Increasing muscle co-contraction speeds up internal model acquisition during dynamic motor learning

Reward actively engages both implicit and explicit components in dual force field adaptation

Motor learning occurs through multiple mechanisms, including unsupervised, supervised (error based), and reinforcement (reward based) learning. Although studies have shown that reward leads to an overall better motor adaptation, the specific processes by which reward influences adaptation are still unclear. Here, we examine how the presence of reward affects dual adaptation to novel dynamics and distinguish its influence on implicit and explicit learning. Participants adapted to two opposing force fields in an adaptation/deadaptation/error-clamp paradigm, where five levels of reward (a score and a digital face) were provided as participants reduced their lateral error. Both reward and control (no reward provided) groups simultaneously adapted to both opposing force fields, exhibiting a similar final level of adaptation, which was primarily implicit. Triple-rate models fit to the adaptation process found higher learning rates in the fast and slow processes and a slightly increased fast retention rate for the reward group. Whereas differences in the slow learning rate were only driven by implicit learning, the large difference in the fast learning rate was mainly explicit. Overall, we confirm previous work showing that reward increases learning rates, extending this to dual-adaptation experiments and demonstrating that reward influences both implicit and explicit adaptation. Specifically, we show that reward acts primarily explicitly on the fast learning rate and implicitly on the slow learning rates.NEW & NOTEWORTHY Here we show that rewarding participants' performance during dual force field adaptation primarily affects the initial rate of learning and the early timescales of adaptation, with little effect on the final adaptation level. However, reward affects both explicit and implicit components of adaptation. Whereas the learning rate of the slow process is increased implicitly, the fast learning and retention rates are increased through both implicit components and the use of explicit strategies.

Older adults use fewer muscles to overcome perturbations during a seated locomotor task

Locomotor perturbations provide insights into humans' response to motor errors. We investigated the differences in motor adaptation and muscle cocontraction between young and older adults during perturbed-arm and -leg recumbent stepping. We hypothesized that besides prolonged adaptation due to use-dependent learning, older adults would exhibit greater muscle cocontraction than young adults in response to the perturbations. Perturbations were brief increases in resistance applied during each stride at the extension onset or midextension of the left or right leg. Seventeen young adults and eleven older adults completed four 10-min perturbed stepping tasks. Subjects were instructed to follow a visual pacing cue, step smoothly, and use all their limbs to drive the stepper. Results showed that young and older adults did not decrease their errors with more perturbation experience, and errors did not wash out after perturbations were removed. Interestingly, older adults consistently had smaller motor errors than young adults in response to the perturbations. Older adults used fewer muscles to drive the stepper and had greater cocontraction than young adults. The results suggest that, despite similar motor error responses, young and older adults use distinctive muscle recruitment patterns to perform the motor task. Age-related motor strategies help track motor changes across the human life span and are a baseline for rehabilitation and performance assessment.NEW & NOTEWORTHY Older adults often demonstrate greater cocontraction and motor errors than young adults in response to motor perturbations. We demonstrated that older adults reduced their motor errors more than young adults with brief perturbations during recumbent stepping while maintaining greater muscle cocontraction. In doing so, older adults largely used one muscle pair to drive the stepper, tibialis anterior and soleus, whereas young adults used all muscles. These two muscles are crucial for maintaining upright balance.

Prior uncertainty impedes discrete locomotor adaptation

The impact of environmental uncertainty on locomotor adaptation remains unclear. Environmental uncertainty could either aid locomotor adaptation by prompting protective control strategies that stabilize movements to assist learning or impede adaptation by reducing error sensitivity and fostering hesitance to pursue corrective movements. To explore this, we investigated participants' adaptation to a consistent force field after experiencing environmental uncertainty in the form of unpredictable balance perturbations. We compared the performance of this group (Perturbation) to the adaptive performance of a group that did not experience any unpredictable perturbations (Non-Perturbation). Perturbations were delivered using a cable-driven robotic device applying lateral forces to the pelvis. We assessed whole-body center of mass (COM) trajectory (COM signed deviation), anticipatory postural adjustments (COM lateral offset), and first step width. The Perturbation group exhibited larger disruptions in COM trajectory (greater COM signed deviations) than the Non-Perturbation group when first walking in the force field. While the COM signed deviations of both groups decreased towards baseline values, only the Non-Perturbation group returned to baseline levels. The Perturbation groups COM signed deviations remained higher, indicating they failed to fully adapt to the force field before the end. The Perturbation group also did not adapt their COM lateral offset to counter the predictable effects of the force field as the Non-Perturbation group did, and their first step width increased more slowly. Our findings suggest that exposure to unpredictable perturbations impeded future sensorimotor adaptations to consistent perturbations.

Lower limb biomechanics of fully trained exoskeleton users reveal complex mechanisms behind the reductions in energy cost with human-in-the-loop optimization

Exoskeletons that assist in ankle plantarflexion can improve energy economy in locomotion. Characterizing the joint-level mechanisms behind these reductions in energy cost can lead to a better understanding of how people interact with these devices, as well as to improved device design and training protocols. We examined the biomechanical responses to exoskeleton assistance in exoskeleton users trained with a lengthened protocol. Kinematics at unassisted joints were generally unchanged by assistance, which has been observed in other ankle exoskeleton studies. Peak plantarflexion angle increased with plantarflexion assistance, which led to increased total and biological mechanical power despite decreases in biological joint torque and whole-body net metabolic energy cost. Ankle plantarflexor activity also decreased with assistance. Muscles that act about unassisted joints also increased activity for large levels of assistance, and this response should be investigated over long-term use to prevent overuse injuries.

Dorsomedial frontal cortex damage impairs error-based, but not reinforcement-based motor learning in humans

We adapt our movements to new and changing environments through multiple processes. Sensory error-based learning counteracts environmental perturbations that affect the sensory consequences of movements. Sensory errors also cause the upregulation of reflexes and muscle co-contraction. Reinforcement-based learning enhances the selection of movements that produce rewarding outcomes. Although some findings have identified dissociable neural substrates of sensory error- and reinforcement-based learning, correlative methods have implicated dorsomedial frontal cortex in both. Here, we tested the causal contributions of dorsomedial frontal to adaptive motor control, studying people with chronic damage to this region. Seven human participants with focal brain lesions affecting the dorsomedial frontal and 20 controls performed a battery of arm movement tasks. Three experiments tested: (i) the upregulation of visuomotor reflexes and muscle co-contraction in response to unpredictable mechanical perturbations, (ii) sensory error-based learning in which participants learned to compensate predictively for mechanical force-field perturbations, and (iii) reinforcement-based motor learning based on binary feedback in the absence of sensory error feedback. Participants with dorsomedial frontal damage were impaired in the early stages of force field adaptation, but performed similarly to controls in all other measures. These results provide evidence for a specific and selective causal role for the dorsomedial frontal in sensory error-based learning.

The spinal cord facilitates cerebellar upper limb motor learning and control; inputs from neuromusculoskeletal simulation

Complex interactions between brain regions and the spinal cord (SC) govern body motion, which is ultimately driven by muscle activation. Motor planning or learning are mainly conducted at higher brain regions, whilst the SC acts as a brain-muscle gateway and as a motor control centre providing fast reflexes and muscle activity regulation. Thus, higher brain areas need to cope with the SC as an inherent and evolutionary older part of the body dynamics. Here, we address the question of how SC dynamics affects motor learning within the cerebellum; in particular, does the SC facilitate cerebellar motor learning or constitute a biological constraint? We provide an exploratory framework by integrating biologically plausible cerebellar and SC computational models in a musculoskeletal upper limb control loop. The cerebellar model, equipped with the main form of cerebellar plasticity, provides motor adaptation; whilst the SC model implements stretch reflex and reciprocal inhibition between antagonist muscles. The resulting spino-cerebellar model is tested performing a set of upper limb motor tasks, including external perturbation studies. A cerebellar model, lacking the implemented SC model and directly controlling the simulated muscles, was also tested in the same. The performances of the spino-cerebellar and cerebellar models were then compared, thus allowing directly addressing the SC influence on cerebellar motor adaptation and learning, and on handling external motor perturbations. Performance was assessed in both joint and muscle space, and compared with kinematic and EMG recordings from healthy participants. The differences in cerebellar synaptic adaptation between both models were also studied. We conclude that the SC facilitates cerebellar motor learning; when the SC circuits are in the loop, faster convergence in motor learning is achieved with simpler cerebellar synaptic weight distributions. The SC is also found to improve robustness against external perturbations, by better reproducing and modulating muscle cocontraction patterns.

The History and Future of Neuromusculoskeletal Biomechanics

The Executive Council of the International Society of Biomechanics has initiated and overseen the commemorations of the Society's 50th Anniversary in 2023. This included multiple series of lectures at the ninth World Congress of Biomechanics in 2022 and XXIXth Congress of the International Society of Biomechanics in 2023, all linked to special issues of International Society of Biomechanics' affiliated journals. This special issue of the Journal of Applied Biomechanics is dedicated to the biomechanics of the neuromusculoskeletal system. The reader is encouraged to explore this special issue which comprises 6 papers exploring the current state-of the-art, and future directions and roles for neuromusculoskeletal biomechanics. This editorial presents a very brief history of the science of the neuromusculoskeletal system's 4 main components: the central nervous system, musculotendon units, the musculoskeletal system, and joints, and how they biomechanically integrate to enable an understanding of the generation and control of human movement. This also entails a quick exploration of contemporary neuromusculoskeletal biomechanics and its future with new fields of application.

Ankle Strategies for Step-Aside Movement during Straight Walking

The step-aside movement, also known as the dodging step, is a common maneuver for avoiding obstacles while walking. However, differences in neural control mechanisms and ankle strategies compared to straight walking can pose a risk of falling. This study aimed to examine the differences in tibialis anterior (TA), peroneus longus (PL), and soleus (SOL) muscle contractions, foot center of pressure (CoP) displacement, and ground reaction force (GRF) generation between step-aside movement and straight walking to understand the mechanism behind step-aside movement during walking. Twenty healthy young male participants performed straight walking and step-aside movements at comfortable walking speeds. The participants' muscle contractions, CoP displacement, and GRF were measured. The results show significant greater bilateral ankle muscle contractions during the push and loading phases of step-aside movement than during straight walking. Moreover, the CoP displacement, GRF generation mechanism, and timing differed from those observed during straight walking. These findings provide valuable insights for rehabilitation professionals in the development of clinical decisions for populations at a risk of falls and lacking gait stability.

The nervous system tunes sensorimotor gains when reaching in variable mechanical environments

Humans often move in the presence of mechanical disturbances that can vary in direction and amplitude throughout movement. These disturbances can jeopardize the outcomes of our actions, such as when drinking from a glass of water on a turbulent flight or carrying a cup of coffee while walking on a busy sidewalk. Here, we examine control strategies that allow the nervous system to maintain performance when reaching in the presence of mechanical disturbances that vary randomly throughout movement. Healthy participants altered their control strategies to make movements more robust against disturbances. The change in control was associated with faster reaching movements and increased responses to proprioceptive and visual feedback that were tuned to the variability of the disturbances. Our findings highlight that the nervous system exploits a continuum of control strategies to increase its responsiveness to sensory feedback when reaching in the presence of increasingly variable physical disturbances.

Changes in Resting State Functional Connectivity Associated with Dynamic Adaptation of Wrist Movements

Dynamic adaptation is an error-driven process of adjusting planned motor actions to changes in task dynamics (Shadmehr, 2017). Adapted motor plans are consolidated into memories that contribute to better performance on re-exposure. Consolidation begins within 15 min following training (Criscimagna-Hemminger and Shadmehr, 2008), and can be measured via changes in resting state functional connectivity (rsFC). For dynamic adaptation, rsFC has not been quantified on this timescale, nor has its relationship to adaptative behavior been established. We used a functional magnetic resonance imaging (fMRI)-compatible robot, the MR-SoftWrist (Erwin et al., 2017), to quantify rsFC specific to dynamic adaptation of wrist movements and subsequent memory formation in a mixed-sex cohort of human participants. We acquired fMRI during a motor execution and a dynamic adaptation task to localize brain networks of interest, and quantified rsFC within these networks in three 10-min windows occurring immediately before and after each task. The next day, we assessed behavioral retention. We used a mixed model of rsFC measured in each time window to identify changes in rsFC with task performance, and linear regression to identify the relationship between rsFC and behavior. Following the dynamic adaptation task, rsFC increased within the cortico-cerebellar network and decreased interhemispherically within the cortical sensorimotor network. Increases within the cortico-cerebellar network were specific to dynamic adaptation, as they were associated with behavioral measures of adaptation and retention, indicating that this network has a functional role in consolidation. Instead, decreases in rsFC within the cortical sensorimotor network were associated with motor control processes independent from adaptation and retention.SIGNIFICANCE STATEMENT Motor memory consolidation processes have been studied via functional magnetic resonance imaging (fMRI) by analyzing changes in resting state functional connectivity (rsFC) occurring more than 30 min after adaptation. However, it is unknown whether consolidation processes are detectable immediately (<15 min) following dynamic adaptation. We used an fMRI-compatible wrist robot to localize brain regions involved in dynamic adaptation in the cortico-thalamic-cerebellar (CTC) and cortical sensorimotor networks and quantified changes in rsFC within each network immediately after adaptation. Different patterns of change in rsFC were observed compared with studies conducted at longer latencies. Increases in rsFC in the cortico-cerebellar network were specific to adaptation and retention, while interhemispheric decreases in the cortical sensorimotor network were associated with alternate motor control processes but not with memory formation.

The sensorimotor system modulates muscular co-contraction relative to visuomotor feedback responses to regulate movement variability

The naturally occurring variability in our movements often poses a significant challenge when attempting to produce precise and accurate actions, which is readily evident when playing a game of darts. Two differing, yet potentially complementary, control strategies that the sensorimotor system may use to regulate movement variability are impedance control and feedback control. Greater muscular co-contraction leads to greater impedance that acts to stabilize the hand, while visuomotor feedback responses can be used to rapidly correct for unexpected deviations when reaching toward a target. Here, we examined the independent roles and potential interplay of impedance control and visuomotor feedback control when regulating movement variability. Participants were instructed to perform a precise reaching task by moving a cursor through a narrow visual channel. We manipulated cursor feedback by visually amplifying movement variability and/or delaying the visual feedback of the cursor. We found that participants decreased movement variability by increasing muscular co-contraction, aligned with an impedance control strategy. Participants displayed visuomotor feedback responses during the task but, unexpectedly, there was no modulation between conditions. However, we did find a relationship between muscular co-contraction and visuomotor feedback responses, suggesting that participants modulated impedance control relative to feedback control. Taken together, our results highlight that the sensorimotor system modulates muscular co-contraction, relative to visuomotor feedback responses, to regulate movement variability and produce accurate actions.NEW & NOTEWORTHY The sensorimotor system has the constant challenge of dealing with the naturally occurring variability in our movements. Here, we investigated the potential roles of muscular co-contraction and visuomotor feedback responses to regulate movement variability. When we visually amplified movements, we found that the sensorimotor system primarily uses muscular co-contraction to regulate movement variability. Interestingly, we found that muscular co-contraction was modulated relative to inherent visuomotor feedback responses, suggesting an interplay between impedance and feedback control.

Concurrent Contribution of Co-contraction to Error Reduction during Dynamic Adaptation of the Wrist

MRI-compatible robots provide a means of studying brain function involved in complex sensorimotor learning processes, such as adaptation. To properly interpret the neural correlates of behavior measured using MRI-compatible robots, it is critical to validate the measurements of motor performance obtained via such devices. Previously, we characterized adaptation of the wrist in response to a force field applied via an MRI-compatible robot, the MR-SoftWrist. Compared to arm reaching tasks, we observed lower end magnitude of adaptation, and reductions in trajectory errors beyond those explained by adaptation. Thus, we formed two hypotheses: that the observed differences were due to measurement errors of the MR-SoftWrist; or that impedance control plays a significant role in control of wrist movements during dynamic perturbations. To test both hypotheses, we performed a two-session counterbalanced crossover study. In both sessions, participants performed wrist pointing in three force field conditions (zero force, constant, random). Participants used either the MR-SoftWrist or the UDiffWrist, a non-MRI-compatible wrist robot, for task execution in session one, and the other device in session two. To measure anticipatory co-contraction associated with impedance control, we collected surface EMG of four forearm muscles. We found no significant effect of device on behavior, validating the measurements of adaptation obtained with the MR-SoftWrist. EMG measures of co-contraction explained a significant portion of the variance in excess error reduction not attributable to adaptation. These results support the hypothesis that for the wrist, impedance control significantly contributes to reductions in trajectory errors in excess of those explained by adaptation.

Embodiment for Robotic Lower-Limb Exoskeletons: A Narrative Review

Research on embodiment of objects external to the human body has revealed important information about how the human nervous system interacts with robotic lower limb exoskeletons. Typical robotic exoskeleton control approaches view the controllers as an external agent intending to move in coordination with the human. However, principles of embodiment suggest that the exoskeleton controller should ideally coordinate with the human such that the nervous system can adequately model the input-output dynamics of the exoskeleton controller. Measuring embodiment of exoskeletons should be a necessary step in the exoskeleton development and prototyping process. Researchers need to establish high fidelity quantitative measures of embodiment, rather than relying on current qualitative survey measures. Mobile brain imaging techniques, such as high-density electroencephalography, is likely to provide a deeper understanding of embodiment during human-machine interactions and advance exoskeleton research and development. In this review we show why future exoskeleton research should include quantitative measures of embodiment as a metric of success.

Turning when using a smartphone in persons with and without neurologic conditions: an observational study (Preprint)

BACKGROUND

Turning during walking is a relevant and common everyday movement and it depends on a correct top-down intersegmental coordination. This could be reduced in several conditions (en bloc turning), and an altered turning kinematics has been linked to increased risk of falls. Smartphone use has been associated with poorer balance and gait; however, its effect on turning-while-walking has not been investigated yet. This study explores turning intersegmental coordination during smartphone use in different age groups and neurologic conditions.

OBJECTIVE

This study aims to evaluate the effect of smartphone use on turning behavior in healthy individuals of different ages and those with various neurological diseases.

METHODS

Younger (aged 18-60 years) and older (aged >60 years) healthy individuals and those with Parkinson disease, multiple sclerosis, subacute stroke (<4 weeks), or lower-back pain performed turning-while-walking alone (single task [ST]) and while performing 2 different cognitive tasks of increasing complexity (dual task [DT]). The mobility task consisted of walking up and down a 5-m walkway at self-selected speed, thus including 180° turns. Cognitive tasks consisted of a simple reaction time test (simple DT [SDT]) and a numerical Stroop test (complex DT [CDT]). General (turn duration and the number of steps while turning), segmental (peak angular velocity), and intersegmental turning parameters (intersegmental turning onset latency and maximum intersegmental angle) were extracted for head, sternum, and pelvis using a motion capture system and a turning detection algorithm.

RESULTS

In total, 121 participants were enrolled. All participants, irrespective of age and neurologic disease, showed a reduced intersegmental turning onset latency and a reduced maximum intersegmental angle of both pelvis and sternum relative to head, thus indicating an en bloc turning behavior when using a smartphone. With regard to change from the ST to turning when using a smartphone, participants with Parkinson disease reduced their peak angular velocity the most, which was significantly different from lower-back pain relative to the head (P<.01). Participants with stroke showed en bloc turning already without smartphone use.

CONCLUSIONS

Smartphone use during turning-while-walking may lead to en bloc turning and thus increase fall risk across age and neurologic disease groups. This behavior is probably particularly dangerous for those groups with the most pronounced changes in turning parameters during smartphone use and the highest fall risk, such as individuals with Parkinson disease. Moreover, the experimental paradigm presented here might be useful in differentiating individuals with lower-back pain without and those with early or prodromal Parkinson disease. In individuals with subacute stroke, en bloc turning could represent a compensative strategy to overcome the newly occurring mobility deficit. Considering the ubiquitous smartphone use in daily life, this study should stimulate future studies in the area of fall risk and neurological and orthopedic diseases.

TRIAL REGISTRATION

German Clinical Trials Register DRKS00022998; https://drks.de/search/en/trial/DRKS00022998.

Increased co-contraction reaction during a surface perturbation is associated with unsuccessful postural control among older adults

Background

As a strategy to maintain postural control, the stiffening strategy (agonist-antagonist co-contractions) is often considered dysfunctional and associated with poor physical capacity. The aim was to investigate whether increased stiffening is associated with unsuccessful postural control during an unpredictable surface perturbation, and which sensory and motor variables that explain postural stiffening.

Methods

A sample of 34 older adults, 75.8 ± 3.8 years, was subjected to an unpredicted surface perturbation with the postural task to keep a feet-in-place strategy. The participants also completed a thorough sensory- and motor test protocol. During the surface perturbation, electromyography was measured from tibialis anterior and gastrocnemius to further calculate a co-contraction index during the feed-forward and feedback period. A binary logistic regression was done with the nominal variable, if the participant succeeded in the postural task or not, set as dependent variable and the co-contraction indexes set as independent variables. Further, the variables from the sensory and motor testing were set as independent variables in two separate Orthogonal Projections of Latent Structures (OPLS)-models, one with the feed-forward- and the other with the feedback co-contraction index as dependent variable.

Results

Higher levels of ankle joint stiffening during the feedback, but not the feed-forward period was associated with postural task failure. Feedback stiffening was explained by having slow non-postural reaction times, poor leg muscle strength and being female whereas feed-forward stiffening was not explained by sensory and motor variables.

Conclusions

When subjected to an unpredicted surface perturbation, individuals with higher feedback stiffening had poorer postural control outcome, which was explained by poorer physical capacity. The level of feed-forward stiffening prior the perturbation was not associated with postural control outcome nor the investigated sensory and motor variables. The intricate causal relationships between physical capacity, stiffening and postural task success remains subject for future research.

Supplementary Information

The online version contains supplementary material available at 10.1186/s12877-022-03123-2.

Random Practice Enhances Retention and Spatial Transfer in Force Field Adaptation

The contextual-interference effect is a frequently examined phenomenon in motor skill learning but has not been extensively investigated in motor adaptation. Here, we first tested experimentally if the contextual-interference effect is detectable in force field adaptation regarding retention and spatial transfer, and then fitted state-space models to the data to relate the findings to the “forgetting-and-reconstruction hypothesis”. Thirty-two participants were divided into two groups with either a random or a blocked practice schedule. They practiced reaching to four targets and were tested 10 min and 24 h afterward for motor retention and spatial transfer on an interpolation and an extrapolation target, and on targets which were shifted 10 cm away. The adaptation progress was participant-specifically fitted with 4-slow-1-fast state-space models accounting for generalization and set breaks. The blocked group adapted faster (p = 0.007) but did not reach a better adaptation at practice end. We found better retention (10 min), interpolation transfer (10 min), and transfer to shifted targets (10 min and 24 h) for the random group (each p < 0.05). However, no differences were found for retention or for the interpolation target after 24 h. Neither group showed transfer to the extrapolation target. The extended state-space model could replicate the behavioral results with some exceptions. The study shows that the contextual-interference effect is partially detectable in practice, short-term retention, and spatial transfer in force field adaptation; and that state-space models provide explanatory descriptions for the contextual-interference effect in force field adaptation.

Balance strategy in hoverboard control

This study examines how people learn to perform lower limb control in a novel task with a hoverboard requiring to maintain dynamic balance. We designed an experiment to investigate the learning of hoverboard balance and two control strategies: A hip strategy, which mainly uses hip movements to change the angle of the foot, and an ankle strategy relying more on ankle motion to control the orientation of hoverboard plates controlling the motion. Motor learning was indicated by a significant \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$10\pm 4$$\end{document}10±4% decrease in the trial completion time (p < 0.001) and a significant 24 ± 11% decrease in total muscle activation (p < 0.001). Furthermore, the participants, who had no prior experience riding a hoverboard, learned an ankle strategy to maintain their balance and control the hoverboard. This is supported by significantly stronger cross-correlation, phase synchrony, lower dynamic time warping distance between the hoverboard plate orientation controlling hoverboard motion, and the ankle angle when compared to the hip angle. The adopted ankle strategy was found to be robust to the foot orientation despite salient changes in muscle group activation patterns. Comparison with results of an experienced hoverboard rider confirmed that the first-time riders adopted an ankle strategy.

Cortical preparatory activity indexes learned motor memories

The brain's remarkable ability to learn and execute various motor behaviours harnesses the capacity of neural populations to generate a variety of activity patterns. Here we explore systematic changes in preparatory activity in motor cortex that accompany motor learning. We trained rhesus monkeys to learn an arm-reaching task¹ in a curl force field that elicited new muscle forces for some, but not all, movement directions^2,3. We found that in a neural subspace predictive of hand forces, changes in preparatory activity tracked the learned behavioural modifications and reassociated⁴ existing activity patterns with updated movements. Along a neural population dimension orthogonal to the force-predictive subspace, we discovered that preparatory activity shifted uniformly for all movement directions, including those unaltered by learning. During a washout period when the curl field was removed, preparatory activity gradually reverted in the force-predictive subspace, but the uniform shift persisted. These persistent preparatory activity patterns may retain a motor memory of the learned field^5,6 and support accelerated relearning of the same curl field. When a set of distinct curl fields was learned in sequence, we observed a corresponding set of field-specific uniform shifts which separated the associated motor memories in the neural state space^7-9. The precise geometry of these uniform shifts in preparatory activity could serve to index motor memories, facilitating the acquisition, retention and retrieval of a broad motor repertoire.

Individual Differences in Sensorimotor Adaptation Are Conserved Over Time and Across Force-Field Tasks

Sensorimotor adaptation enables the nervous system to modify actions for different conditions and environments. Many studies have investigated factors that influence adaptation at the group level. There is growing recognition that individuals vary in their ability to adapt motor skills and that a better understanding of individual differences in adaptation may inform how motor skills are taught and rehabilitated. Here we examined individual differences in the adaptation of upper-limb reaching movements. We quantified the extent to which participants adapted their movements to a velocity-dependent force field during an initial session, at 24 h, and again 1-week later. Participants (n = 28) displayed savings, which was expressed as greater initial adaptation when re-exposed to the force field. Individual differences in adaptation across various stages of the experiment displayed weak-strong reliability, such that individuals who adapted to a greater extent in the initial session tended to do so when re-exposed to the force field. Our second experiment investigated if individual differences in adaptation are also present when participants adapt to different force fields or a force field and visuomotor rotation. Separate groups of participants adapted to position- and velocity-dependent force fields (Experiment 2a; n = 20) or a velocity-dependent force field and visuomotor rotation in a single session (Experiment 2b; n = 20). Participants who adapted to a greater extent to velocity-dependent forces tended to show a greater extent of adaptation when exposed to position-dependent forces. In contrast, correlations were weak between various stages of adaptation to the force-field and visuomotor rotation. Collectively, our study reveals individual differences in adaptation that are reliable across repeated exposure to the same force field and present when adapting to different force fields.

The role of predictability of the magnitude of a perturbation in control of vertical posture when catching an object

The predictability of perturbation magnitude plays an important role in control of standing posture. The aim of the study was to examine anticipatory (APAs) and compensatory (CPAs) postural adjustments in response to catching objects of uncertain mass. Twenty adults caught the same object with either light or heavy weight placed in it. Electromyographic activity of eight trunk and leg muscles, displacements of the center of pressure, and angular displacement of the shoulder joint were recorded and analyzed during the APAs and CPAs intervals. When the subjects experienced repeated catching of the object with the same weight, they estimated the object mass beforehand and generated APAs more precisely. When the object mass changed unpredictably, they generated APAs based on the most recent catch and needed four to six trials to optimize APAs and CPAs. The muscle co-contraction was a primary pattern for catching the object of uncertain mass. The results of the study suggest that catching the object of uncertain mass is a challenging task that involves co-contraction of postural muscles to maintain balance.

Adapting the visuo-haptic perception through muscle coactivation

While the nervous system can coordinate muscles’ activation to shape the mechanical interaction with the environment, it is unclear if and how the arm’s coactivation influences visuo-haptic perception and motion planning. Here we show that the nervous system can voluntarily coactivate muscles to improve the quality of the haptic percept. Subjects tracked a randomly moving visual target they were physically coupled to through a virtual elastic band, where the stiffness of the coupling increased with wrist coactivation. Subjects initially relied on vision alone to track the target, but with practice they learned to combine the visual and haptic percepts in a Bayesian manner to improve their tracking performance. This improvement cannot be explained by the stronger mechanical guidance from the elastic band. These results suggest that with practice the nervous system can learn to integrate a novel haptic percept with vision in an optimal fashion.

Impedance Control of Human Ankle Joint With Electrically Stimulated Antagonistic Muscle Co-Contraction

Functional electrical stimulation (FES) is often used, typically in an open-loop manner, to restore paralyzed motor function for daily living activities. Several feedback control strategies have been developed to improve the performance and usability of FES-evoked movement. However, most of them have been position controllers, while the control strategy for human movement has been known as impedance modulation. Moreover, few studies have attempted to use antagonistic co-contraction for FES feedback control despite its expected benefits, such as enhanced stability and performance and better rehabilitation outcome. In this paper, we propose a robust impedance controller for FES that can adjust the intrinsic joint stiffness using co-contraction. It consists of an impedance control law based on time-delay estimation to compensate for the nonlinear uncertain joint dynamics and an antagonistic muscle co-contraction allocator to address the intrinsic joint stiffness caused by the co-contraction. The proposed controller was implemented on the ankle joints of five healthy subjects to simulate a standing balance situation. The results verified that the proposed controller can achieve desired impedance accurately by adjusting the intrinsic stiffness that stems from the change in the amount of co-contraction (up to 48.4% better impedance achievement with high desired stiffness).

An Adaptive Assistance Controller to Optimize the Exoskeleton Contribution in Rehabilitation

In this paper, we present a novel adaptation rule to optimize the exoskeleton assistance in rehabilitation tasks. The proposed method adapts the exoskeleton contribution to user impairment severity without any prior knowledge about the user motor capacity. The proposed controller is a combination of an adaptive feedforward controller and a low gain adaptive PD controller. The PD controller guarantees the stability of the human-exoskeleton system during feedforward torque adaptation by utilizing only the human-exoskeleton joint positions as the sensory feedback for assistive torque optimization. In addition to providing a convergence proof, in order to study the performance of our method we applied it to a simplified 2-DOF model of human-arm and a generic 9-DOF model of lower limb to perform walking. In each simulated task, we implemented the impaired human torque to be insufficient for the task completion. Moreover, the scenarios that violate our convergence proof assumptions are considered. The simulation results show a converging behavior for the proposed controller; the maximum convergence time of 20 s is observed. In addition, a stable control performance that optimally supplements the remaining user motor contribution is observed; the joint angle tracking error in steady condition and its improvement compared to the start of adaptation are as follows: shoulder 0.96±2.53° (76%); elbow −0.35±0.81° (33%); hip 0.10±0.86° (38%); knee −0.19±0.67° (25%); and ankle −0.05±0.20° (60%). The presented simulation results verify the robustness of proposed adaptive method in cases that differ from our mathematical assumptions and indicate its potentials to be used in practice.

Neural Substrates of Muscle Co-contraction during Dynamic Motor Adaptation

As we learn to perform a motor task with novel dynamics, the central nervous system must adapt motor commands and modify sensorimotor transformations. The objective of the current research is to identify the neural mechanisms underlying the adaptive process. It has been shown previously that an increase in muscle co-contraction is frequently associated with the initial phase of adaptation and that co-contraction is gradually reduced as performance improves. Our investigation focused on the neural substrates of muscle co-contraction during the course of motor adaptation using a resting-state fMRI approach in healthy human subjects of both genders. We analyzed the functional connectivity in resting-state networks during three phases of adaptation, corresponding to different muscle co-contraction levels and found that change in the strength of functional connectivity in one brain network was correlated with a metric of co-contraction, and in another with a metric of motor learning. We identified the cerebellum as the key component for regulating muscle co-contraction, especially its connection to the inferior parietal lobule, which was particularly prominent in early stage adaptation. A neural link between cerebellum, superior frontal gyrus and motor cortical regions was associated with reduction of co-contraction during later stages of adaptation. We also found reliable changes in the functional connectivity of a network involving primary motor cortex, superior parietal lobule and cerebellum that were specifically related to the motor learning.SIGNIFICANCE STATEMENT It is well known that co-contracting muscles is an effective strategy for providing postural stability by modulating mechanical impedance and thereby allowing the central nervous system to compensate for unfamiliar or unexpected physical conditions until motor commands can be appropriately adapted. The present study elucidates the neural substrates underlying the ability to modulate the mechanical impedance of a limb as we learn during motor adaptation. Using resting-state fMRI analysis we demonstrate that a distributed cerebellar-parietal-frontal network functions to regulate muscle co-contraction with the cerebellum as its key component.

Somatosensory deafferentation reveals lateralized roles of proprioception in feedback and adaptive feedforward control of movement and posture

Proprioception provides crucial information necessary for determining limb position and movement, and plausibly also for updating internal models that might underlie the control of movement and posture. Seminal studies of upper-limb movements in individuals living with chronic, large fiber deafferentation have provided evidence for the role of proprioceptive information in the hypothetical formation and maintenance of internal models to produce accurate motor commands. Vision also contributes to sensorimotor functions but cannot fully compensate for proprioceptive deficits. More recent work has shown that posture and movement control processes are lateralized in the brain, and that proprioception plays a fundamental role in coordinating the contributions of these processes to the control of goal-directed actions. In fact, the behavior of each limb in a deafferented individual resembles the action of a controller in isolation. Proprioception, thus, provides state estimates necessary for the nervous system to efficiently coordinate multiple motor control processes.

Analogous adaptations in speed, impulse and endpoint stiffness when learning a real and virtual insertion task with haptic feedback

Humans have the ability to use a diverse range of handheld tools. Owing to its versatility, a virtual environment with haptic feedback of the force is ideally suited to investigating motor learning during tool use. However, few simulators exist to recreate the dynamic interactions during real tool use, and no study has compared the correlates of motor learning between a real and virtual tooling task. To this end, we compared two groups of participants who either learned to insert a real or virtual tool into a fixture. The trial duration, the movement speed, the force impulse after insertion and the endpoint stiffness magnitude decreased as a function of trials, but they changed at comparable rates in both environments. A ballistic insertion strategy observed in both environments suggests some interdependence when controlling motion and controlling interaction, contradicting a prominent theory of these two control modalities being independent of one another. Our results suggest that the brain learns real and virtual insertion in a comparable manner, thereby supporting the use of a virtual tooling task with haptic feedback to investigate motor learning during tool use.

Adaptation of reach action to a novel force-field is not predicted by acuity of dynamic proprioception in either older or younger adults

Healthy ageing involves degeneration of the neuromuscular system which impacts movement control and proprioception. Yet the relationship between these sensory and motor deficits in upper limb reaching has not been examined in detail. Recently, we reported that age-related proprioceptive deficits were unrelated to accuracy in rapid arm movements, but whether this applied in motor tasks more heavily dependent on proprioceptive feedback was not clear. To address this, we have tested groups of younger and older adults on a force-field adaptation task under either full or limited visual feedback conditions and examined how performance was related to dynamic proprioceptive acuity. Adaptive performance was similar between the age groups, regardless of visual feedback condition, although older adults showed increased after-effects. Physically inactive individuals made larger systematic (but not variable) proprioceptive errors, irrespective of age. However, dynamic proprioceptive acuity was unrelated to adaptation and there was no consistent evidence of proprioceptive recalibration with adaptation to the force-field for any group. Finally, in spite of clear age-dependent loss of spatial working memory capacity, we found no relationship between memory capacity and adaptive performance or proprioceptive acuity. Thus, non-clinical levels of deficit in dynamic proprioception, due to age or physical inactivity, do not affect force-field adaptation, even under conditions of limited visual feedback that might require greater proprioceptive control.

Online corrective responses following target jump in altered gravitoinertial force field point to nested feedforward and feedback control

Studies on goal-directed arm movements have shown a close link between feedforward and feedback control in protocols where both planning and online control processes faced a similar type of perturbation, either mechanical or visual. This particular context might have facilitated the use of an adapted internal model by feedforward and feedback control. Here, we considered this link in a context where, after feedforward control was adapted through proprioception-based processes, feedback control was tested under visual perturbation. We analyzed the response of the reaching hand to target displacements following adaptation to an altered force field induced by rotating participants at constant velocity. Reaching corrections were assessed through variables related to the accuracy (lateral and longitudinal end point errors) and kinematics (movement time, peak velocity) of the corrective movements. The electromyographic activity of different arm muscles (pectoralis, posterior deltoid, biceps brachii, and triceps brachii) was analyzed. Statistical analyses revealed that accuracy and kinematics of corrective movements were strikingly alike between normal and altered gravitoinertial force fields. However, pectoralis and biceps muscle activities recorded during corrective movements were significantly modified to counteract the effect of rotation-induced Coriolis and centrifugal forces on the arm. Remarkably, feedback control was functional from the very first time participants encountered a target jump in the altered force field. Overall, the present results demonstrate that feedforward control enables immediate functional feedback control even when applied to distinct sensorimotor processes.NEW & NOTEWORTHY We investigated the link between feedforward and feedback control when applying a double-step perturbation (visual target jump) during reaching movements performed in modified gravitoinertial environments. Altogether, kinematics and EMG analyses showed that movement corrections were highly effective in the different force fields, suggesting that, although feedforward and feedback control were driven by different sensory inputs, feedback control was remarkably functional from the very first time participants encountered a target jump in the altered force field.

Opposing force fields induce direction-specific sensorimotor adaptation but a non-specific perceptual shift consistent with a contraction of peripersonal space representation

Most of our daily interactions with objects occur in the space immediately surrounding the body, i.e. the peripersonal space. The peripersonal space is characterized by multisensory processing of objects which are coded in terms of potential actions, specifying for instance whether objects are within reach or not. Our recent work suggested a link between exposure to a new force field, which changed the effector dynamics, and the representation of peripersonal space. To better understand the interplay between the plasticity of the motor system and peripersonal space representation, the present study examined whether changing the direction of the force field specifically modified the perception of action boundaries. Participants seated at the centre of an experimental platform estimated visual targets' reachability before and after adapting upper-limb reaching movements to the Coriolis force generated by either clockwise or counter clockwise rotation of the platform (120°/s). Opposite spatial after-effects were observed, showing that force-field adaptation depends on the direction of the rotation. In contrast, perceived action boundaries shifted leftward following exposure to the new force field, regardless of the direction of the rotation. Overall, these findings support the idea that abrupt exposure to a new force field results in a direction-specific updating of the central sensorimotor representations underlying the control of arm movements. Abrupt exposure to a new force field also results in a nonspecific shift in the perception of action boundaries, which is consistent with a contraction of the peripersonal space. Such effect, which does not appear to be related to state anxiety, could be related to the protective role of the peripersonal space in response to the uncertainty of the sensorimotor system induced by the abrupt modification of the environment.

Temporal and quantitative variability in muscle electrical activity decreases as dexterous hand motor skills are learned

Muscle activity changes quantitatively and temporally during the motor learning process. However, the association between variability in muscle electrical activity and the learning and performance of dexterous hand movements is not well understood. Therefore, we undertook this study to investigate the relationships between temporal and quantitative variabilities in muscle activity and the learning of motor skills. Thirty-eight healthy participants performed 30 trials of a task that measured the time taken to rotate two cork balls 20 times using their non-dominant hand. The electromyographic (EMG) activities of the abductor pollicis brevis (APB), first dorsal interosseous, and extensor digitorum (ED) muscles were recorded. Temporal and quantitative variabilities in the EMG activity were evaluated by calculating the coefficient of variation of the duration and area of EMG activation. As motor learning proceeded, the task was completed more quickly and the EMG variability decreased. For all three muscles, significant correlations were observed between individual participants’ ball rotation time and EMG variability. Furthermore, significant positive correlations were observed between improvement in ball rotation time and reduction in EMG variability for the APB and ED muscles. These novel findings provide important insights regarding the relationships between temporal and quantitative variabilities in muscle activity and the learning of fine motor skills.

Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

OBJECTIVE

To define static, dynamic, and cognitive fit and their interactions as they pertain to exosystems and to document open research needs in using these fit characteristics to inform exosystem design.

BACKGROUND

Initial exosystem sizing and fit evaluations are currently based on scalar anthropometric dimensions and subjective assessments. As fit depends on ongoing interactions related to task setting and user, attempts to tailor equipment have limitations when optimizing for this limited fit definition.

METHOD

A targeted literature review was conducted to inform a conceptual framework defining three characteristics of exosystem fit: static, dynamic, and cognitive. Details are provided on the importance of differentiating fit characteristics for developing exosystems.

RESULTS

Static fit considers alignment between human and equipment and requires understanding anthropometric characteristics of target users and geometric equipment features. Dynamic fit assesses how the human and equipment move and interact with each other, with a focus on the relative alignment between the two systems. Cognitive fit considers the stages of human-information processing, including somatosensation, executive function, and motor selection. Human cognitive capabilities should remain available to process task- and stimulus-related information in the presence of an exosystem. Dynamic and cognitive fit are operationalized in a task-specific manner, while static fit can be considered for predefined postures.

CONCLUSION

A deeper understanding of how an exosystem fits an individual is needed to ensure good human-system performance. Development of methods for evaluating different fit characteristics is necessary.

APPLICATION

Methods are presented to inform exosystem evaluation across physical and cognitive characteristics.

Assessing explicit strategies in force field adaptation

In recent years, it has become increasingly clear that a number of learning processes are at play in visuomotor adaptation tasks. In addition to implicitly adapting to a perturbation, learners can develop explicit knowledge allowing them to select better actions in responding to it. Advances in visuomotor rotation experiments have underscored the important role of such "explicit learning" in shaping adaptation to kinematic perturbations. Yet, in adaptation to dynamic perturbations, its contribution has been largely overlooked. We therefore sought to approach the assessment of explicit learning in adaptation to dynamic perturbations, by developing two novel modifications of a force field experiment. First, we asked learners to abandon any cognitive strategy before selected force channel trials to expose consciously accessible parts of overall learning. Here, learners indeed reduced compensatory force compared with standard Catch channels. Second, we instructed a group of learners to mimic their right hand's adaptation by moving with their naïve left hand. While a control group displayed negligible left hand force compensation, the mimicking group reported forces that approximated right hand adaptation but appeared to under-report the velocity component of the force field in favor of a more position-based component. Our results highlight the viability of explicit learning as a potential contributor to force field adaptation, though the fraction of learning under participants' deliberate control on average remained considerably smaller than that of implicit learning, despite task conditions favoring explicit learning. The methods we employed provide a starting point for investigating the contribution of explicit strategies to force field adaptation.NEW & NOTEWORTHY While the contribution of explicit learning has been increasingly studied in visuomotor adaptation, its contribution to force field adaptation has not been studied extensively. We employed two novel methods to assay explicit learning in a force field adaptation task and found that learners can voluntarily control aspects of compensatory force production and manually report it with their untrained limb. This supports the general viability of the contribution of explicit learning also in force field adaptation.

The effect of tactile augmentation on manipulation and grip force control during force-field adaptation

Background

When exposed to a novel dynamic perturbation, participants adapt by changing their movements’ dynamics. This adaptation is achieved by constructing an internal representation of the perturbation, which allows for applying forces that compensate for the novel external conditions. To form an internal representation, the sensorimotor system gathers and integrates sensory inputs, including kinesthetic and tactile information about the external load. The relative contribution of the kinesthetic and tactile information in force-field adaptation is poorly understood.

Methods

In this study, we set out to establish the effect of augmented tactile information on adaptation to force-field. Two groups of participants received a velocity-dependent tangential skin deformation from a custom-built skin-stretch device together with a velocity-dependent force-field from a kinesthetic haptic device. One group experienced a skin deformation in the same direction of the force, and the other in the opposite direction. A third group received only the velocity-dependent force-field.

Results

We found that adding a skin deformation did not affect the kinematics of the movement during adaptation. However, participants who received skin deformation in the opposite direction adapted their manipulation forces faster and to a greater extent than those who received skin deformation in the same direction of the force. In addition, we found that skin deformation in the same direction to the force-field caused an increase in the applied grip-force per amount of load force, both in response and in anticipation of the stretch, compared to the other two groups.

Conclusions

Augmented tactile information affects the internal representations for the control of manipulation and grip forces, and these internal representations are likely updated via distinct mechanisms. We discuss the implications of these results for assistive and rehabilitation devices.

Role of muscle coactivation in adaptation of standing posture during arm reaching

The ability to maintain stable, upright standing in the face of perturbations is a critical component of daily life. A common strategy for resisting perturbations and maintaining stability is muscle coactivation. Although arm muscle coactivation is often used during adaptation of seated reaching movements, little is known about postural muscle activation during concurrent adaptation of arm and standing posture to novel perturbations. In this study we investigate whether coactivation strategies are employed during adaptation of standing postural control, and how these strategies are prioritized for adaptation of standing posture and arm reaching, in two different postural stability conditions. Healthy adults practiced planar reaching movements while grasping the handle of a robotic arm and standing on a force plate; the robotic arm generated a velocity-dependent force field that created novel perturbations in the forward (more stable) or backward (less stable) direction. Surprisingly, the degree of arm and postural adaptation was not influenced by stability, with similar adaptation observed between conditions in the control of both arm movement and standing posture. We found that an early coactivation strategy can be used in postural adaptation, similar to what is observed in adaptation of arm reaching movements. However, the emergence of a coactivation strategy was dependent on perturbation direction. Despite similar adaptation in both directions, postural coactivation was largely specific to forward perturbations. Backward perturbations led to less coactivation and less modulation of postural muscle activity. These findings provide insight into how postural stability can affect prioritization of postural control objectives and movement adaptation strategies.NEW & NOTEWORTHY Muscle coactivation is a key strategy for modulating movement stability; this is centrally important in the control of standing posture. Our study investigates the little-known role of coactivation in adaptation of whole body standing postural control. We demonstrate that an early coactivation strategy can be used in postural adaptation, but muscle activation strategies may differ depending on postural stability conditions.