difference in strategies while interacting with an active partner as compared to interactions with passive objects.

Development of temporal and spatial characteristics of anticipatory postural adjustments during gait initiation in children aged 3-10 years

This study aimed to analyze the development of direction specificities of temporal and spatial control and the coordination pattern of anticipatory postural adjustment (APA) along the anteroposterior (AP) and mediolateral (ML) directions during gait initiation (GI) in children aged 3-10 years. This study included 72 healthy children aged 3-10 years and 14 young adults. The child population was divided into four groups by age: 3-4, 5-6, 7-8, and 9-10 years. The GI task included GI using the dominant limb. The peak center of feet pressure (COP) shifts during APAs (APA_peak), initiation time of COP shifts (APA_onset), and the COP vectors in the horizontal plane were calculated to evaluate the direction specificity of spatial, temporal, and coordination control, respectively. A difference in direction specificity development was found for the APA_peak. The APA_peak in the mediolateral axis, but not in the anteroposterior axis, was significantly higher in the 7-8 years age group than in other groups. Although APA_onset was not found for direction specificity, a significant difference between the adult and children groups (5-6 years, 7-8 years, and 9-10 years) was observed in the direction of the COP vector. In conclusion, the developmental process of the spatial, temporal, and coordination control of APAs during GI varied with age. Furthermore, the spatial control and coordination pattern of APAs was found to be direction specific. All components of APAs, namely temporal and spatial control, coordination pattern, and direction specificities, should be analyzed to capture the developmental process of anticipatory postural control.

An external focus of attention compared to an internal focus of attention improves anticipatory postural adjustments among people post-stroke

BACKGROUND

People after stroke often have postural impairments that can increase their risk of falling. Anticipatory postural adjustments (APAs) are changes in the activity of postural muscles prior to a voluntary movement in order to maintain vertical equilibrium. Previous research suggests that improving APAs leads to better postural control and reduces the risk of falls. Despite the importance of APAs and their impairment among people post-stroke, studies that aim to investigate methods for improving APAs are limited. Consistent evidence supports that an external focus of attention compared to an internal focus of attention, yields superior performance of motor skills that include postural control.

RESEARCH QUESTION

What are the effects of adopting different foci of attention on measures of APAs and movement parameters when performing a lower extremity Fitts' task among people post-stroke?

METHODS

Twelve individuals post-stroke performed a lower extremity stepping movement (Fitts' task) while adopting an external focus or an internal focus of attention in a within-subject design. A motion capture system was used to record participants' movement data. Custom software derived movement time (MT), peak velocity (PV), time to peak velocity (ttPV) and variability at endpoint (SD_T). Electromyography was used to measure muscle activity and determine APAs onset and magnitude. For all dependent variables separate repeated measures ANOVAs were conducted to compare performance between foci of attention.

RESULTS

The results showed that an external focus of attention yielded significantly better performance on all outcome measures. The improvement in performance was seen in shorter MT, higher PV, shorter ttPV, smaller SD_T, earlier APAs onset and more efficient APAs magnitude.

SIGNIFICANCE

The changes in outcome measures suggest that adopting an external focus of attention during postural tasks could be an effective strategy for improving balance control among people post-stroke.

Step Response of Human Motor System as a Measure of Postural Stability in Children

Postural sway is a product of the neuromuscular system that is commonly used in contemporary labs and clinics for the assessment of postural stability. In this study, we analyzed the transient responses of the neuromuscular system during the rise-on-toes (ROT) movement in eighteen 11 yrs old girls. Their center of pressure (COP) trajectories were recorded with standard force-platform during the transition from quiet stance to standing on toes. To assess the robustness of children's postural stability, we compared the ROT trajectories while the movement was performed with and without vision. Our results confirmed that the dynamic characteristics of the COP step response were significantly modified by visual feedback. In particular, the ROT test performed with eyes closed (EC) was characterized by a four-fold increase of COP chaotic oscillations at the target (tiptoe) position. This resulted in a substantial increase in the movement's index of difficulty (ID) thus to achieve adequate accuracy of the target-oriented movement the COP velocity was decreased accordingly. This inherent strategy of the brain controller allowed for precise positioning of the COP within the reduced size of the target. In conclusion, the dynamics of the ROT movement is always precisely adjusted to the stability of the upright posture, and thus, the dynamic characteristics of the COP step response are also sensitive measures of postural stability and the ROT can be recommended as a useful test for this assessment in the general population.

Tuning of Standing Postural Responses to Instability and Cost Function

Whole-body movements are performed daily, and humans must constantly take into account the inherent instability of a standing posture. At times these movements may be performed in risky environments and when facing different costs of failure. The aim of the study was to test the hypothesis that in upright stance participants continuously estimate both probability of failure and cost of failure such that their postural responses will be based on these estimates. We designed a snowboard riding simulation experiment where participants were asked to control the position of a moving snowboard within a snow track in a risky environment. Cost functions were provided by modifying the penalty of riding in the area adjacent to the snow track. Uncertainty was modified by changing the gain of postural responses while participants were standing on a rocker board. We demonstrated that participants continually evaluated the environmental cost function and compensated for additional risk with feedback-based postural changes, even when probability of failure was negligible. Results showed also that the participants' estimates of the probability of failure accounted for their own inherent instability. Moreover, participants showed a tendency to overweight large probabilities of failure with more biomechanically constrained standing postures that results in suboptimal estimates of risky environments. Overall, our results suggest that participants tune their standing postural responses by empirically estimating the cost of failure and the uncertainty level in order to minimize the risk of falling when cost is high.

Looking for an optimal pedal layout to improve the driving performance of patients with diabetic peripheral neuropathy

Diabetes can undermine people's ability to drive safely, but most previous studies have focused on its deterioration of the central nervous system. This study sought to investigate how diabetic peripheral neuropathy (DPN), a common complication of diabetes characterized by reduced sensitivity of the limbs, can influence people's braking behavior and other safety-related measures of driving. In addition, it also tested how such a deteriorating effect can be reduced by using certain pedal layout designs. In total, 29 healthy drivers and 31 drivers of type 2 diabetes matched in demographic variables were invited to participate in this study. The participants with type 2 diabetes (they are from here on out referred to as "patients")were then split into two subgroups based on the severity of DPN using the median of the Semmes-Weinstein monofilaments Examination (SWME) scores. All three groups of participants finished a series of vehicle-pedestrian conflict tasks in a driving simulator using nine different types of pedal layouts. These layouts varied in the lateral distance between the accelerator and the brake (45 mm, 60 mm, and 75 mm) and the width of brake pedals (50 mm, 70 mm, 90 mm). The results showed that patients with serious DPN had longer brake reaction times (BRT) and shorter minimum distance-to-collision (DTC) as compared to the other two groups. However, the effects of such a disadvantage varied across different pedal layouts. When the accelerator-brake distance was 45 mm, patients with serious DPN showed no compromised driving performance as compared to other two groups. In conclusion, we found the DPN could undermine driving performance of participants with type 2 diabetes, and a closer accelerator-brake lateral distance (45 mm) may be an optimal choice for them to counteract such a negative influence.

Motor Behavior Concepts in the Study of Balance: A Scoping Review

Previous research suggests that using Fitts' law; attentional focus or challenge point framework (CPF) is beneficial in balance control studies. A scoping review was conducted to examine studies that utilized these motor behavior concepts during balance control tasks. An extensive literature search was performed up to January 2018. Two independent reviewers conducted a study selection process followed by data extraction of the search results. Forty-six studies were identified, with 2 studies related to CPF, 12 studies related to Fitts' law and 32 studies related to focus of attention. The CPF appears to be a useful method for designing a progressive therapeutic program. Fitts' law can be used as a tool for controlling the difficulty of motor tasks. Focus of attention studies indicate that adopting an external focus of attention improves task performance. Overall, studies included in this review report benefit when using the selected motor behavior concepts. However, the majority (>80%) of studies included in the review involved healthy populations, with only three clinical trials. In order to ascertain the benefits of the selected motor behavior concepts in clinical settings, future research should focus on using these concepts for clinical trials to examine balance control among people with balance impairments.

Anticipatory postural adjustments during a Fitts' task: Comparing young versus older adults and the effects of different foci of attention

Anticipatory postural adjustments (APAs) are an integral part of standing balance. Previous research with balance control has shown that adopting an external focus of attention, compared to an internal focus of attention, yields better performance during motor skills. Despite the importance of APAs, especially among older adults, and the potential benefits of adopting an external focus of attention, studies investigating methods for improving APAs are limited. The aim of this study was to compare behavioral, kinematic and APAs measures while adopting different foci of attention among young and older adults when performing a lower extremity Fitts' task. Ten young adults (mean age 24 years ± 4.37) and ten older adults (mean age 75 years ± 5.85) performed a lower-extremity reaching task (Fitts' task) while adopting an external focus (focus on target) and an internal focus (focus on limb) in a within-subject design. A motion capture system was used to record participants' movement data. Custom software derived movement time (MT), peak velocity (PV), time to peak velocity (ttPV) and variability at target (SD_T). Electromyography (EMG) was used to determine APAs onset and magnitude. The findings showed that an external focus of attention led to significantly shorter MT, higher PV, shorter ttPV and more accuracy when reaching the target (SD_T) for both age groups. Also, EMG results showed that, with an external focus, APAs onset occurred earlier and APAs magnitude was more efficient. As predicted by Fitts' Law, participants spent more time executing movements to targets with higher indices of difficulty. Older adults compared to young adults were more adversely affected by the increase of difficulty of the Fitts' task, specifically, on measures of APAs. In conclusion, adopting an external focus of attention led to better overall movement performance when performing a lower extremity Fitts' task. The task used in the present study can distinguish between APAs for older and young adults. We recommend that future studies expand on our findings in order to establish a performance-based objective measure of APAs to assess clinical interventions for postural control impairment.

Anticipatory Postural Adjustments and kinematic arm features when postural stability is manipulated

Beyond the classical paradigm that presents the Anticipatory Postural Adjustments (APAs) as a manner to create forces that counteract disturbances arising from the moving segment during a pointing task, there is a controversial discussion about the role APAs to facilitate the movement and perform a task accurately. In addition, arm kinematics features are classically used to infer the content of motor planning for the execution and the control of arm movements. The present study aimed to disentangle the conflicting role of APAs during an arm-pointing task in which the subjects reach a central diode that suddenly turns on, while their postural stability was manipulated. Three postures were applied: Standing (Up), Sit without feet support (SitUnsup) and Sit with feet support (SitSup). We found that challenging postural stability induced an increase of the reaction time and movement duration (observed for the SitUnsup compared to SitSUp and Up) as well as modified the upper-limb velocity profile. Indeed, a greater max velocity and a shorter deceleration time were observed under the highest stability (SitSup). Thus, these Kinematics features reflect less challenging task and simple motor plan when the body is stabilized. Concerning the APAs, we observed the presence of them independently of the postural stability. Such a result strongly suggests that APAs act to facilitate the limb movement and to counteract perturbation forces. In conclusion, the degree of stability seems particularly tuned to the motor planning of the upper-limb during a pointing task whereas the postural chain (sitting vs. standing) was also determinant for APAs.

Balance perturbations

Impairments of balance and gait leading to loss of mobility, falls, and disability are common occurrences in many neurologic conditions and with older age. Much of our current understanding about posture and balance control and its impairments has come from investigations of how healthy individuals and those with neurologic disorders respond to situations that perturb standing balance during instructed voluntary tasks or in reaction to externally imposed challenges to stability. Knowledge obtained from these investigations has come from documenting the physical and physiologic characteristics of the perturbations together with the body's electrophysiologic, structural, kinetic, kinematic, and behavioral responses. From these findings, basic mechanisms, diagnostic and pathologic criteria, and targets for clinical care have been identified while continued gaps in understanding have been exposed. In this chapter, we synthesize and discuss current concepts and understanding concerning the sensorimotor control of posture and balance while standing. We draw insights gained from perturbation studies investigating these functions in healthy adults, and those with neurologic pathologies.

Trial-to-trial adaptation in control of arm reaching and standing posture

Classical theories of motor learning hypothesize that adaptation is driven by sensorimotor error; this is supported by studies of arm and eye movements that have shown that trial-to-trial adaptation increases with error. Studies of postural control have shown that anticipatory postural adjustments increase with the magnitude of a perturbation. However, differences in adaptation have been observed between the two modalities, possibly due to either the inherent instability or sensory uncertainty in standing posture. Therefore, we hypothesized that trial-to-trial adaptation in posture should be driven by error, similar to what is observed in arm reaching, but the nature of the relationship between error and adaptation may differ. Here we investigated trial-to-trial adaptation of arm reaching and postural control concurrently; subjects made reaching movements in a novel dynamic environment of varying strengths, while standing and holding the handle of a force-generating robotic arm. We found that error and adaptation increased with perturbation strength in both arm and posture. Furthermore, in both modalities, adaptation showed a significant correlation with error magnitude. Our results indicate that adaptation scales proportionally with error in the arm and near proportionally in posture. In posture only, adaptation was not sensitive to small error sizes, which were similar in size to errors experienced in unperturbed baseline movements due to inherent variability. This finding may be explained as an effect of uncertainty about the source of small errors. Our findings suggest that in rehabilitation, postural error size should be considered relative to the magnitude of inherent movement variability.

The Organization and Control of Intra-Limb Anticipatory Postural Adjustments and Their Role in Movement Performance

Anticipatory Postural Adjustments (APAs) are commonly described as unconscious muscular activities aimed to counterbalance the perturbation caused by the primary movement, so as to ensure the whole-body balance, as well as contributing to initiate the displacement of the body center of mass when starting gait or whole-body reaching movements. These activities usually create one or more fixation chains which spread over several muscles of different limbs, and may be thus called inter-limb APAs. However, it has been reported that APAs also precede voluntary movements involving tiny masses, like a flexion/extension of the wrist or even a brisk flexion of the index-finger. In particular, such movements are preceded by an intra-limb APA chain, that involves muscles acting on the proximal joints. Considering the small mass of the moving segments, it is unlikely that the ensuing perturbation could threaten the whole-body balance, so that it is interesting to enquire the physiological role of intra-limb APAs and their organization and control compared to inter-limb APAs. This review is focused on intra-limb APAs and highlights a strict correspondence in their behavior and temporal/spatial organization with respect to inter-limb APAs. Hence it is suggested that both are manifestations of the same phenomenon. Particular emphasis is given to intra-limb APAs preceding index-finger flexion, because their relatively simple biomechanics and the fact that muscular actions were limited to a single arm allowed peculiar investigations, leading to important conclusions. Indeed, such paradigm provided evidence that by granting a proper fixation of those body segments proximal to the moving one APAs are involved in refining movement precision, and also that APAs and prime mover activation are driven by a shared motor command.

Higher Precision in Pointing Movements of the Preferred vs. Non-Preferred Hand Is Associated with an Earlier Occurrence of Anticipatory Postural Adjustments

It is a common experience to exhibit a greater dexterity when performing a pointing movement with the preferred limb (PREF) vs. the non-preferred (NON-PREF) one. Here we provide evidence that the higher precision in pointing movements of the PREF vs. NON-PREF hand is associated with an earlier occurrence of the anticipatory postural adjustments (APAs). In this aim, we compared the APAs which stabilize the left or the right arm when performing a pen-pointing movement (prime mover flexor carpi radialis (FCR)). Moreover, we analyzed the elbow and wrist kinematics as well as the precision of the pointing movement. The mean kinematics of wrist movement and its latency, with respect to prime mover recruitment, were similar in the two sides, while APAs in triceps brachii (TB), biceps brachii (BB) and anterior deltoid (AD) were more anticipated when movements were performed with the PREF than with the NON-PREF hand (60–70 vs. 20–30 ms). APAs amplitudes were comparable in the muscles of the two sides. Earlier APAs in the preferred limb were associated with a better fixation of the elbow, which showed a lower excursion, and with a less scattered pointing error (PREF: 10.1 ± 0.8 mm; NON-PREF: 16.3 ± 1.7). Present results suggest that, by securing the more proximal joints dynamics, an appropriate timing of the intra-limb APAs is necessary for refining the voluntary movement precision, which is known to be scarce on the NON-PREF side.

Speed-Accuracy Trade-Off in a Trajectory-Constrained Self-Feeding Task: A Quantitative Index of Unsuppressed Motor Noise in Children With Dystonia

Motor speed and accuracy are both affected in childhood dystonia. Thus, deriving a speed-accuracy function is an important metric for assessing motor impairments in dystonia. Previous work in dystonia studied the speed-accuracy trade-off during point-to-point tasks. To achieve a more relevant measurement of functional abilities in dystonia, the present study investigates upper-limb kinematics and electromyographic activity of 8 children with dystonia and 8 healthy children during a trajectory-constrained child-relevant task that emulates self-feeding with a spoon and requires continuous monitoring of accuracy. The speed-accuracy trade-off is examined by changing the spoon size to create different accuracy demands. Results demonstrate that the trajectory-constrained speed-accuracy relation is present in both groups, but it is altered in dystonia in terms of increased slope and offset toward longer movement times. Findings are consistent with the hypothesis of increased signal-dependent noise in dystonia, which may partially explain the slow and variable movements observed in dystonia.

Is Beauty in the Eyes of the Beholder? Aesthetic Quality versus Technical Skill in Movement Evaluation of Tai Chi

The aim of this study was to compare experts to naïve practitioners in rating the beauty and the technical quality of a Tai Chi sequence observed in video-clips (of high and middle level performances). Our hypothesis are: i) movement evaluation will correlate with the level of skill expressed in the kinematics of the observed action but ii) only experts will be able to unravel the technical component from the aesthetic component of the observed action. The judgments delivered indicate that both expert and non-expert observers are able to discern a good from a mediocre performance; however, as expected, only experts discriminate the technical from the aesthetic component of the action evaluated and do this independently of the level of skill shown by the model (high or middle level performances). Furthermore, the judgments delivered were strongly related to the kinematic variables measured in the observed model, indicating that observers rely on specific movement kinematics (e.g. movement amplitude, jerk and duration) for action evaluation. These results provide evidence of the complementary functional role of visual and motor action representation in movement evaluation and underline the role of expertise in judging the aesthetic quality of movements.

An Approach to Ballet Dance Training through MS Kinect and Visualization in a CAVE Virtual Reality Environment

This article proposes a novel framework for the real-time capture, assessment, and visualization of ballet dance movements as performed by a student in an instructional, virtual reality (VR) setting. The acquisition of human movement data is facilitated by skeletal joint tracking captured using the popular Microsoft (MS) Kinect camera system, while instruction and performance evaluation are provided in the form of 3D visualizations and feedback through a CAVE virtual environment, in which the student is fully immersed. The proposed framework is based on the unsupervised parsing of ballet dance movement into a structured posture space using the spherical self-organizing map (SSOM). A unique feature descriptor is proposed to more appropriately reflect the subtleties of ballet dance movements, which are represented as gesture trajectories through posture space on the SSOM. This recognition subsystem is used to identify the category of movement the student is attempting when prompted (by a virtual instructor) to perform a particular dance sequence. The dance sequence is then segmented and cross-referenced against a library of gestural components performed by the teacher. This facilitates alignment and score-based assessment of individual movements within the context of the dance sequence. An immersive interface enables the student to review his or her performance from a number of vantage points, each providing a unique perspective and spatial context suggestive of how the student might make improvements in training. An evaluation of the recognition and virtual feedback systems is presented.

Effect of loading parameters on motor performance during a dynamic weight-shift task

Controlling weight shift (WS) is essential to performing motions safely and smoothly during daily and athletic activities. This study investigated the impact of loading parameters on the motor performance and difficulty level of a dynamic WS task performed while standing. Twelve healthy young adults (21.2 ± 0.9 years, 53.5 ± 7.4 kg) were asked to match the target and their weight loads using visual feedback displayed on a computer monitor. Motor performance was estimated by assessment of loading accuracy and pace of motor skill acquisition, measured as a proxy of difficulty level, was estimated by assessment of learning rate. As predicted, both loading accuracy values decreased with increasing target frequency. Notably, the interaction of loading size and frequency had a significant effect on loading accuracy, which was increasingly impaired as the weight load increased at frequencies greater than 0.5 Hz. Moreover, the pace of motor skill acquisition in a dynamic WS task while standing was affected by the weight-load speed independently of the weight-load size. These results indicate that loading accuracy is affected by both the weight-load size and frequency and that 0.5 Hz is a critical frequency at which the difficulty level increases during dynamic WS tasks while standing in healthy youths. These findings suggest that the adequacy of the initial settings used regarding loading size and frequency is an important consideration in rehabilitative and athletic training aimed at evaluating and improving WS while standing.

Might as well jump: sound affects muscle activation in skateboarding

The aim of the study is to reveal the role of sound in action anticipation and performance, and to test whether the level of precision in action planning and execution is related to the level of sensorimotor skills and experience that listeners possess about a specific action. Individuals ranging from 18 to 75 years of age - some of them without any skills in skateboarding and others experts in this sport - were compared in their ability to anticipate and simulate a skateboarding jump by listening to the sound it produces. Only skaters were able to modulate the forces underfoot and to apply muscle synergies that closely resembled the ones that a skater would use if actually jumping on a skateboard. More importantly we showed that only skaters were able to plan the action by activating anticipatory postural adjustments about 200 ms after the jump event. We conclude that expert patterns are guided by auditory events that trigger proper anticipations of the corresponding patterns of movements.

Anticipatory postural adjustments in dart throwing

The aim of this study was to explore the effects of accuracy constraints on the characteristics of anticipatory postural adjustments (APA) in a task that involves a movement consisting of a controlled phase and a ballistic phase. It was hypothesized that APA scaling with task parameters (target size) would be preserved even when the task is performed by muscles that have no direct effects on APA. Sixteen healthy right handed subjects participated in the study. All participants had no prior experience in dart throwing. Subjects’ average age was 24.1 ± 1.9 years. A force platform and a motion capture system were used to register kinetics of the body and kinematics of the throwing arm and throwing accuracy. The experiment consisted of six series of twenty consecutive dart throws to a specified target. Target sizes (T2–T6) were set at 25%, 50%, 75%, 125% and 150% of target 1 (T1) initially set as the spread of the last 20 throws in a 50 throw training session. This allowed to distinguish six indexes of difficulty (ID’s) ranging from 2,9 to 5,9. A one-way ANOVA for repeated measures was used for statistical analysis. Results of ANOVA showed a significant effect of target size at Constant Error but no effect at APA time. There were also no significant differences between hit and miss throws. From a control perspective, it can be stated that changes in central commands did not lead to changes in APA time in the analyzed motor task.

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

AIM

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

METHODS

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

RESULTS

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

CONCLUSION

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

Fitts' Law in early postural adjustments

We tested a hypothesis that the classical relation between movement time and index of difficulty (ID) in quick pointing action (Fitts' Law) reflects processes at the level of motor planning. Healthy subjects stood on a force platform and performed quick and accurate hand movements into targets of different size located at two distances. The movements were associated with early postural adjustments that are assumed to reflect motor planning processes. The short distance did not require trunk rotation, while the long distance did. As a result, movements over the long distance were associated with substantial Coriolis forces. Movement kinematics and contact forces and moments recorded by the platform were studied. Movement time scaled with ID for both movements. However, the data could not be fitted with a single regression: Movements over the long distance had a larger intercept corresponding to movement times about 140 ms longer than movements over the shorter distance. The magnitude of postural adjustments prior to movement initiation scaled with ID for both short and long distances. Our results provide strong support for the hypothesis that Fitts' Law emerges at the level of motor planning, not at the level of corrections of ongoing movements. They show that, during natural movements, changes in movement distance may lead to changes in the relation between movement time and ID, for example when the contribution of different body segments to the movement varies and when the action of Coriolis force may require an additional correction of the movement trajectory.

Adaptability of anticipatory postural adjustments associated with voluntary movement

The control of balance is crucial for efficiently performing most of our daily motor tasks, such as those involving goal-directed arm movements or whole body displacement. The purpose of this article is twofold. Firstly, it is to recall how balance can be maintained despite the different sources of postural perturbation arising during voluntary movement. The importance of the so-called “anticipatory postural adjustments” (APA), taken as a “line of defence” against the destabilizing effect induced by a predicted perturbation, is emphasized. Secondly, it is to report the results of recent studies that questioned the adaptability of APA to various constraints imposed on the postural system. The postural constraints envisaged here are classified into biomechanical (postural stability, superimposition of motor tasks), (neuro) physiological (fatigue), temporal (time pressure) and psychological (fear of falling, emotion). Overall, the results of these studies point out the capacity of the central nervous system (CNS) to adapt the spatio-temporal features of APA to each of these constraints. However, it seems that, depending on the constraint, the “priority” of the CNS was focused on postural stability maintenance, on body protection and/or on maintenance of focal movement performance.

Influence of temporal pressure on anticipatory postural control of medio-lateral stability during rapid leg flexion

During leg flexion from erect posture, postural stability along the medio-lateral direction is organized in advance during "anticipatory postural adjustments" (APAs). This study aimed to investigate the influence of temporal pressure on this anticipatory postural control of medio-lateral stability. Eight young healthy participants performed series of leg flexions (1) as soon as possible in response to an acoustic signal (reaction-time condition; condition with temporal pressure) and (2) in a self-initiated condition (no temporal pressure). Results showed that APAs duration was shorter in the reaction-time condition as compared to the self-initiated condition; this shortening was compensated by an increase in the medio-lateral center-of-pressure displacement so that the dynamic stability reached at foot-off, as measured by the "extrapolated center-of-mass", remained unchanged. It is concluded that when a complex task is performed under temporal pressure, the central nervous system is able to modulate the spatio-temporal features of APAs in a way to both hasten the initiation of the voluntary movement and maintain optimal conditions of dynamic stability. In other words, it seems that the central nervous system does not "trade off optimal stability for speed of movement initiation under reaction-time condition", as it had been proposed in the literature.

EEG correlates of Fitts's law during preparation for action

Humans' inability to move fast and accurately at the same time is expressed in Fitts's law. It states that the movement time between targets depends on the index of difficulty, which is a function of the target width and the inter-target distance. The present study investigated the electrophysiological correlates of Fitts's law during action planning using high-density electroencephalography. Movement times were scaled according to Fitts's law, indicating that participants could not overcome the speed-accuracy trade-off during a 1-s preparation period. Importantly, the index of difficulty of the planned movement correlated linearly with the amplitudes of the cognitive N2 and P3b components, which developed during the planning period over parieto-occipital areas. These results suggest that the difficulty of a movement during action planning is represented at a level where perceptual information about the difficulty of the ensuing action is linked to motor programming of the required movement.