On the coordination of two-handed movements

Symmetry and synchrony of bimanual movements are not predicated on interlimb control coupling

Previous studies suggest that bimanual coordination recruits neural mechanisms that explicitly couple control of the arms, resulting in symmetric kinematics. However, the higher symmetry for actions that require congruous joint motions compared with noncongruous joint motions calls into question the concept of control coupling as a general policy. An alternative view proposes that codependence might emerge from an optimal feedback controller that minimizes control effort and costs in task performance. Support for this view comes from studies comparing conditions in which both hands move a shared or independent virtual objects. Because these studies have mainly focused on congruous bimanual movements, it remains unclear if kinematic symmetry emerges from such control policies. We now examine movements with congruous or noncongruous joint motions (inertially symmetric or asymmetric, respectively) under shared or independent cursors conditions. We reasoned that if a control policy minimizes kinematic differences between limbs, spatiotemporal symmetry should remain relatively unaffected by inertial asymmetries. As shared tasks reportedly elicit greater interlimb codependence, these conditions should elicit higher bilateral covariance regardless of inertial asymmetries. Our results indicate a robust spatiotemporal symmetry only under inertially symmetric conditions, regardless of cursor condition. We simulated bimanual reaching using an optimal feedback controller with and without explicit costs of kinematic asymmetry, finding that only the latter mirrored our empirical data. Our findings support the hypothesis that bimanual control policies do not include kinematic asymmetry as a cost when it is not demanded by task constraints suggesting that kinematic symmetry depends critically on mechanical movement conditions.NEW & NOTEWORTHY Previously, the control coupling hypothesis and task-dependent control hypothesis have been shown to be robust in the bimanually symmetrical movement, but whether the same policy remains robust in the bimanually asymmetrical movement remains unclear. Here, with evidence from empirical and simulation data, we show that a spatiotemporal symmetry between the arms is not predicated on control coupling, but instead it is predicated on the symmetry of mechanical conditions (e.g. limb inertia) between the arms.

The impact of lesion side on bilateral upper limb coordination after stroke

BACKGROUND

A stroke frequently results in impaired performance of activities of daily life. Many of these are highly dependent on effective coordination between the two arms. In the context of bimanual movements, cyclic rhythmical bilateral arm coordination patterns can be classified into two fundamental modes: in-phase (bilateral homologous muscles contract simultaneously) and anti-phase (bilateral muscles contract alternately) movements. We aimed to investigate how patients with left (LHS) and right (RHS) hemispheric stroke are differentially affected in both individual-limb control and inter-limb coordination during bilateral movements.

METHODS

We used kinematic measurements to assess bilateral coordination abilities of 18 chronic hemiparetic stroke patients (9 LHS; 9 RHS) and 18 age- and sex-matched controls. Using KINARM upper-limb exoskeleton system, we examined individual-limb control by quantifying trajectory variability in each hand and inter-limb coordination by computing the phase synchronization between hands during anti- and in-phase movements.

RESULTS

RHS patients exhibited greater impairment in individual- and inter-limb control during anti-phase movements, whilst LHS patients showed greater impairment in individual-limb control during in-phase movements alone. However, LHS patients further showed a swap in hand dominance during in-phase movements.

CONCLUSIONS

The current study used individual-limb and inter-limb kinematic profiles and showed that bilateral movements are differently impaired in patients with left vs. right hemispheric strokes. Our results demonstrate that both fundamental bilateral coordination modes are differently controlled in both hemispheres using a lesion model approach. From a clinical perspective, we suggest that lesion side should be taken into account for more individually targeted bilateral coordination training strategies.

TRIAL REGISTRATION

the current experiment is not a health care intervention study.

The microstructure of intra- and interpersonal coordination

Movements are naturally composed of submovements, i.e. recurrent speed pulses (2-3 Hz), possibly reflecting intermittent feedback-based motor adjustments. In visuomotor (unimanual) synchronization tasks, partners alternate submovements over time, indicating mutual coregulation. However, it is unclear whether submovement coordination is organized differently between and within individuals. Indeed, different types of information may be variably exploited for intrapersonal and interpersonal coordination. Participants performed a series of bimanual tasks alone or in pairs, with or without visual feedback (solo task only). We analysed the relative timing of submovements between their own hands or between their own hands and those of their partner. Distinct coordinative structures emerged at the submovement level depending on the relevance of visual feedback. Specifically, the relative timing of submovements (between partners/effectors) shifts from alternation to simultaneity and a mixture of both when coordination is achieved using vision (interpersonal), proprioception/efference-copy only (intrapersonal, without vision) or all information sources (intrapersonal, with vision), respectively. These results suggest that submovement coordination represents a behavioural proxy for the adaptive weighting of different sources of information within action-perception loops. In sum, the microstructure of movement reveals common principles governing the dynamics of sensorimotor control to achieve both intra- and interpersonal coordination.

Post-stroke deficits in the anticipatory control and bimanual coordination during naturalistic cooperative bimanual action

BACKGROUND

Unilateral stroke leads to asymmetric deficits in movement performance; yet its effects on naturalistic bimanual actions, a key aspect of everyday functions, are understudied. Particularly, how naturalistic bimanual actions that require the two hands to cooperatively interact with each other while manipulating a single common object are planned, executed, and coordinated after stroke is not known. In the present study, we compared the anticipatory planning, execution, and coordination of force between individuals with left and right hemisphere stroke and neurotypical controls in a naturalistic bimanual common-goal task, lifting a box.

METHOD

Thirty-three individuals with chronic stroke (15 LCVA, 18 RCVA) and 8 neurotypical age-matched controls used both hands to lift a box fitted with force transducers under unweighted and weighted conditions. Primary dependent variables included measures of anticipation (peak grip and load force rate), execution (peak grip force, load force), and measures of within-hand (grip-load force coordination) and between-hand coordination (force rate cross-correlations). Primary analyses were performed using linear mixed effects modeling. Exploratory backward stepwise regression examined predictors of individual variability within participants with stroke.

RESULTS

Participants with stroke, particularly the RCVA group, showed impaired scaling of grip and load force rates with the addition of weight, indicating deficits in anticipatory control. While there were no group differences in peak grip force, participants with stroke showed significant impairments in peak load force and in grip-load force coordination with specific deficits in the evolution of load force prior to object lift-off. Finally, there were differences in spatial coordination of load force rates for participants with stroke, and especially the RCVA group, as compared to controls. Unimanual motor performance of the paretic arm and hemisphere of lesion (right hemisphere) were the key predictors of impairments in anticipatory planning of grip force and bimanual coordination among participants with stroke.

CONCLUSIONS

These results suggest that individuals with stroke, particularly those with right hemisphere damage, have impairments in anticipatory planning and interlimb coordination of symmetric cooperative bimanual tasks.

Bilateral arm movements are coordinated via task-dependent negotiations between independent and codependent control, but not by a "coupling" control policy

Prior research has shown that coordination of bilateral arm movements might be attributed to either control policies that minimize performance and control costs regardless of bilateral symmetry or by control coupling, which activates bilaterally homologous muscles as a single unit to achieve symmetric performance. We hypothesize that independent bimanual control (movements of one arm are performed without influence on the other) and codependent bimanual control (two arms are constrained to move together with high spatiotemporal symmetry) are two extremes on a coordination spectrum that can be negotiated to meet infinite variations in task demands. To better understand and distinguish between these views, we designed a task where minimization of either control costs or asymmetry would yield different patterns of coordination. Participants made bilateral reaches with a shared visual cursor to a midline target. We then covertly varied the gain contribution of either hand to the shared cursor's horizontal position. Across two experiments, we show that bilateral coordination retains high task-dependent sensitivity to subtle visual feedback gain asymmetries applied to the shared cursor. Specifically, we found a change from strong spatial covariation between hands during equal gains to more independent control during asymmetric gains, which occurred rapidly and with high specificity to the dimension of gain manipulation. Furthermore, the extent of spatial covariation was graded to the magnitude of perpendicular gain asymmetry between hands. These findings suggest coordination of bilateral arm movements flexibly maneuvers along a continuous coordination spectrum in a task-dependent manner that cannot be explained by bilateral control coupling.NEW & NOTEWORTHY Minimization of performance and control costs and efferent coupling between bilaterally homologous muscle groups have been separately hypothesized to describe patterns of bimanual coordination. Here, we address whether the mechanisms mediating independent and codependent control between limbs can be weighted for successful task performance. Using bilaterally asymmetric visuomotor gain perturbations, we show bimanual coordination can be characterized as a negotiation along a spectrum between extremes of independent and codependent control, but not efferent control coupling.

Quantifying intra- and interlimb use during unimanual and bimanual tasks in persons with hemiparesis post-stroke

Background

Individuals with hemiparesis post-stroke often have difficulty with tasks requiring upper extremity (UE) intra- and interlimb use, yet methods to quantify both are limited.

Objective

To develop a quantitative yet sensitive method to identify distinct features of UE intra- and interlimb use during task performance.

Methods

Twenty adults post-stroke and 20 controls wore five inertial sensors (wrists, upper arms, sternum) during 12 seated UE tasks. Three sensor modalities (acceleration, angular rate of change, orientation) were examined for three metrics (peak to peak amplitude, time, and frequency). To allow for comparison between sensor data, the resultant values were combined into one motion parameter, per sensor pair, using a novel algorithm. This motion parameter was compared in a group-by-task analysis of variance as a similarity score (0–1) between key sensor pairs: sternum to wrist, wrist to wrist, and wrist to upper arm. A use ratio (paretic/non-paretic arm) was calculated in persons post-stroke from wrist sensor data for each modality and compared to scores from the Adult Assisting Hand Assessment (Ad-AHA Stroke) and UE Fugl-Meyer (UEFM).

Results

A significant group × task interaction in the similarity score was found for all key sensor pairs. Post-hoc tests between task type revealed significant differences in similarity for sensor pairs in 8/9 comparisons for controls and 3/9 comparisons for persons post stroke. The use ratio was significantly predictive of the Ad-AHA Stroke and UEFM scores for each modality.

Conclusions

Our algorithm and sensor data analyses distinguished task type within and between groups and were predictive of clinical scores. Future work will assess reliability and validity of this novel metric to allow development of an easy-to-use app for clinicians.

A TMS-induced cortical silent period delays the contralateral limb for bimanual symmetrical movements and the reaction time delay is reduced on startle trials

Bimanual actions are typically initiated and executed in a temporally synchronous manner, likely due to planning bilateral commands as a single motor "program." Applying high intensity transcranial magnetic stimulation (TMS) to the motor cortex can result in a contralateral cortical silent period that delays reaction time (RT), if timed to coincide with the final motor output stage. The current study examined the impact of a unilateral TMS silent period on the RT and inter-limb timing of bilateral wrist extension. In addition, because a loud, startling acoustic stimulus (SAS) can result in the involuntary release of pre-programmed actions via increased reticulospinal activation, it was of interest whether startle-induced speeding of response initiation would moderate the impact of the TMS-induced RT delay. Participants performed blocks of unilateral and bilateral wrist extension in response to an acoustic (82dB) go-signal. On selected trials, either TMS was applied to the left motor cortex 70 ms prior to the expected EMG response onset, a SAS (120dB) replaced the go-signal, or both TMS and SAS were delivered. Results showed that TMS led to a significant RT delay in the right limb during both unimanual and bimanual extension but had no impact on the left limb initiation. In addition, the magnitude of the right limb RT delay was smaller when the response was triggered by a SAS. These results imply that preplanned bimanually synchronous movements are susceptible to lateralized dissociation late into the cortical motor output stage and movements triggered by startle involve increased reticulospinal output.

A Vexing Question in Motor Control: The Degrees of Freedom Problem

The human “marionette” is extremely complex and multi-articulated: anatomical redundancy (in terms of Degrees of Freedom: DoFs), kinematic redundancy (movements can have different trajectories, velocities, and accelerations and yet achieve the same goal, according to the principle of Motor Equivalence), and neurophysiological redundancy (many more muscles than DoFs and multiple motor units for each muscle). Although it is quite obvious that such abundance is not noxious at all because, in contrast, it is instrumental for motor learning, allowing the nervous system to “explore” the space of feasible actions before settling on an elegant and possibly optimal solution, the crucial question then boils down to figure out how the nervous system “chooses/selects/recruits/modulates” task-dependent subsets of countless assemblies of DoFs as functional motor synergies. Despite this daunting conceptual riddle, human purposive behavior in daily life activities is a proof of concept that solutions can be found easily and quickly by the embodied brain of the human cognitive agent. The point of view suggested in this essay is to frame the question above in the old-fashioned but still seminal observation by Marr and Poggio that cognitive agents should be regarded as Generalized Information Processing Systems (GIPS) and should be investigated according to three nearly independent but complementary levels of analysis: 1) the computational level, 2) the algorithmic level, and 3) the implementation level. In this framework, we attempt to discriminate as well as aggregate the different hypotheses and solutions proposed so far: the optimal control hypothesis, the muscle synergy hypothesis, the equilibrium point hypothesis, or the uncontrolled manifold hypothesis, to mention the most popular ones. The proposed GIPS follows the strategy of factoring out shaping and timing by adopting a force-field based approach (the Passive Motion Paradigm) that is inspired by the Equilibrium Point Hypothesis, extended in such a way to represent covert as well overt actions. In particular, it is shown how this approach can explain spatio-temporal invariances and, at the same time, solve the Degrees of Freedom Problem.

Decoupling countermands nonselective response inhibition during selective stopping

Response inhibition is essential for goal-directed behavior within dynamic environments. Selective stopping is a complex form of response inhibition where only part of a multi-effector response must be cancelled. A substantial response delay emerges on unstopped effectors when a cued effector is successfully stopped. This stopping-interference effect is indicative of nonselective response inhibition during selective stopping which may, in-part, be a consequence of functional coupling. The present study examined selective stopping of (de)coupled bimanual responses in healthy human participants of either sex. Participants performed synchronous and asynchronous versions of an anticipatory stop-signal paradigm across two sessions while mu (µ) and beta (β) rhythm were measured with electroencephalography. Results showed that responses were behaviorally decoupled during asynchronous go trials and the extent of response asynchrony was associated with lateralized sensorimotor µ and β desynchronization during response preparation. Selective stopping produced a stopping-interference effect and was marked by a nonselective increase and subsequent rebound in prefrontal and sensorimotor β. In support of the coupling account, stopping-interference was smaller during selective stopping of asynchronous responses, and negatively associated with the magnitude of decoupling. However, the increase in sensorimotor β during selective stopping was equivalent between the stopped and unstopped hand irrespective of response synchrony. Overall, the findings demonstrate that decoupling facilitates selective stopping after a global pause process and emphasizes the importance of considering the influence of both the go and stop context when investigating response inhibition.

Motor Memory Consolidation after Augmented Variability Depends on the Space in which Variability is Introduced

Motor memories undergo a period of consolidation before they become resistant to the practice of another task. Although movement variability is important in motor memory consolidation, its role is not fully understood in redundant tasks where variability can exist along two orthogonal subspaces (the 'task space' and the 'null space') that have different effects on task performance. Here, we used haptic perturbations to augment variability in these different spaces and examined their effect on motor memory consolidation. Participants learned a shuffleboard task, where they held a bimanual manipulandum and made a discrete throwing motion to slide a virtual puck towards a target. The task was redundant because the distance travelled by the puck was determined by the sum of the left and right hand speeds at release. After participants practiced the task, we used haptic perturbations to introduce motor variability in the task space or null space and examined consolidation of the original task on the next day. We found that regardless of the amplitude, augmenting variability in the task space resulted in significantly better consolidation relative to augmenting variability in the null space, but was not different from a control group that practiced with no variability. This benefit of increasing task space variability relative to increasing null space variability was likely due to the fact that it did not disrupt the pre-existing coordination strategy. These results suggest that the effects of variability on motor memory consolidation depend on the interplay between the induced variability and the pre-existing coordination strategy.

Motor Variability Prior to Learning does not Facilitate the Ability to Adopt new Movement Solutions

Many contexts in motor learning require a learner to change from an existing movement solution to a novel movement solution to perform the same task. Recent evidence has pointed to motor variability prior to learning as a potential marker for predicting individual differences in motor learning. However, it is not known if this variability is predictive of the ability to adopt a new movement solution for the same task. Here, we examined this question in the context of a redundant precision task requiring control of motor variability. Fifty young adults learned a precision task that involved throwing a virtual puck toward a target using both hands. Because the speed of the puck depended on the sum of speeds of both hands, this task could be achieved using multiple solutions. Participants initially performed a baseline task where there was no constraint on the movement solution, and then performed a novel task where they were constrained to adopt a specific movement solution requiring asymmetric left and right hand speeds. Results showed that participants were able to learn the new solution, and this change was associated with changes in both the amount and structure of variability. However, increased baseline motor variability did not facilitate initial or final task performance when using the new solution - in fact, greater variability was associated with higher errors. These results suggest that motor variability is not necessarily indicative of flexibility and highlight the role of the task context in determining the relation between motor variability and learning.

A rare case of deafferentation reveals an essential role of proprioception in bilateral coordination

Loss of proprioception has been shown to produce deficits in intralimb coordination and in the ability to stabilize limb posture in the absence of visual feedback. However, the role of proprioceptive signals in the feedforward and feedback control of interlimb coordination remains unclear. To address this issue, we examined bimanual coordination in a deafferented participant (DP) with large-fiber sensory neuropathy, which resulted in the loss of proprioception and touch in both arms, and in age-matched control participants. The task required participants to move a single virtual bar with both hands to a rectangular target with horizontal orientation. The participants received visual feedback of the virtual bar, but not of the hand positions along the bar-axis. Although the task required symmetrical movement between the arms, there were significant differences in the trajectories of the dominant and non-dominant hands in the deafferented participant, and thus more final errors and impaired coordination compared to controls. Deafferentation was also associated with an asymmetric deficit in stabilizing the hand at the end of motion, where the dominant arm showed more drift than the non-dominant arm. While the findings with DP may reflect a unique adaptation to deafferentation, they suggest that 1) Bilateral coordination depends on proprioceptive feedback, and 2) Postural stability at the end of motion can be specified through feedforward mechanisms, in the absence of proprioceptive feedback, but this process appears to be asymmetric, with better stability in the non-dominant arm.

Dexterity and technique in termite fishing by chimpanzees (Pan troglodytes troglodytes) in the Goualougo Triangle, Republic of Congo

Although the phenomenon of termite fishing by chimpanzees (Pan troglodytes) has historical and theoretical importance for primatology, we still have a limited understanding of how chimpanzees accomplish this activity, and in particular, about details of skilled actions and the nature of individual variation in fishing techniques. We examined movements, hand positions, grips, and other details from remote video footage of seven adult and subadult female chimpanzees using plant probes to extract Macrotermes muelleri termites from epigeal nests. Six chimpanzees used exclusively one hand (left or right) to grip the probe during termite fishing. All chimpanzees used the same repertoire of actions to insert, adjust, and withdraw the probe but differed in the frequency of use of particular actions. Chimpanzees have been described as eating termites in two ways—directly from the probe or by sweeping them from the probe with one hand. We describe a third technique: sliding the probe between the digits of one stationary hand as the probe is extracted from the nest. The sliding technique requires complementary bimanual coordination (extracting with one hand and grasping lightly with the other, at the same time). We highlight the importance of actions with two hands—one gripping, one assisting—in termite fishing and discuss how probing techniques are correlated with performance. Additional research on digital function and on environmental, organismic, and task constraints will further reveal manual dexterity in termite fishing.

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Using remote video footage from camera traps in Goualougo Triangle, Republic of Congo, we describe chimpanzees' manual actions, postures, and positions, and movements of the probe while they fished for termites in epigeal termite nests.

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Chimpanzees used diverse grips, with and without the thumb, and two hands—one gripping, one assisting—to handle the probe delicately and to move it precisely.

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We describe a new technique for recovering termites: sliding the probe between the digits of one stationary hand as the probe is extracted from the nest with the other hand, and a new action: oscillatory movements of the probe while it was inserted in the nest.

The Development of Bimanual Coordination Across Toddlerhood

As one of the hallmarks of human activity and cultural achievement, bimanual coordination has been the focus of research efforts in multiple fields of inquiry. Since the seminal work of Cohen (1971) and Kelso and colleagues (Haken, Kelso, & Bunz, 1985; Kelso, Southard, & Goodman, 1979), bimanual action has served as a model system used to investigate the role of cortical, perceptual, cognitive, and situational underpinnings of coordinated movement sequences (e.g., Bingham, 2004; Oliveira & Ivry, 2008). This work has been guided primarily by dynamical systems theory in general, and by the formal Haken-Kelso-Bunz (HKB; 1985) model of bimanual coordination, in particular. The HKB model describes the self-organizing relationship between a coordinated movement pattern and the underlying parameters that support that pattern, and can also be used to conceptualize and test predictions of how changes in coordination occur. Much of the work investigating bimanual control under the HKB model has been conducted with adults who are acting over time periods of a few seconds to a few days. However, there are also changes in bimanual control that occur over far longer time spans, including those that emerge across childhood and into adolescence (e.g., Wolff, Kotwica, & Obregon, 1998). Using the formal HKB model as a starting point, we analyzed the ontogenetic emergence of a particular pattern of bimanual coordination, specifically, the anti-phase (or inverse oscillatory motion) coordination pattern between the upper limbs in toddlers who are performing a drumming task (see Brakke, Fragaszy, Simpson, Hoy, & Cummins-Sebree, 2007). This study represents a first attempt to document the emergence of the anti-phase pattern by examining both microgenetic and ontogenetic patterns of change in bimanual activity. We report the results of a longitudinal study in which seven toddlers engaged monthly in a bimanual drumming task from 15 to 27 months of age. On some trials, an adult modeled in-phase or anti-phase action; on other trials, no action was modeled. We documented the motion dynamics accompanying the emergence of the anti-phase bimanual coordination pattern by assessing bout-to-bout and month-to-month changes in several movement parameters-oscillation frequency, amplitude ratio of the drumsticks, initial position of the limbs to begin bouts, and primary arm-joint involvement. These parameters provided a good starting point to understand how toddlers explore movement space in order to achieve greater stability in performing the anti-phase coordination pattern. Trained research assistants used Motus software to isolate each bout of drumming and to digitize the movement of the two drumstick heads relative to the stationary drum surface. Because we were primarily interested in the vertical movement of the drumsticks that were held in the child's hands, we relied on two-dimensional analyses and analyzed data that were tracked by a single camera. We used linear mixed effects analyses as well as qualitative analyses for each participant to help elucidate the emergence and stability of the child's use of anti-phase coordination. This approach facilitated descriptions of individual pathways of behavior that are possible only with longitudinal designs such as the one used here. Our analyses indicated that toddlers who were learning to produce anti-phase motion in this context employed a variety of strategies to adjust the topography of their action. Specifically, as we hypothesized, toddlers differentially exploited oscillation frequency and movement amplitude to support change to anti-phase action, which briefly appeared as early as 15 months of age but did not become relatively stable until approximately 20 months of age. We found evidence that many toddlers reduced oscillation frequency before transitioning from in-phase to anti-phase drumming. Toddlers also used different means of momentarily modulating the amplitude ratio between limbs to allow a change in coordination from in-phase to anti-phase. Nevertheless, these oscillation-frequency and amplitude-ratio strategies were interspersed by periods of nonsystematic exploration both within and between bouts of practice. We also observed that toddlers sometimes changed their initial limb positions to start a bout or altered which primary arm joints they used when drumming. When they enacted these changes, the toddlers increased performance of the anti-phase coordination pattern in their drumming. However, we found no evidence of systematic exploration with these changes in limb position and joint employment, suggesting that the toddlers did not intentionally employ these strategies to improve their performance on the task. Although bimanual drumming represents a highly specific behavior, our examination of the mechanisms underlying emergence of the anti-phase coordination pattern in this context is one of the missing pieces needed to understand the development of motor coordination more broadly. Our results document that the anti-phase coordination pattern emerges and stabilizes through modulation of the dynamics of the movement and change of the attractor landscape (i.e., the motor repertoire). Consistent with literatures in motor control, motor learning, and skill development, our results suggest that the acquisition of movements in ontogenetic development can be thought of as exploration of the emergent dynamics of perception and action. This conclusion is commensurate with a systemic approach to motor development in which functional dynamics, rather than specific structures, provide the basis for understanding developmental changes in skill. Based on our results as well as the relevant previous empirical literature, we present a conceptual model that incorporates developmental dynamics into the HKB model. This conceptual model calls for new investigations using a dynamical systems approach that allows direct control of movement parameters, and that builds on the methods and phenomena that we have described in the current work.

Bimanual visually guided movements are more than the sum of their parts: Evidence from optic ataxia

Many reaching actions involve both hands. An open question is whether two-handed reaching involves two simultaneous, independent unimanual reaches, or recruits additional or different processes than those mediating one-handed reaching. We tested optic ataxic patient MDK on a set of unimanual and bimanual reaching tasks. Although MDK was impaired in both types of reaching task, his bimanual reaching was considerably better than his unimanual reaching. These results imply that bimanual reaching involves different or additional processes relative to unimanual reaching. We suggest that bimanual reaching may involve monitoring of the distance between the two hands relative to the distance between the two targets.

An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks

Tasks that require the cooperation of both hands and arms are common in human everyday life. Coordination helps to synchronize in space and temporally motion of the upper limbs. In fine bimanual tasks, coordination enables also to achieve higher degrees of precision that could be obtained from a single hand. We studied the acquisition of bimanual fine manipulation skills in watchmaking tasks, which require assembly of pieces at millimeter scale. It demands years of training. We contrasted motion kinematics performed by novice apprentices to those of professionals. Fifteen subjects, ten novices and five experts, participated in the study. We recorded force applied on the watch face and kinematics of fingers and arms. Results indicate that expert subjects wisely place their fingers on the tools to achieve higher dexterity. Compared to novices, experts also tend to align task-demanded force application with the optimal force transmission direction of the dominant arm. To understand the cognitive processes underpinning the different coordination patterns across experts and novice subjects, we followed the optimal control theoretical framework and hypothesize that the difference in task performances is caused by changes in the central nervous system's optimal criteria. We formulated kinematic metrics to evaluate the coordination patterns and exploit inverse optimization approach to infer the optimal criteria. We interpret the human acquisition of novel coordination patterns as an alteration in the composition structure of the central nervous system's optimal criteria accompanied by the learning process.

Interaction between position sense and force control in bimanual tasks

Background

Several daily living activities require people to coordinate the motion and the force produced by both arms, using their position sense and sense of effort. However, to date, the interaction in bimanual tasks has not been extensively investigated.

Methods

We focused on bimanual tasks where subjects were required:

(Experiment 1) to move their hands until reaching the same position – equal hand position implied identical arm configurations in joint space - under different loading conditions;

(Experiment 2) to produce the same amount of isometric force by pushing upward, with their hands placed in symmetric or asymmetric positions.

The arm motions and forces required for accomplishing these tasks were in the vertical direction. We enrolled a healthy population of 20 subjects for Experiment 1 and 25 for Experiment 2. Our primary outcome was the systematic difference between the two hands at the end of each trial in terms of position for Experiment 1 and force for Experiment 2. In both experiments using repeated measure ANOVA we evaluated the effect of each specific condition, namely loading in the former case and hand configuration in the latter.

Results

In the first experiment, the difference between the hands’ positions was greater when they were concurrently loaded with different weights. Conversely, in the second experiment, when subjects were asked to exert equal forces with both arms, the systematic difference between left and right force was not influenced by symmetric or asymmetric arm configurations, but by the position of the left hand, regardless of the right hand position. The performance was better when the left hand was in the higher position.

Conclusions

The experiments report the reciprocal interaction between position sense and sense of effort inbimanual tasks performed by healthy subjects. Apart for the intrinsic interest for a better understanding of basic sensorimotor processes, the results are also relevant to clinical applications, for defining functional evaluation and rehabilitative protocols for people with neurological diseases or conditions that impair the ability to sense and control concurrently position and force.

The left cerebral hemisphere may be dominant for the control of bimanual symmetric reach-to-grasp movements

Previous research has established that the left cerebral hemisphere is dominant for the control of continuous bimanual movements. The lateralisation of motor control for discrete bimanual movements, in contrast, is underexplored. The purpose of the current study was to investigate which (if either) hemisphere is dominant for discrete bimanual movements. Twenty-one participants made bimanual reach-to-grasp movements towards pieces of candy. Participants grasped the candy to either place it in their mouths (grasp-to-eat) or in a receptacle near their mouths (grasp-to-place). Research has shown smaller maximum grip apertures (MGAs) for unimanual grasp-to-eat movements than unimanual grasp-to-place movements when controlled by the left hemisphere. In Experiment 1, participants made bimanual symmetric movements where both hands made grasp-to-eat or grasp-to-place movements. We hypothesised that a left hemisphere dominance for bimanual movements would cause smaller MGAs in both hands during bimanual grasp-to-eat movements compared to those in bimanual grasp-to-place movements. The results revealed that MGAs were indeed smaller for bimanual grasp-to-eat movements than grasp-to-place movements. This supports that the left hemisphere may be dominant for the control of bimanual symmetric movements, which agrees with studies on continuous bimanual movements. In Experiment 2, participants made bimanual asymmetric movements where one hand made a grasp-to-eat movement while the other hand made a grasp-to-place movement. The results failed to support the potential predictions of left hemisphere dominance, right hemisphere dominance, or contralateral control.

The temporal choreography of the yo-yo movement of getting spaghetti into the mouth by the head-fixed mouse

There is debate over whether single-handed eating movements, reaching for food and withdrawing the hand to place the food in the mouth, originated in the primate lineage or whether they originated in phylogenetically-earlier Euarchontoglires. Most spontaneous hand use in eating by the laboratory mouse (Mus domestica) involves both hands, and a central question is the extent to which the movements are symmetric. Here we describe an asymmetry of spontaneous single hand use by the head-fixed mouse in making the yo-yo hand movement of removing and replacing a piece of pasta (spaghetti) in the mouth for eating. We also describe the problem/solution of placing into the mouth the end of a held item that protrudes at some distance from the hand. Pasta-eating proceeds in bouts, and a bout starts with raising the hands, which are holding a piece of pasta, to place one end of the pasta in the mouth for biting. A bout ends with lowering the hands, still holding the pasta stem, while the pasta morsel that has been bitten off is chewed. Hand-lowering after the pasta is removed from the mouth is slow, concurrent and symmetric, both when the pasta is held by both hands and when it is held in one hand. Hand-raising to place the pasta in the mouth is fast, consecutive and asymmetric, both when the pasta is held in both hands and when it is held in one hand. Frame-by-frame analyses of the video record combined with kinematic analyses show that a preferred single hand not only directs one end of the pasta to the mouth but also readjusts the trajectory of the pasta if it misses the mouth. The specialized use of a single hand by the mouse, even when the hands are bilaterally engaged, and the corrective asymmetric movements with which one hand adjusts the pasta's trajectory with the other hand playing a supporting role, is discussed in relation to the idea that hand preference, specialization, and dexterity have somatosensory and preprimate origins.

Imitation of meaningless gestures in normal aging

While imitation of meaningless gestures is a gold standard in the assessment of apraxia in patients with either stroke or neurodegenerative diseases, little is known about potential age-related effects on this measure. A significant body of literature has indicated that different mechanisms (i.e., executive functioning, visuospatial skills, sensory integration, body knowledge, categorical apprehension) may underlie the performance depending on imitation conditions (i.e., finger/hand, uni-/bimanual, symmetric/asymmetric, crossed/uncrossed configurations). However, neither the effects of these conditions on performance, nor the contribution of the abovementioned mechanisms to imitation have been explored in normal aging. The aim of the present study was to fill this gap. To do so, healthy adults (n = 103) aged 50 to 89 were asked to imitate 45 meaningless gestures. The authors controlled for general cognitive function, motor function, visual-spatial skills, executive function, sensory integration, body knowledge, and mechanical problem-solving skills. The results showed that asymmetry, body-midline crossing and, to a lesser extent, bimanual activity added an additional layer of difficulty to imitation tasks. After controlling for motor speed and cognitive function, age had an effect on imitation skills after 70 years old. This may reflect a decline in body knowledge, sensory integration, and executive functions. In contrast, the visuospatial and mechanical problem-solving hypotheses were ruled out. An additional motor simulation hypothesis is proposed. These findings may prove useful for clinicians working in memory clinics by providing insights on how to interpret imitation deficits. Lower performance after 70 years old should not be considered abnormal in a systematic manner.

Kinematic profiles suggest differential control processes involved in bilateral in-phase and anti-phase movements

In-phase and anti-phase movements represent two basic coordination modes with different characteristics: during in-phase movements, bilateral homologous muscle groups contract synchronously, whereas during anti-phase movements, they contract in an alternating fashion. Previous studies suggested that in-phase movements represent a more stable and preferential bilateral movement template in humans. The current experiment aims at confirming and extending this notion by introducing new empirical measures of spatiotemporal dynamics during performance of a bilateral circle drawing task in an augmented-reality environment. First, we found that anti-phase compared to in-phase movements were performed with higher radial variability, a result that was mainly driven by the non-dominant hand. Second, the coupling of both limbs was higher during in-phase movements, corroborated by a lower inter-limb phase difference and higher inter-limb synchronization. Importantly, the movement acceleration profile between bilateral hands followed an in-phase relationship during in-phase movements, while no specific relationship was found in anti-phase condition. These spatiotemporal relationships between hands support the hypothesis that differential neural processes govern both bilateral coordination modes and suggest that both limbs are controlled more independently during anti-phase movements, while bilateral in-phase movements are elicited by a common neural generator.

The effect of task symmetry on bimanual reach-to-grasp movements after cervical spinal cord injury

Injury to the cervical spinal cord results in deficits in bimanual control, reducing functional independence and quality of life. Despite this, little research has investigated the control strategies which underpin bimanual arm/hand movements following cervical spinal cord injury (cSCI). Using kinematics and surface electromyography this study explored how task symmetry affects bimanual control, in patients with an acute cSCI (< 6 m post injury), as they performed naturalistic bimanual reach-to-grasp actions (to objects at 50% and 70% of their maximal reach distance), and how this differs compared to uninjured age-matched controls. Twelve adults with a cSCI (mean age 69.25 years), with lesions at C3–C8, categorized by the American Spinal Injury Impairment Scale (AIS) at C or D and 12 uninjured age-matched controls (AMC) (mean age 69.29 years) were recruited. Participants with a cSCI produced reach-to-grasp actions which took longer, were slower, less smooth and had longer deceleration phases than AMC (p < 0.05). Participants with a cSCI were less synchronous than AMC at peak velocity and just prior to object pick up (p < 0.05), but both groups ended the movement in a synchronous fashion. Peak muscle activity occurred just prior to object pick up for both groups. While there seems to be a greater reliance on the deceleration phase of the movement, we observed minimal disruption of the more impaired limb on the less impaired limb and no additional effects of task symmetry on bimanual control. Further research is needed to determine how to take advantage of this retained bimanual control in therapy.

Complexity of movement preparation and the spatiotemporal coupling of bimanual reach-to-grasp movements

There is a movement preparation cost for bimanual asymmetric reaching movements compared to bimanual symmetric movements. This is likely caused by the complex spatiotemporal coupling of bimanual asymmetric movements. The spatiotemporal coupling of bimanual reach-to-grasp movements has been investigated, but not the potential movement preparation costs. The purpose of the present study was to investigate the relationship between movement preparation costs and spatiotemporal coupling of reach-to-grasp movements. Twenty-four participants made unimanual, bimanual symmetric, and bimanual asymmetric reach-to-grasp movements in four-choice reaction time tasks. There was a movement preparation cost for bimanual symmetric reach-to-grasp movements compared to unimanual movements, which was not previously seen for reaching movements. Coordinating two symmetric grasps probably caused this bimanual symmetric cost, as we have previously shown that there is no bimanual symmetric cost for reaching movements. It was also surprising that the complexity of movement preparation was comparable for bimanual symmetric and asymmetric reach-to-grasp movements. However, the spatial coupling of bimanual asymmetric movements at movement initiation suggested that they were prepared as bimanual symmetric movements. Online control was then used to modify these symmetric reach-to-grasp movements into asymmetric movements. Preparing bimanual symmetric reach-to-grasp movements in advance instead of asymmetric movements likely prevented a bimanual asymmetric cost.

A unified framework for coordinated multi-arm motion planning

Coordination is essential in the design of dynamic control strategies for multi-arm robotic systems. Given the complexity of the task and dexterity of the system, coordination constraints can emerge from different levels of planning and control. Primarily, one must consider task-space coordination, where the robots must coordinate with each other, with an object or with a target of interest. Coordination is also necessary in joint space, as the robots should avoid self-collisions at any time. We provide such joint-space coordination by introducing a centralized inverse kinematics (IK) solver under self-collision avoidance constraints, formulated as a quadratic program and solved in real-time. The space of free motion is modeled through a sparse non-linear kernel classification method in a data-driven learning approach. Moreover, we provide multi-arm task-space coordination for both synchronous or asynchronous behaviors. We define a synchronous behavior as that in which the robot arms must coordinate with each other and with a moving object such that they reach for it in synchrony. In contrast, an asynchronous behavior allows for each robot to perform independent point-to-point reaching motions. To transition smoothly from asynchronous to synchronous behaviors and vice versa, we introduce the notion of synchronization allocation. We show how this allocation can be controlled through an external variable, such as the location of the object to be manipulated. Both behaviors and their synchronization allocation are encoded in a single dynamical system. We validate our framework on a dual-arm robotic system and demonstrate that the robots can re-synchronize and adapt the motion of each arm while avoiding self-collision within milliseconds. The speed of control is exploited to intercept fast moving objects whose motion cannot be predicted accurately.

Manual action verbs modulate the grip force of each hand in unimanual or symmetrical bimanual tasks

Manual action verbs modulate the right-hand grip force in right-handed subjects. However, to our knowledge, no studies demonstrate the ability to accomplish this modulation during bimanual tasks nor describe their effect on left-hand behavior in unimanual and bimanual tasks. Using load cells and word playlists, we evaluated the occurrence of grip force modulation by manual action verbs in unimanual and symmetrical bimanual tasks across the three auditory processing phases. We found a significant grip force increase for all conditions compared to baseline, indicating the occurrence of modulation. When compared to each other, the grip force variation from baseline for the three phases of both hands in the symmetrical bimanual task was not different from the right-hand in the unimanual task. The left-hand grip force showed a lower amplitude for auditory phases 1 and 2 when compared to the other conditions. The right-hand grip force modulation became significant from baseline at 220 ms after the word onset in the unimanual task. This moment occurred earlier for both hands in bimanual task (160 ms for the right-hand and 180 for the left-hand). It occurred later for the left-hand in unimanual task (320 ms). We discuss the hypothesis that Broca's area and Broca's homologue area likely control the left-hand modulation in a unilateral or a bilateral fashion. These results provide new evidence for understanding the linguistic function processing in both hemispheres.

Bimanual Movement Control: Information processing and Interaction Effects

Three experiments were designed to investigate the underlying processes in bimanual control. With one hand alone, or with both simultaneously, subjects moved styli from the midline of the body to lateral targets as quickly and accurately as possible. The distance moved and the weight of the styli were varied. Results of reaction time, movement time, and kinematic trajectory analyses question the conclusions of Kelso, Southard and Goodman (1979) regarding the synchronicity of movement of the two limbs. Temporal parameters for the two limbs indicated marked departures from synchronicity, and there was evidence for a left–right asymmetry. The dependent variables of movement time and constant error indicated that there was interaction between the two limbs. The results are discussed in terms of three postulated processes underlying bimanual movement: limb selection (one or two), specification of movement locations and the specification of movement intensities.

Attentional Asymmetries during Concurrent Bimanual Performance

An asymmetry of attention was observed when subjects attempted to perform concurrent, relatively independent tasks with the two hands: right-handed subjects performed very much better on a dual task which required them to follow the beat of a metronome with the left while tapping as quickly as they could with the right than with the converse arrangement. It is suggested that attentional strategies which have evolved to allow guidance of interdependent skilled bimanual activities are also used when subjects attempt to perform relatively independent concurrent bimanual movements, which are not observed in the naturally occurring motor repertoire. Thus, interactions between hand, hand preference and nature of task are an important factor in dual task performance.

Tele-Manipulation with Two Asymmetric Slaves: Two Operators Perform Better Than One

Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example, a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bi-manual control over the two subtasks, and a uni-manual control approach. In a human factors experiment, participants performed a heavy load maneuvering and mounting task using a vertical crane and a robotic arm. We hypothesize that bi-manual control yields worse task performance and control activity compared to co-operation, because of conflicting spatial and temporal constraints. Literature suggests that uni-manual operators should perform better than co-operation, as co-operators critically depend on each other's actions. However, other literature provides evidence that individual operators have limited capabilities in controlling asymmetric axes of two dynamic systems. The results show that the two co-operators perform the maneuvering and mounting task faster than either bi- or uni-manual operators. Compared to co-operators, uni-manual operators required more control activity for the vertical crane and less for the robotic arm. In conclusion, this study suggests that when controlling two asymmetric slaves, a co-operating pair of operators performs better than a single operator.

Constraints in the Performance of Bimanual Tasks and Their Expression in Unskilled and Skilled Subjects

Unskilled and skilled subjects were asked to perform a variety of bimanual tapping tasks. Three major effects were seen. First, right-handers performed dual tasks better when the preferred hand took the “figure” and when the nonpreferred hand took the “ground” of the dual movement. This effect was not seen in left-handers. Second, subjects performed a simple slow/fast dual task better when they commenced the task with the fast rather than with the slow hand. This effect was seen in right- and lefthanders. Third, both unskilled and skilled subjects showed marked interdependence of movements such that performance of one hand was a function of movements in the other hand. The results are in agreement with a model that postulates the presence of a superordinate control mechanism that initiates action in subordinate control mechanisms, which in turn set the movement trajectories in the two hands. The results also show that attention is an important factor in the interaction between these two levels of control.

Structural Constraints on the Performance of Symmetrical Bimanual Movements with Different Amplitudes

In bimanual movements the amplitude of each hand's movement often depends on the concurrent amplitude of the other hand's movement such that both amplitudes become similar (amplitude coupling). We tested the hypothesis that the strength of amplitude coupling depends on the tempo of performance of a movement sequence, a hypothesis based on a model of bimanual coordination that holds that cross-talk occurs at the execution level as well as at the programming level. Subjects performed bimanual periodic arm movements on two digitizers. In nine conditions constant small, constant large, and alternating small and large amplitudes of each arm were orthogonally combined. Overall tempo was varied by instructing subjects to increase the tempo progressively by 10%. Clear tempo-dependent modulations of the amplitude were observed in movements with instructed constant amplitude when the other hand performed alternating amplitudes. The effect of the size of constant-amplitude movements on the mean amplitude of the other hand indicated cross-talk at the execution level. Cross-talk at the programming level was revealed by the dependence of the current amplitude on the change in the amplitude of the other hand in the preceding cycle. Finally, asymmetric cross-manual effects were observed.

Transfer of Motor Learning Is More Pronounced in Proximal Compared to Distal Effectors in Upper Extremities

The current experiment investigated generalizability of motor learning in proximal versus distal effectors in upper extremities. Twenty-eight participants were divided into three groups: training proximal effectors, training distal effectors, and no training control group (CG). Performance was tested pre- and post-training for specific learning and three learning transfer conditions: (1) bilateral learning transfer between homologous effectors, (2) lateral learning transfer between non-homologous effectors, and (3) bilateral learning transfer between non-homologous effectors. With respect to specific learning, both training groups showed significant, similar improvement for the trained proximal and distal effectors, respectively. In addition, there was significant learning transfer to all three transfer conditions, except for bilateral learning transfer between non-homologous effectors for the distal training group. Interestingly, the proximal training group showed significantly larger learning transfer to other effectors compared to the distal training group. The CG did not show significant improvements from pre- to post-test. These results show that learning is partly effector independent and generalizable to different effectors, even though transfer is suboptimal compared to specific learning. Furthermore, there is a proximal-distal gradient in generalizability, in that learning transfer from trained proximal effectors is larger than from trained distal effectors, which is consistent with neuroanatomical differences in activation of proximal and distal muscles.

Response Selection Contributes to the Preparation Cost for Bimanual Asymmetric Movements

Movement preparation of bimanual asymmetric movements takes more time than bimanual symmetric movements in choice reaction-time conditions. This bimanual asymmetric cost may be caused by increased processing demands on any stage of movement preparation. The authors tested the contributions of each stage of movement preparation to the asymmetric cost by using the additive factors method. This involved altering the stimulus contrast, response compatibility, and response complexity. These manipulations changed the processing demands on stimulus identification, response selection, and response programming, respectively. Any manipulation with a larger reaction time cost than control suggests that stage contributes to the bimanual asymmetric cost. The bimanual asymmetric cost was larger for incompatible stimuli, which supports that response selection contributes to the bimanual asymmetric cost.

Response preparation and execution during intentional bimanual pattern switching

During continuous bimanual coordination, in-phase (IP; 0° relative phase) and anti-phase (AP; 180° relative phase) patterns can be stably performed without practice. Paradigms in which participants are required to intentionally switch between these coordination patterns have been used to investigate the interaction between the performer's intentions and intrinsic dynamics of the body's preferred patterns. The current study examined the processes associated with switching preparation and execution through the use of a startling acoustic stimulus (SAS) as the switch stimulus. A SAS is known to involuntarily trigger preprogrammed responses at a shortened latency and, thus, can be used to probe advance preparation. Participants performed cyclical IP and AP bimanual elbow extension-flexion movements in which they were required to switch patterns in response to an auditory switch cue, which was either nonstartling (80 dB) or a SAS (120 dB). Results indicated that reaction time to the switch stimulus (i.e., switch onset) was significantly reduced on startle trials, indicative of advance preparation of the switch response. Similarly, switching time was reduced on startle trials, which was attributed to increased neural activation caused by the SAS. Switching time was also shorter for AP to IP trials, but only when the switching stimulus occurred at either the midpoint or reversal locations within the movement cycle, suggesting that the switch location may affect the intrinsic dynamics of the system.NEW & NOTEWORTHY The current study provides novel information regarding preparation and execution of intentional switching between in-phase and anti-phase bimanual coordination patterns. Using a startling acoustic stimulus, we provide strong evidence that the switching response is prepared before the switch stimulus, and switch execution is accelerated by the startling stimulus. In addition, the time required to switch between patterns and relative limb contribution is dependent upon where in the movement cycle the switch stimulus occurred.

Bimanual Lifting: Do Fingertip Forces Work Independently or Interactively?

Bimanual coordination is a commonplace activity, but the consequences of using both hands simultaneously are not well understood. The authors examined fingertip forces across 4 experiments in which participants undertook a range of bimanual tasks. They first measured fingertip forces during simultaneous lifts of 2 identical objects, noting that individuals held the objects with more force bimanually than unimanually. They then varied the mass of the objects held by each hand, noting that when both hands lifted together performance was equivalent to unimanual lifts. The authors next measured one hand's static grip force while the other hand lifted an object. They found a gradual reduction of grip force throughout the trial, but once again no evidence of one hand influencing the other. In the final experiment the authors tested whether tapping with one hand could influence the static grip force of its counterpart. Although the authors found no changes in static grip force as a direct consequence of the other hand's actions, they found clear differences from one task to the other, suggesting an effect of task instruction. Overall, these results suggest that fingertip forces are largely independent between hands in a bimanual lifting context, but are sensitive to different task requirements.

Effects of integrated feedback on discrete bimanual movements in choice reaction time

The ability to coordinate the simultaneous movements of our arms is limited by a coalition of constraints. Some of these constraints can be overcome when the task conceptualisation is improved. The present study investigated how the movement preparation of bimanual reaching movements was affected by integrated visual feedback of the responses. Previous research has shown that the preparation of bimanual asymmetric movements takes longer than bimanual symmetric movements. The goal of the present study was to determine whether integrated, Lissajous feedback could eliminate this bimanual asymmetric cost. Fifteen participants made unimanual and bimanual symmetric and asymmetric reaches with separate feedback, where there was a cursor and a target for each hand. Participants also made bimanual symmetric and asymmetric movements with integrated feedback; a single cursor and a single target represented the locations and goals of both arms in this condition. The results showed a bimanual asymmetric cost with separate feedback, and that this cost persisted with integrated feedback. We suggest that integrated feedback improved continuous and discrete bimanual movements in other experiments by facilitating error detection and correction processes. We hypothesise that the bimanual asymmetric cost persisted in the present experiment because the uncertainty associated with choice reaction time prevented the facilitated error processing from improving the preparation of the next trial.

Interlimb Coupling and Left Hemiplegia Because of Right Cerebral Vascular Accident

This study examined interlimb coupling in a left hemiplegic population. Participants were 20 healthy individuals and 18 individuals who were status post right cerebral vascular accident with left hemiparesis. Participants oscillated each elbow at both preferred-unilateral and preferred-symmetrical bilateral rates. One-tailed paired t-tests using frequency of oscillation and peak velocity supported the hypothesis that the unaffected limb would adapt its movement dynamics from the unilateral to the bilateral movement conditions (ps < .0125), while the affected limb did not differ its performance across the unilateral and bilateral conditions (ps > .0125). No significance (p > .0125) was found between the unilateral and bilateral performances for either of the normal group's limbs. This study suggests that during bilateral movements, the affected limb may constrain the unaffected limb. More research is needed to examine the coupling relationship between the affected and unaffected limbs and how occupation may facilitate the ability to adapt to novel situations.

Dissociation of Spatial and Temporal Coupling in the Bimanual Movements of Callosotomy Patients

The neural mechanisms of limb coordination were investigated by testing callosotomy patients and normal control subjects on bimanual movements Normal subjects produced deviations in the trajectories when spatial demands for the two hands were different, despite temporal synchrony in the onset of bimanual movements Callosotomy patients did not produce spatial deviations, although their hands moved with normal temporal synchrony Normal subjects but not callosotomy patients exhibited large increases in planning and execution time for movements with different spatial demands for the two hands relative to movements with identical spatial demands for the two hands This neural dissociation indicates that spatial interference in movements results from callosal connections, whereas temporal synchrony in movement onset does not rely on the corpus callosum

A novel method for quantifying arm motion similarity

This paper proposes a novel task-independent method for quantifying arm motion similarity that can be applied to any kinematic/dynamic variable of interest. Given two arm motions for the same task, not necessarily with the same completion time, it plots the time-normalized curves against one another and generates four real-valued features. To validate these features we apply them to quantify the relationship between healthy and paretic arm motions of chronic stroke patients. Studying both unimanual and bimanual arm motions of eight chronic stroke patients, we find that inter-arm coupling that tends to synchronize the motions of both arms in bimanual motions, has a stronger effect at task-relevant joints than at task-irrelevant joints. It also revealed that the paretic arm suppresses the shoulder flexion of the non-paretic arm, while the latter encourages the shoulder rotation of the former.

Correlations between arm motor behavior and brain function following bilateral arm training after stroke: a systematic review

BACKGROUND

Bilateral training (BT) of the upper limb (UL) might enhance recovery of arm function after stroke. To better understand the therapeutic potential of BT, this study aimed to determine the correlation between arm motor behavior and brain structure/function as a result of bilateral arm training poststroke.

METHODS

A systematic review of quantitative studies of BT evaluating both UL motor behavior and neuroplasticity was conducted. Eleven electronic databases were searched. Two reviewers independently selected studies, extracted data and assessed methodological quality, using the Effective Public Health Practice Project (EPHPP) tool.

RESULTS

Eight studies comprising 164 participants met the inclusion criteria. Only two studies rated "strong" on the EPHPP tool. Considerable heterogeneity of participants, BT modes, comparator interventions and measures contraindicated pooled outcome analysis. Modes of BT included: in-phase and anti-phase; functional movements involving objects; and movements only. Movements were mechanically coupled, free, auditory-cued, or self-paced. The Fugl-Meyer Assessment (UL section) was used in six of eight studies, however, different subsections were used by different studies. Neural correlates were measured using fMRI and TMS in three and five studies, respectively, using a wide variety of variables. Associations between changes in UL function and neural plasticity were inconsistent and only two studies reported a statistical correlation following BT.

CONCLUSIONS

No clear pattern of association between UL motor and neural response to BT was apparent from this review, indicating that the neural correlates of motor behavior response to BT after stroke remain unknown. To understand the full therapeutic potential of BT and its different modes, further investigation is required.