Distinct sets of locomotor modules control the speed and modes of human locomotion

Spatiotemporal patterns of throwing muscle synergies in yips-affected baseball players

"Yips" are involuntary movements that interfere with the automatic execution of sports movements. However, how the coordination among the various muscles necessary for sports movements is impaired in athletes with yips remains to be fully understood. This study aimed to assess whether muscle synergy analysis through non-negative matrix factorization (NMF) could identify impaired spatiotemporal muscle coordination in baseball players with throwing yips. Twenty-two college baseball players, including 12 with and 10 without yips symptoms participated in the study. Electromyographic activity was recorded from 13 ipsilateral upper extremity muscles during full-effort throwing. Muscle synergies were extracted through NMF. Cluster analysis was conducted to identify any common spatiotemporal patterns of muscle synergies in players with yips. Whether individual players with yips showed deviations in spatiotemporal patterns of muscle synergies compared with control players was also investigated. Four muscle synergies were extracted for each player, but none were specific to the yips group. However, a more detailed analysis of individual players revealed that two of the three players who presented dystonic symptoms during the experiment exhibited specific patterns that differed from those in control players. By contrast, each player whose symptoms were not reproduced during the experiment presented spatiotemporal patterns of muscle synergies similar to those of the control group. The results of this study indicate no common spatiotemporal pattern of muscle synergies specific to the yips group. Furthermore, these results suggest that the spatiotemporal pattern of muscle synergies in baseball throwing motion is not impaired in situations where symptoms are not reproduced even if the players have yips symptoms. However, muscle synergy analysis can identify the characteristics of muscle coordination of players who exhibit dystonic movements. These findings can be useful in developing personalized therapeutic strategies based on individual characteristics of yips symptoms.

Direction-Specific Changes in Trunk Muscle Synergies in Individuals With Extension-Related Low Back Pain

Background Identifying altered trunk control is critical for treating extension-related low back pain (ERLBP), a common subgroup classified by clinical manifestations. The changed coordination of trunk muscles within this group during particular trunk tasks is still not clearly understood. Objectives The objective of this study is to investigate trunk muscle coordination during 11 trunk movement and stability tasks in individuals with ERLBP compared to non-low back pain (LBP) participants. Methods Thirteen individuals with ERLBP and non-LBP performed 11 trunk movement and stability tasks. We recorded the electromyographic activities of six back and abdominal muscles bilaterally. Trunk muscle coordination was assessed using the non-negative matrix factorization (NMF) method to identify trunk muscle synergies. Results The number of synergies in the ERLBP group during the cross-extension and backward bend tasks was significantly higher than in the non-LBP group (p<0.05). The cluster analysis identified the two trunk synergies for each task with strikingly similar muscle activation patterns between groups. In contrast, the ERLBP group exhibited additional trunk muscle synergies that were not identified in the non-LBP group. The number of synergies in the other tasks did not differ between groups (p>0.05). Conclusion Individuals with ERLBP presented directionally specific alterations in trunk muscle synergies that were considered as increased coactivations of multiple trunk muscles. These altered patterns may contribute to the excessive stabilization of and the high frequency of hyperextension in the spine associated with the development and persistence of ERLBP.

Speed-dependent modulations of asymmetric center of body mass trajectory in the gait of above-knee amputee subjects

How to achieve stable locomotion while overcoming various instabilities is an ongoing research topic. One essential factor for achieving a stable gait is controlling the center of body mass (CoM). The CoM yields more instability in the mediolateral direction. Examining speed-dependent modulations of the CoM trajectories in the frontal plane can provide insight into control policies for achieving stable locomotion. Although these modulations have been studied while assuming symmetric CoM trajectories, this assumption is generally incorrect. For example, amputee subjects demonstrate asymmetric CoM trajectories. Here, we investigated speed-dependent modulations of asymmetric CoM trajectories in above-knee amputee subjects using Fourier series expansion. Despite the asymmetric CoM trajectories in amputee subjects, the framework of Fourier series expansion clarified that amputee subjects showed the same speed-dependent modulations as non-amputee subjects whose CoM trajectories were symmetric. Specifically, CoM trajectories became narrower in the mediolateral direction and broader in the superoinferior direction as walking speed increased. The speed-dependent modulations of CoM trajectories had a functional role in improving dynamic stability, and faster walking speeds provided greater dynamic stability on both prosthetic and non-prosthetic sides. Although the asymmetry of foot contact duration and CoM trajectory decreased as walking speed increased, step width and the asymmetry of dynamic stability between prosthetic and non-prosthetic sides remained constant across the walking speed, which corresponded to the predictions by our framework. These findings could offer a better strategy for achieving stable walking for amputee subjects.

Synchronous Muscle Synergy Evaluation of Jaw Muscle Activities during Chewing at Different Speeds, a Preliminary Study

Human mastication is a complex and rhythmic biomechanical process regulated by the central nervous system (CNS). Muscle synergies are a group of motor primitives that the CNS may combine to simplify motor control in human movement. This study aimed to apply the non-negative matrix factorization approach to examine the coordination of the masticatory muscles on both sides during chewing. Ten healthy individuals were asked to chew gum at different speeds while their muscle activity was measured using surface electromyography of the right and left masseter and temporalis muscles. Regardless of the chewing speed, two main muscle synergies explained most of the muscle activity variation, accounting for over 98% of the changes in muscle patterns (variance accounted for >98%). The first synergy contained the chewing side masseter muscle information, and the second synergy provided information on bilateral temporalis muscles during the jaw closing. Furthermore, there was robust consistency and high degrees of similarity among the sets of muscle synergy information across different rate conditions and participants. These novel findings in healthy participants supported the hypothesis that all participants in various chewing speed conditions apply the same motor control strategies for chewing. Furthermore, these outcomes can be utilized to design rehabilitation approaches such as biofeedback therapy for mastication disorders.

Dynamic networks of cortico-muscular interactions in sleep and neurodegenerative disorders

The brain plays central role in regulating physiological systems, including the skeleto-muscular and locomotor system. Studies of cortico-muscular coordination have primarily focused on associations between movement tasks and dynamics of specific brain waves. However, the brain-muscle functional networks of synchronous coordination among brain waves and muscle activity rhythms that underlie locomotor control remain unknown. Here we address the following fundamental questions: what are the structure and dynamics of cortico-muscular networks; whether specific brain waves are main network mediators in locomotor control; how the hierarchical network organization relates to distinct physiological states under autonomic regulation such as wake, sleep, sleep stages; and how network dynamics are altered with neurodegenerative disorders. We study the interactions between all physiologically relevant brain waves across cortical locations with distinct rhythms in leg and chin muscle activity in healthy and Parkinson's disease (PD) subjects. Utilizing Network Physiology framework and time delay stability approach, we find that 1) each physiological state is characterized by a unique network of cortico-muscular interactions with specific hierarchical organization and profile of links strength; 2) particular brain waves play role as main mediators in cortico-muscular interactions during each state; 3) PD leads to muscle-specific breakdown of cortico-muscular networks, altering the sleep-stage stratification pattern in network connectivity and links strength. In healthy subjects cortico-muscular networks exhibit a pronounced stratification with stronger links during wake and light sleep, and weaker links during REM and deep sleep. In contrast, network interactions reorganize in PD with decline in connectivity and links strength during wake and non-REM sleep, and increase during REM, leading to markedly different stratification with gradual decline in network links strength from wake to REM, light and deep sleep. Further, we find that wake and sleep stages are characterized by specific links strength profiles, which are altered with PD, indicating disruption in the synchronous activity and network communication among brain waves and muscle rhythms. Our findings demonstrate the presence of previously unrecognized functional networks and basic principles of brain control of locomotion, with potential clinical implications for novel network-based biomarkers for early detection of Parkinson's and neurodegenerative disorders, movement, and sleep disorders.

Muscle synergy patterns as altered coordination strategies in individuals with chronic low back pain: a cross-sectional study

BACKGROUND

Chronic low back pain (CLBP) is a highly prevalent disease with poorly understood underlying mechanisms. In particular, altered trunk muscle coordination in response to specific trunk tasks remains largely unknown.

METHODS

We investigated the muscle synergies during 11 trunk movement and stability tasks in 15 healthy individuals (8 females and 7 males, aged 21. 3 (20.1-22.8) ± 0.6 years) and in 15 CLBP participants (8 females and 7 males, aged 20. 9 (20.2-22.6) ± 0.7 years) by recording the surface electromyographic activities of 12 back and abdominal muscles (six muscles unilaterally). Non-negative matrix factorization was performed to extract the muscle synergies.

RESULTS

We found six trunk muscle synergies and temporal patterns in both groups. The high similarity of the trunk synergies and temporal patterns in the groups suggests that both groups share the common feature of the trunk coordination strategy. We also found that trunk synergies related to the lumbar erector spinae showed lower variability in the CLBP group. This may reflect the impaired back muscles that reshape the trunk synergies in the fixed structure of CLBP. Furthermore, the higher variability of trunk synergies in the other muscle regions such as in the latissimus dorsi and oblique externus, which were activated in trunk stability tasks in the CLBP group, represented more individual motor strategies when the trunk tasks were highly demanding.

CONCLUSION

Our work provides the first demonstration that individual modular organization is fine-tuned while preserving the overall structures of trunk synergies and temporal patterns in the presence of persistent CLBP.

Classification of gait phases based on a machine learning approach using muscle synergy

The accurate detection of the gait phase is crucial for monitoring and diagnosing neurological and musculoskeletal disorders and for the precise control of lower limb assistive devices. In studying locomotion mode identification and rehabilitation of neurological disorders, the concept of modular organization, which involves the co-activation of muscle groups to generate various motor behaviors, has proven to be useful. This study aimed to investigate whether muscle synergy features could provide a more accurate and robust classification of gait events compared to traditional features such as time-domain and wavelet features. For this purpose, eight healthy individuals participated in this study, and wireless electromyography sensors were attached to four muscles in each lower extremity to measure electromyography (EMG) signals during walking. EMG signals were segmented and labeled as 2-class (stance and swing) and 3-class (weight acceptance, single limb support, and limb advancement) gait phases. Non-negative matrix factorization (NNMF) was used to identify specific muscle groups that contribute to gait and to provide an analysis of the functional organization of the movement system. Gait phases were classified using four different machine learning algorithms: decision tree (DT), k-nearest neighbors (KNN), support vector machine (SVM), and neural network (NN). The results showed that the muscle synergy features had a better classification accuracy than the other EMG features. This finding supported the hypothesis that muscle synergy enables accurate gait phase classification. Overall, the study presents a novel approach to gait analysis and highlights the potential of muscle synergy as a tool for gait phase detection.

The investigation of an analysis method for co-activation of knee osteoarthritis utilizing normalization of peak dynamic method

BACKGROUND

Assessing co-activation characteristics in knee osteoarthritis (knee OA) using method of quantification of the activity ratio (such as the co-contraction index (CCI) or the directed co-activation ratios (DCAR)) for surface electromyography (EMG) has been reported. However, no studies have discussed the differences in results between non-negative matrix factorization (NNMF) and the DCAR.

RESEARCH QUESTION

Does DCAR or NNMF reflect the characteristic co-activation pattern of knee OA while using EMG normalized by the peak dynamic method?

METHODS

Ten elderly control participants (EC) and ten knee OA patients (KOA) volunteered to participate in this study. EMG data from 20 participants were obtained from our previous study. Patients with knee OA were recruited from a local orthopedic clinic. The DCAR of agonist and antagonist muscles and the number of modules using NNMF were calculated to evaluate multiple muscle co-activations. An independent t-test statistical parametric mapping approach was used to compare the DCAR between the two groups. The difference in the number of modules between EC and KOA was evaluated using the Wilcoxon rank-sum test.

RESULTS

There was no significant difference in the DCAR between the two groups. However, NNMF had significantly fewer modules with KOA than with EC.

SIGNIFICANCE

The NNMF with the ratio of the amplitude of each muscle and duration of activity as variables reflected the co-activation of KOA, characterized by the high synchronous and prolonged activity of each muscle. Therefore, the NNMF is suitable for extracting characteristic muscle activity patterns of knee OA independent of the normalization method.

Variability of trunk muscle synergies underlying the multidirectional movements and stability trunk motor tasks in healthy individuals

Muscle synergy analysis is useful for investigating trunk coordination patterns based on the assumption that the central nervous system reduces the dimensionality of muscle activation to simplify movement. This study aimed to quantify the variability in trunk muscle synergy during various trunk motor tasks in healthy participants to provide reference data for evaluating trunk control strategies in patients and athletes. Sixteen healthy individuals performed 11 trunk movement and stability tasks with electromyography (EMG) recording of their spinal and abdominal muscles (6 bilaterally). Non-negative matrix factorization applied to the concatenated EMG of all tasks identified the five trunk muscle synergies (W) with their corresponding temporal patterns (C). The medians of within-cluster similarity defined by scalar products in W and rmax coefficient using the cross-correlation function in C were 0.73-0.86 and 0.64-0.75, respectively, while the inter-session similarities were 0.81-0.96 and 0.74-0.84, respectively. However, the lowest and highest values of both similarity indices were broad, reflecting the musculoskeletal system's redundancy within and between participants. Furthermore, the significant differences in the degree of variability between the trunk synergies may represent the different neural features of synergy organization and strategies to overcome the various mechanical demands of a motor task.

Firing behavior of single motor units of the tibialis anterior in human walking as non-invasively revealed by HDsEMG decomposition

Objective.Investigation of the firing behavior of motor units (MUs) provides essential neuromuscular control information because MUs are the smallest organizational component of the neuromuscular system. The MUs activated during human infants' leg movements and rodent locomotion, mainly controlled by the spinal central pattern generator (CPG), show highly synchronous firing. In addition to spinal CPGs, the cerebral cortex is involved in neuromuscular control during walking in human adults. Based on the difference in the neural control mechanisms of locomotion between rodent, human infants and adults, MU firing behavior during adult walking probably has some different features from the other populations. However, so far, the firing activity of MUs in human adult walking has been largely unknown due to technical issues.Approach.Recent technical advances allow noninvasive investigation of MU firing by high-density surface electromyogram (HDsEMG) decomposition. We investigated the MU firing behavior of the tibialis anterior (TA) muscle during walking at a slow speed by HDsEMG decomposition.Main results.We found recruitment threshold modulation of MU between walking and steady isometric contractions. Doublet firings, and gait phase-specific firings were also observed during walking. We also found high MU synchronization during walking over a wide range of frequencies, probably including cortical and spinal CPG-related components. The amount of MU synchronization was modulated between the gait phases and motor tasks. These results suggest that the central nervous system flexibly controls MU firing to generate appropriate force of TA during human walking.Significance.This study revealed the MU behavior during walking at a slow speed and demonstrated the feasibility of noninvasive investigation of MUs during dynamic locomotor tasks, which will open new frontiers for the study of neuromuscular systems in the fields of neuroscience and biomedical engineering.

Interindividual differences in upper limb muscle synergies during baseball throwing motion in male college baseball players

Throwing is a fundamental human motor behavior that has evolved to aid hunting and defense against predators. In modern humans, accurate throwing is an important skill required in many sports. However, the spatiotemporal coordination of muscles during baseball throwing has not been fully elucidated. We herein aimed to identify the muscle synergies involved in baseball throwing and determine whether their spatiotemporal patterns are shared among individuals. Ten college baseball players participated in this study. Electromyographic activity was recorded from 13 ipsilateral upper limb muscles during throwing using full effort. Non-negative matrix factorization was used to extract the motor module composition and temporal activation patterns during baseball throwing, followed by k-means analysis to cluster the extracted motor modules based on their similarity. Four motor modules were extracted for each player. These were classified into four clusters (Clusters 1-4), each reaching the peak activity sequentially from the early cocking phase to ball release. Spatiotemporal interindividual similarity in the muscle synergy cluster comprising the muscles activated during the transition from early cocking to late cocking (Cluster 2) was significantly lower than that in the other clusters. There was no individual-specific muscle synergy. These results suggest that the skilled baseball throwing motion acquired through years of practice may consist of four basic muscle synergies that are common among individuals with some differences in their spatiotemporal patterns.

Age-Related Modifications of Muscle Synergies and Their Temporal Activations for Overground Walking

Healthy ageing modifies neuromuscular control of human overground walking. Previous studies found that ageing changes gait biomechanics, but whether there is concurrent ageing-related modulation of neuromuscular control remains unclear. We analyzed gait kinematics and electromyographic signals (EMGs; 14 lower-limb and trunk muscles) collected at three speeds during overground walking in 11 healthy young adults (mean age of 23.4 years) and 11 healthy elderlies (67.2 years). Neuromuscular control was characterized by extracting muscle synergies from EMGs and the synergies of both groups were k -means-clustered. The synergies of the two groups were grossly similar, but we observed numerous cluster- and muscle-specific differences between the age groups. At the population level, some hip-motion-related synergy clusters were more frequently identified in elderlies while others, more frequent in young adults. Such differences in synergy prevalence between the age groups are consistent with the finding that elderlies had a larger hip flexion range. For the synergies shared between both groups, the elderlies had higher inter-subject variability of the temporal activations than young adults. To further explore what synergy characteristics may be related to this inter-subject variability, we found that the inter-subject variance of temporal activations correlated negatively with the sparseness of the synergies in elderlies but not young adults during slow walking. Overall, our results suggest that as humans age, not only are the muscle synergies for walking fine-tuned in structure, but their temporal activation patterns are also more heterogeneous across individuals, possibly reflecting individual differences in prior sensorimotor experience or ageing-related changes in limb neuro-musculoskeletal properties.

Modulation of Muscle Synergies in Lower-Limb Muscles Associated With Split-Belt Locomotor Adaptation

Humans have great locomotor adaptability to environmental demands, which has been investigated using a split-belt treadmill with belts on both the left and right sides. Thus far, neuromuscular control in split-belt locomotor adaptation has been evaluated by analyzing muscle activities at the individual muscle level. Meanwhile, in the motor control field, the muscle synergy concept has been proposed. Muscle synergies are considered the fundamental building blocks of movement and are groups of coactive muscles and time-varying activation patterns, thereby, reflecting the neurophysiological characteristics of movement. To date, it remains unclear how such muscle synergies change during the adaptation and de-adaptation processes on the split-belt treadmill. Hence, we chronologically extracted muscle synergies while walking on the split-belt treadmill and examined changes in the number, muscle weightings, and temporal activation patterns of muscle synergies. Twelve healthy young males participated, and surface electromyography (EMG) signals were recorded bilaterally from 13 lower-limb muscles. Muscle synergies were extracted by applying non-negative matrix factorization to the EMG data of each leg. We found that during split-belt walking, the number of synergies in the slow leg increased while an extra synergy appeared and disappeared in the fast leg. Additionally, the areas under the temporal activation patterns in several synergies in both legs decreased. When both belts returned to the same speed, a decrease in the number of synergies and an increase in the areas under the temporal activation patterns of several synergies were temporally shown in each leg. Subsequently, the number of synergies and the areas under the temporal activation patterns returned to those of normal walking before split-belt walking. Thus, changes in the number, muscle weightings, and temporal activation patterns of synergies were noted in the split-belt locomotor adaptation, suggesting that the adaptation and de-adaptation occurred at the muscle synergy level.

Dynamic networks of physiologic interactions of brain waves and rhythms in muscle activity

The brain plays a central role in facilitating vital body functions and in regulating physiological and organ systems, including the skeleto-muscular and locomotor system. While neural control is essential to synchronize and coordinate activation of various muscle groups and muscle fibers within muscle groups in relation to body movements and distinct physiologic states, the dynamic networks of brain-muscle interactions have not been explored and the complex regulatory mechanism of brain-muscle control remains unknown. Here we present a first study of network interactions between brain waves at different cortical locations and peripheral muscle activity across key physiologic states - wake, sleep and distinct sleep stages. Utilizing a novel approach based on the Network Physiology framework and the concept of time delay stability, we find that for each physiologic state the network of cortico-muscular interactions is characterized by a specific hierarchical organization of network topology and network links strength, where particular brain waves are main mediators of interaction and control of muscular activity. Further, we uncover that with transition from one physiological state to another, the brain-muscle interaction network undergoes marked reorganization in the profile of network links strength, indicating a direct association between network structure and physiological state and function. The pronounced stratification in brain-muscle network characteristics across sleep stages is consistent for chin and leg muscle groups and persists across subjects, indicating a remarkable universality and a previously unrecognized basic physiologic mechanism that regulates muscle activity even during rest and in the absence targeted direct movement. Our findings demonstrate previously unrecognized coordination between brain waves and activation of different muscle fiber types within muscle groups, laws of brain-muscle cross-communication and principles of network integration and control. These investigations demonstrate the potential of network-based biomarkers for classification of distinct physiological states and conditions, for the diagnosis and prognosis of neurodegenerative, movement and sleep disorders, and for developing efficient treatment strategies.

Modular control of muscle coordination patterns during various stride time and stride length combinations

BACKGROUND

Modular organization in muscular control is generally specified as synergistic muscle groups that are hierarchically organized. There are conflicting perspectives regarding modular organization for regulation of walking speeds, with regard to whether modular organization is relatively consistent across walking speeds. This conflict might arise from different stride time (time for one stride) and stride length combinations for achieving the same walking speed.

RESEARCH QUESTION

Does the regulation of the modular organization depend on stride time and stride length (stride time-length) combinations?

METHODS

Ten healthy men walked at a moderate speed (nondimensional speed = 0.4) on a treadmill at five different stride time-length combinations (very short, short, preferred, long, and very long). Surface electromyograms from 16 muscles in the trunk and lower limb were recorded. The modular organization was modeled as muscle synergies, which represent groups of synchronously activated muscles. Muscle synergies were extracted using a decomposition technique. The number of synergies and their activation durations were analyzed.

RESULTS

The number of synergies was consistent in the preferred and quasi-preferred condition (median: 4.5 [short], 4.5 [preferred], 5 [long]), while it varied in the extreme condition (median: 4 [very short] and 6 [very long]; 0.02 ≤  p ≤ 0.09). Gait parameters (stride time, stride length, stance time, swing time, and double stance time) were significantly different for preferred and quasi-preferred conditions (p <  0.03).

SIGNIFICANCE

Our results provide additional insights on the flexibility of modular control during walking, namely that the number of synergies or activations are fine-tuned even within one walking speed. Our finding implies that a variety of walking patterns can be achieved by consistent synergies except for extreme walking patterns.

Evidence for basic units of upper limb muscle synergies underlying a variety of complex human manipulations

Manipulations require complex upper-limb movements in which the central nervous system (CNS) must deal with many degrees of freedom. Evidence suggests that the CNS utilizes motor primitives called muscle synergies to simplify the production of movements. However, the exact neural mechanism underlying muscle synergies to control a wide array of manipulations is not fully understood. Here, we tested whether there are basic units of muscle synergies that can explain a diverse range of manipulations. We measured the electromyographic activities of 20 muscles across the shoulder, elbow, and wrist and fingers during 24 manipulation tasks. As a result, non-negative matrix factorization identified nine basic units of muscle synergies derived from the upper limb muscles that are shared across all tasks. The high similarity between muscle synergies of each of the 24 tasks and various combinations of nine basic unit muscle synergies in a single and/or merging state provides evidence that the CNS flexibly selects and modifies the degree of contribution of the nine basic units of muscle synergies to overcome different mechanical demands of tasks.

Body Weight Control Is a Key Element of Motor Control for Toddlers' Walking

New-borns can step when supported for about 70-80% of their own body weight. Gravity-related sensorimotor information might be an important factor in developing the ability to walk independently. We explored how body weight support alters motor control in toddlers during the first independent steps and in toddlers with about half a year of walking experience. Sixteen different typically developing children were assessed during (un)supported walking on a running treadmill. Electromyography of 18-24 bilateral leg and back muscles and vertical ground reaction forces were recorded. Strides were grouped into four levels of body weight support ranging from no (<10%), low (10-35%), medium (35-55%), and high (55-95%) support. We constructed muscle synergies and muscle networks and assessed differences between levels of support and between groups. In both groups, muscle activities could be described by four synergies. As expected, the mean activity decreased with body weight support around foot strikes. The younger first-steps group showed changes in the temporal pattern of the synergies when supported for more than 35% of their body weight. In this group, the muscle network was dense with several interlimb connections. Apparently, the ability to process gravity-related information is not fully developed at the onset of independent walking causing motor control to be fairly disperse. Synergy-specific sensitivity for unloading implies distinct neural mechanisms underlying (the emergence of) these synergies.

The Effects of Paired Associative Stimulation with Transcutaneous Spinal Cord Stimulation on Corticospinal Excitability in Multiple Lower-limb Muscles

Paired associative stimulation (PAS) is a non-invasive method to modulate the excitability of the primary motor cortex (M1). PAS involves the combination of peripheral nerve stimulation and transcranial magnetic stimulation (TMS) over the primary motor cortex. However, for lower-limb muscles, PAS has only been applied to the few muscles innervated by peripheral nerves that can easily be stimulated. This study used transcutaneous spinal cord stimulation (tSCS) to the posterior root, stimulating the sensory nerves of multiple lower-limb muscles, and aimed to investigate the effect of PAS consisting of tSCS and TMS on corticospinal excitability. Twelve non-disabled men received 120 paired stimuli on two separate days in (1) an individual-ISI condition, using inter-stimulus intervals (ISIs) of paired stimuli individually calculated to send two signals to M1 with individually-adjusted ISI, and (2) a constant-ISI condition, using a constant ISI of 100 ms. Before and after PAS, corticospinal excitability was assessed in the lower-limb muscles. Facilitation of corticospinal excitability in the lower-leg and hamstring muscles was observed up to 30 min after PAS only in the individual-ISI condition (p < 0.05), although there was no significant difference between the individual-ISI and constant-ISI conditions. Additionally, our results revealed a difference in PAS-induced facilitation among lower-limb muscles, suggesting a spatial gradient of PAS-induced facilitation of corticospinal excitability, such that knee flexor muscles have a higher potential for plastic change than knee extensor muscles. These findings will foster a better understanding of the neural mechanisms underlying PAS-induced neuroplasticity, leading to better neurorehabilitation and motor learning strategies.

Basic locomotor muscle synergies used in land walking are finely tuned during underwater walking

Underwater walking is one of the most common hydrotherapeutic exercises. Therefore, understanding muscular control during underwater walking is important for optimizing training regimens. The effects of the water environment on walking are mainly related to the hydrostatic and hydrodynamic theories of buoyancy and drag force. To date, muscular control during underwater walking has been investigated at the individual muscle level. However, it is recognized that the human nervous system modularly controls multiple muscles through muscle synergies, which are sets of muscles that work together. We found that the same set of muscle synergies was shared between the two walking tasks. However, some task-dependent modulation was found in the activation combination across muscles and temporal activation patterns of the muscle synergies. The results suggest that the human nervous system modulates activation of lower-limb muscles during water walking by finely tuning basic locomotor muscle synergies that are used during land walking to meet the biomechanical requirements for walking in the water environment.

Flexible Recruitments of Fundamental Muscle Synergies in the Trunk and Lower Limbs for Highly Variable Movements and Postures

The extent to which muscle synergies represent the neural control of human behavior remains unknown. Here, we tested whether certain sets of muscle synergies that are fundamentally necessary across behaviors exist. We measured the electromyographic activities of 26 muscles, including bilateral trunk and lower limb muscles, during 24 locomotion, dynamic and static stability tasks, and we extracted the muscle synergies using non-negative matrix factorization. Our results show that 13 muscle synergies that may have unique functional roles accounted for almost all 24 tasks by combinations of single and/or merging of synergies. Therefore, our results may support the notion of the low dimensionality in motor outputs, in which the central nervous system flexibly recruits fundamental muscle synergies to execute diverse human behaviors. Further studies are required to validate the neural representation of the fundamental components of muscle synergies.

Common motor patterns of asymmetrical and symmetrical bipedal gaits

Background

Synergy modules have been used to describe activation of lower limb muscles during locomotion and hence to understand how the system controls movement. Walking and running have been shown shared synergy patterns suggesting common motor control of both symmetrical gaits. Unilateral skipping, an equivalent gait to the quadrupedal gallop in humans, has been defined as the third locomotion paradigm but the use by humans is limited due to its high metabolic cost. Synergies in skipping have been little investigated. In particular, to the best of our knowledge, the joint study of both trailing and leading limbs has never been addressed before.

Research question

How are organized muscle activation patterns in unilateral skipping? Are they organized in the same way that in symmetrical gaits? If yes, which are the muscle activation patterns in skipping that make it a different gait to walking or running? In the present research, we investigate if there are shared control strategies for all gaits in locomotion. Addressing these questions in terms of muscle synergies could suggest possible determinants of the scarce use of unilateral skipping in humans.

Methods

Electromyographic data of fourteen bilateral muscles were collected from volunteers while performing walking, running and unilateral skipping on a treadmill. Also, spatiotemporal gait parameters were computed from 3D kinematics. The modular composition and activation timing extracted by non-negative matrix factorization were analyzed to detect similarities and differences among symmetrical gaits and unilateral skipping.

Results

Synergy modules showed high similarity throughout the different gaits and between trailing and leading limbs during unilateral skipping. The synergy associated with the propulsion force operated by calf muscles was anticipated in bouncing gaits. Temporal features of synergies in the leading leg were very similar to those observed for running. The different role of trailing and leading legs in unilateral skipping was reflected by the different timing in two modules. Activation for weight acceptance was anticipated and extended in the trailing leg, preparing the body for landing impact after the flight phase. A different behaviour was detected in the leading leg, which only deals with a pendular weight transference.

Significance

The evidence gathered in this work supports the hypothesis of shared modules among symmetrical and asymmetrical gaits, suggesting a common motor control despite of the infrequent use of unilateral skipping in humans. Unilateral skipping results from phase-shifted activation of similar muscular groups used in symmetrical gaits, without the need for new muscular groups. The high and anticipated muscle activation in the trailing leg for landing could be the key distinctive event of unilateral skipping.

Muscle Synergy of Lower Limb Motion in Subjects with and without Knee Pathology

Surface electromyography (sEMG) has great potential in investigating the neuromuscular mechanism for knee pathology. However, due to the complex nature of neural control in lower limb motions and the divergences in subjects’ health and habits, it is difficult to directly use the raw sEMG signals to establish a robust sEMG analysis system. To solve this, muscle synergy analysis based on non-negative matrix factorization (NMF) of sEMG is carried out in this manuscript. The similarities of muscle synergy of subjects with and without knee pathology performing three different lower limb motions are calculated. Based on that, we have designed a classification method for motion recognition and knee pathology diagnosis. First, raw sEMG segments are preprocessed and then decomposed to muscle synergy matrices by NMF. Then, a two-stage feature selection method is executed to reduce the dimension of feature sets extracted from aforementioned matrices. Finally, the random forest classifier is adopted to identify motions or diagnose knee pathology. The study was conducted on an open dataset of 11 healthy subjects and 11 patients. Results show that the NMF-based sEMG classifier can achieve good performance in lower limb motion recognition, and is also an attractive solution for clinical application of knee pathology diagnosis.

Muscle Synergies in Children Walking and Running on a Treadmill

Muscle synergies reflect the presence of a common neural input to multiple muscles. Steering small sets of synergies is commonly believed to simplify the control of complex motor tasks like walking and running. When these locomotor patterns emerge, it is likely that synergies emerge as well. We hence hypothesized that in children learning to run the number of accompanying synergies increases and that some of the synergies' activities display a temporal shift related to a reduced stance phase as observed in adults. We investigated the development of locomotion in 23 children aged 2-9 years of age and compared them with seven young adults. Muscle activity of 15 bilateral leg, trunk, and arm muscles, ground reaction forces, and kinematics were recorded during comfortable treadmill walking and running, followed by a muscle synergy analysis. We found that toddlers (2-3.5 years) and preschoolers (3.5-6.5 years) utilize a "walk-run strategy" when learning to run: they managed the fastest speeds on the treadmill by combining double support (DS) and flight phases (FPs). In particular the activity duration of the medial gastrocnemius muscle was weakly correlated with age. The number of synergies across groups and conditions needed to cover sufficient data variation ranged between four and eight. The number of synergies tended to be smaller in toddlers than it did in preschoolers and school-age children but the adults had the lowest number for both conditions. Against our expectations, the age groups did not differ significantly in the timing or duration of synergies. We believe that the increase in the number of muscle synergies in older children relates to motor learning and exploration. The ability to run with a FP is clearly associated with an increase in the number of muscle synergies.

Neuromuscular Control before and after Independent Walking Onset in Children with Cerebral Palsy

Early brain lesions which produce cerebral palsy (CP) may affect the development of walking. It is unclear whether or how neuromuscular control, as evaluated by muscle synergy analysis, differs in young children with CP compared to typically developing (TD) children with the same walking ability, before and after the onset of independent walking. Here we grouped twenty children with (high risk of) CP and twenty TD children (age 6.5–52.4 months) based on their walking ability, supported or independent walking. Muscle synergies were extracted from electromyography data of bilateral leg muscles using non-negative matrix factorization. Number, synergies’ structure and variability accounted for when extracting one (VAF₁) or two (VAF₂) synergies were compared between CP and TD. Children in the CP group recruited fewer synergies with higher VAF₁ and VAF₂ compared to TD children in the supported and independent walking group. The most affected side in children with asymmetric CP walking independently recruited fewer synergies with higher VAF₁ compared to the least affected side. Our findings suggest that early brain lesions result in early alterations of neuromuscular control, specific for the most affected side in asymmetric CP.

The Impact of Sex and Performance Level on Pacing Behavior in a 24-h Ultramarathon

Purpose: We analyzed the impact of sex, performance level and substantial speed reductions (SSR) on pacing in the VI Rio 24-h Marines Ultramarathon. This will provide insights into the importance of minimizing speed variations in relation to optimal pacing in endurance events.

Methods: Runners (30 males and 21 females), classified as high- (HP) and low-performance (LP) ran the race while having their time recorded every 400 m. The pacing was analyzed as the first 10% (initial epoch), the following 80% (intermediate epoch) and the last 10% of the race (final epoch). The time percentage spent at speeds <3.5 km·h⁻¹ (SSR), 3.5 to 5.9 km·h⁻¹ (walking speed), 6.0 to 8.0 km·h⁻¹ (walk-to-running transition speed) and > 8.0 km·h⁻¹ (running speed) was calculated.

Results: Runners showed a reverse J-shaped pacing (P < 0.001) regardless of sex and performance level, although male (P < 0.004) and HP runners (P < 0.001) have preserved a higher mean speed throughout the race. Male and HP runners spent more time at running speed (P < 0.001) and less time at SSR (P < 0.001) than female and LP runners. Total distance was inversely correlated with the number of SSR and speed CV in male (r = −0.47 and r = −0.64, respectively) and female (r = −0.61 and r = −0.47, respectively).

Conclusion: Male, HP runners showed less SSR, conserving a higher mean speed with less variation throughout the race. Results suggest that conservative pacing strategies, with lower speeds in the beginning and higher speeds toward the end, may be the most adequate for different endurance running disciplines. Results also show different competition dynamics between men and women, which warrants further exploration in ultramarathons as well as other IAAF events.

Usefulness of Muscle Synergy Analysis in Individuals With Knee Osteoarthritis During Gait

OBJECTIVE

To clarify whether there are any muscle synergy changes in individuals with knee osteoarthritis, and to determine whether muscle synergy analysis could be applied to other musculoskeletal diseases.

METHODS

Subjects in this study included 11 young controls (YC), 10 elderly controls (EC), and 10 knee osteoarthritis patients (KOA). Gait was assessed on a split-belt treadmill at 3 km/h. A non-negative matrix factorization (NNMF) was applied to the electromyogram data matrix to extract muscle synergies. To assess the similarity of each module, we performed the NNMF analysis assuming four modules for all of the participants. Further, we calculated joint angles to compare the kinematic data between the module groups.

RESULTS

The number of muscle modules was significantly lower in the EC (2-3) and KOA (2-3) groups than in the YC group (3-4), which reflects the merging of late swing and early stance modules. The EC and KOA groups also showed greater knee flexion angles in the early stance phase. Contrarily, by focusing on the module structure, we found that the merging of early and late stance modules is characteristic in KOA.

CONCLUSION

The lower number of modules in the EC and KOA groups was due to the muscle co-contraction with increased knee flexion angle. Contrarily, the merging of early and late stance modules are modular structures specific to KOA and may be biomarkers for detecting KOA.

SIGNIFICANCE

Describing the changes in multiple muscle control associated with musculoskeletal degeneration can serve as a fundamental biomarker in joint disease.

Network Physiology of Cortico-Muscular Interactions

Skeletal muscle activity is continuously modulated across physiologic states to provide coordination, flexibility and responsiveness to body tasks and external inputs. Despite the central role the muscular system plays in facilitating vital body functions, the network of brain-muscle interactions required to control hundreds of muscles and synchronize their activation in relation to distinct physiologic states has not been investigated. Recent approaches have focused on general associations between individual brain rhythms and muscle activation during movement tasks. However, the specific forms of coupling, the functional network of cortico-muscular coordination, and how network structure and dynamics are modulated by autonomic regulation across physiologic states remains unknown. To identify and quantify the cortico-muscular interaction network and uncover basic features of neuro-autonomic control of muscle function, we investigate the coupling between synchronous bursts in cortical rhythms and peripheral muscle activation during sleep and wake. Utilizing the concept of time delay stability and a novel network physiology approach, we find that the brain-muscle network exhibits complex dynamic patterns of communication involving multiple brain rhythms across cortical locations and different electromyographic frequency bands. Moreover, our results show that during each physiologic state the cortico-muscular network is characterized by a specific profile of network links strength, where particular brain rhythms play role of main mediators of interaction and control. Further, we discover a hierarchical reorganization in network structure across physiologic states, with high connectivity and network link strength during wake, intermediate during REM and light sleep, and low during deep sleep, a sleep-stage stratification that demonstrates a unique association between physiologic states and cortico-muscular network structure. The reported empirical observations are consistent across individual subjects, indicating universal behavior in network structure and dynamics, and high sensitivity of cortico-muscular control to changes in autonomic regulation, even at low levels of physical activity and muscle tone during sleep. Our findings demonstrate previously unrecognized basic principles of brain-muscle network communication and control, and provide new perspectives on the regulatory mechanisms of brain dynamics and locomotor activation, with potential clinical implications for neurodegenerative, movement and sleep disorders, and for developing efficient treatment strategies.

Phase dependent modulation of cortical activity during action observation and motor imagery of walking: An EEG study

Action observation (AO) and motor imagery (MI) are motor simulations which induce cortical activity related to execution of observed and imagined movements. Neuroimaging studies have mainly investigated where the cortical activities during AO and MI of movements are activated and if they match those activated during execution of the movements. However, it remains unclear how cortical activity is modulated; in particular, whether activity depends on observed or imagined phases of movements. We have previously examined the neural mechanisms underlying AO and MI of walking, focusing on the combined effect of AO with MI (AO+MI) and phase dependent modulation of corticospinal and spinal reflex excitability. Here, as a continuation of our previous studies, we investigated cortical activity depending on gait phases during AO and AO+MI of walking by using electroencephalography (EEG); 64-channel EEG signals were recorded in which participants observed walking with or without imagining it, respectively. EEG source and spectral analyses showed that, in the sensorimotor cortex during AO+MI and AO, the alpha and beta power were decreased, and power spectral modulations depended on walking phases. The phase dependent modulations during AO+MI, but not during AO, were like those which occur during actual walking as reported by previous walking studies. These results suggest that combinatory effects of AO+MI could induce parts of the phase dependent activation of the sensorimotor cortex during walking even without any movements. These findings would extend understanding of the neural mechanisms underlying walking and cognitive motor processes and provide clinically beneficial information towards rehabilitation for patients with neurological gait dysfunctions.

Speed- and mode-dependent modulation of the center of mass trajectory in human gaits as revealed by Lissajous curves

The central nervous system (CNS) achieves a stable gait at several speeds and modes while controlling diverse instability. An essential feature of a gait is the motion of the center of body mass (CoM). CoM motion is at larger risk for trespassing the base of support in the mediolateral direction than in the anteroposterior direction. How the CoM trajectory in the frontal plane changes depending on the speed or mode can thus provide insights about the neural control of stable gaits. Here, we reveal the speed- and mode-dependent modulations of the trajectory by utilizing a Lissajous curve. The current study clarifies that speed-dependent modulations are evident in walking. Between walking and running, there were significant mode-dependent modulations. In contrast, there were no significant speed-dependent modulations during running. Deviations from standard tendencies quantified via Lissajous curve fitting could be a sign of gait impairments and recovery after treatments.

Plasticity of muscle synergies through fractionation and merging during development and training of human runners

Complex motor commands for human locomotion are generated through the combination of motor modules representable as muscle synergies. Recent data have argued that muscle synergies are inborn or determined early in life, but development of the neuro-musculoskeletal system and acquisition of new skills may demand fine-tuning or reshaping of the early synergies. We seek to understand how locomotor synergies change during development and training by studying the synergies for running in preschoolers and diverse adults from sedentary subjects to elite marathoners, totaling 63 subjects assessed over 100 sessions. During development, synergies are fractionated into units with fewer muscles. As adults train to run, specific synergies coalesce to become merged synergies. Presences of specific synergy-merging patterns correlate with enhanced or reduced running efficiency. Fractionation and merging of muscle synergies may be a mechanism for modifying early motor modules (Nature) to accommodate the changing limb biomechanics and influences from sensorimotor training (Nurture).

Will the Foot Strike Pattern Change at Different Running Speeds with or without Wearing Shoes?

Runners strike their feet with three different patterns during running: forefoot, midfoot, and rearfoot. This study aimed to investigate whether runners maintain consistent patterns while running speed and foot condition change. The foot strike patterns of runners when running on a treadmill at paces ranging from slow to fast were recorded from twenty healthy male regular runners, with and without shoes, in random order. A high-speed camera was used to observe the strike patterns, which were then categorized by an experienced physical therapist. Linear-log and Pearson chi-square analysis with a significance level of α = 0.05 was performed to examine the correlation between foot strike pattern, running speed, and shoe conditions. The results suggest that runners strike with different patterns when running with and without shoes (χ² = 99.07, p < 0.01); runners preferred to adopt heel strike regardless of running speeds when running with shoes. While running barefoot, only 23.8% of landing strikes were rearfoot, and the strike pattern distribution did not change significantly with the running speed (χ² = 2.26, p = 0.89). In summary, the foot strike preference of runners is correlated with the foot condition (barefoot or shod) rather than running speed. For runners who intend to change their strike patterns for any reason, we recommend that they consider adjusting their footwear, which may naturally help with the foot strike adjustment. Future studies should attempt to use advanced techniques to observe further foot biomechanics in order to discover if changing strike pattern is directly correlated with lower limb injuries.

Muscle Synergies and Coherence Networks Reflect Different Modes of Coordination During Walking

When walking speed is increased, the frequency ratio between the arm and leg swing switches spontaneously from 2:1 to 1:1. We examined whether these switches are accompanied by changes in functional connectivity between multiple muscles. Subjects walked on a treadmill with their arms swinging along their body while kinematics and surface electromyography (EMG) of 26 bilateral muscles across the body were recorded. Walking speed was varied from very slow to normal. We decomposed EMG envelopes and intermuscular coherence spectra using non-negative matrix factorization (NMF), and the resulting modes were combined into multiplex networks and analyzed for their community structure. We found five relevant muscle synergies that significantly differed in activation patterns between 1:1 and 2:1 arm-leg coordination and the transition period between them. The corresponding multiplex network contained a single module indicating pronounced muscle co-activation patterns across the whole body during a gait cycle. NMF of the coherence spectra distinguished three EMG frequency bands: 4-8, 8-22, and 22-60 Hz. The community structure of the multiplex network revealed four modules, which clustered functional and anatomical linked muscles across modes of coordination. Intermuscular coherence at 4-22 Hz between upper and lower body and within the legs was particularly pronounced for 1:1 arm-leg coordination and was diminished when switching between modes of coordination. These findings suggest that the stability of arm-leg coordination is associated with modulations in long-distant neuromuscular connectivity.

Muscle Synergies During Walking in Children With Cerebral Palsy: A Systematic Review

Background: Walking problems in children with cerebral palsy (CP) can in part be explained by limited selective motor control. Muscle synergy analysis is increasingly used to quantify altered neuromuscular control during walking. The early brain injury in children with CP may lead to a different development of muscle synergies compared to typically developing (TD) children, which might characterize the abnormal walking patterns.

Objective: The overarching aim of this review is to give an overview of the existing studies investigating muscle synergies during walking in children with CP compared to TD children. The main focus is on how muscle synergies differ between children with CP and TD children, and we examine the potential of muscle synergies as a measure to quantify and predict treatment outcomes.

Methods: Bibliographic databases were searched by two independent reviewers up to 22 April 2019. Studies were included if the focus was on muscle synergies of the lower limbs during walking, obtained by a matrix factorization algorithm, in children with CP.

Results: The majority (n = 12) of the 16 included studies found that children with CP recruited fewer muscle synergies during walking compared to TD children, and several studies (n = 8) showed that either the spatial or temporal structure of the muscle synergies differed between children with CP and TD children. Variability within and between subjects was larger in children with CP than in TD children, especially in more involved children. Muscle synergy characteristics before treatments to improve walking function could predict treatment outcomes (n = 3). Only minimal changes in synergies were found after treatment.

Conclusions: The findings in this systematic review support the idea that children with CP use a simpler motor control strategy compared to TD children. The use of muscle synergy analysis as a clinical tool to quantify altered neuromuscular control and predict clinical outcomes seems promising. Further investigation on this topic is necessary, and the use of muscle synergies as a target for development of novel therapies in children with CP could be explored.

Emergence of Different Gaits in Infancy: Relationship Between Developing Neural Circuitries and Changing Biomechanics

How does gait-specific pattern generation evolve in early infancy? The idea that neural and biomechanical mechanisms underlying mature walking and running differ to some extent and involve distinct spinal and supraspinal neural circuits is supported by various studies. Here we consider the issue of human gaits from the developmental point of view, from neonate stepping to adult mature gaits. While differentiating features of the walk and run are clearly distinct in adults, the gradual and progressive developmental bifurcation between the different gaits suggests considerable sharing of circuitry. Gaits development and their biomechanical determinants also depend on maturation of the musculoskeletal system. This review outlines the possible overlap in the neural and biomechanical control of walking and running in infancy, supporting the idea that gaits may be built starting from common, likely phylogenetically conserved elements. Bridging connections between movement mechanics and neural control of locomotion could have profound clinical implications for technological solutions to understand better locomotor development and to diagnose early motor deficits. We also consider the neuromuscular maturation time frame of gaits resulting from active practice of locomotion, underlying plasticity of development.

Behavioral Characterization of dmrt3a Mutant Zebrafish Reveals Crucial Aspects of Vertebrate Locomotion through Phenotypes Related to Acceleration

Vertebrate locomotion is orchestrated by spinal interneurons making up a central pattern generator. Proper coordination of activity, both within and between segments, is required to generate the desired locomotor output. This coordination is altered during acceleration to ensure the correct recruitment of muscles for the chosen speed. The transcription factor Dmrt3 has been proposed to shape the patterned output at different gaits in horses and mice.

Vertebrate locomotion is orchestrated by spinal interneurons making up a central pattern generator. Proper coordination of activity, both within and between segments, is required to generate the desired locomotor output. This coordination is altered during acceleration to ensure the correct recruitment of muscles for the chosen speed. The transcription factor Dmrt3 has been proposed to shape the patterned output at different gaits in horses and mice. Here, we characterized dmrt3a mutant zebrafish, which showed a strong, transient, locomotor phenotype in developing larvae. During beat-and-glide swimming, mutant larvae showed fewer and shorter movements with decreased velocity and acceleration. Developmental compensation likely occurs as the analyzed behaviors did not differ from wild-type at older larval stages. However, analysis of maximum swim speed in juveniles suggests that some defects persist within the mature locomotor network of dmrt3a mutants. Our results reveal the pivotal role Dmrt3 neurons play in shaping the patterned output during acceleration in vertebrates.

Muscle synergy for upper limb damping behavior during object transport while walking in healthy young individuals

Transporting an object during locomotion is one of the most common activities humans perform. Previous studies have shown that continuous and predictive control of grip force, along with the inertial load force of the object, is required to complete this task successfully. Another possible CNS strategy to ensure the dynamic stability of the upper limb is to modify the apparent stiffness and damping via altered muscle activation patterns. In this study, the term damping was used to describe a reduction in upper limb vertical oscillation amplitude to maintain the orientation of the hand-held object. The goal of this study was to identify the neuromuscular strategy for controlling the upper limb during object transport while walking. Three-dimensional kinematic and surface electromyography (EMG) data were recorded from eight, right-handed, healthy young adults who were instructed to walk on a treadmill while carrying an object in their dominant/non-dominant hand, with dominant/non-dominant arm positioning but without an object, and without any object or instructed arm-positioning. EMG recordings from the dominant and non-dominant arms were decomposed separately into underlying muscle synergies using non-negative matrix factorization (NNMF). Results revealed that the dominant arm showed higher damping compared to the non-dominant arm. All muscles showed higher mean levels of activation during object transport except for posterior deltoid (PD), with activation peaks occurring around or slightly before heel contact. The muscle synergy analysis revealed an anticipatory stabilization of the shoulder and elbow joints through a proximal-to-distal muscle activation pattern. These activations appear to play an essential role in maintaining the stability of the carried object in addition to the adjustment of grip force against the perturbations caused by heel contact during walking.

Speed-dependent and mode-dependent modulations of spatiotem-poral modules in human locomotion extracted via tensor decom-position

How the central nervous system (CNS) controls many joints and muscles is a fundamental question in motor neuroscience and related research areas. An attractive hypothesis is the module hypothesis: the CNS controls groups of joints or muscles (i.e., spatial modules) by providing time-varying motor commands (i.e., temporal modules) to the spatial modules rather than controlling each joint or muscle separately. Another fundamental question is how the CNS generates numerous repertoires of movement patterns. One hypothesis is that the CNS modulates the spatial and/or temporal modules depending on the required tasks. It is thus essential to quantify the spatial modules, the temporal modules, and the task-dependent modulation of these modules. Although previous attempts at such quantification have been made, they considered modulation either only in spatial modules or only in temporal modules. These limitations may be attributable to the constraints inherent to conventional methods for quantifying the spatial and temporal modules. Here, we demonstrate the effectiveness of tensor decomposition in quantifying the spatial modules, the temporal modules, and the task-dependent modulation of these modules without such limitations. We further demonstrate that tensor decomposition offers a new perspective on the task-dependent modulation of spatiotemporal modules: in switching from walking to running, the CNS modulates the peak timing in the temporal modules while recruiting more proximal muscles in the corresponding spatial modules.

A Novel Square-Stepping Exercise Program for Older Adults (StepIt): Rationale and Implications for Falls Prevention

The ability to effectively execute compensatory steps is critical for preventing accidental falls, and consequently stepping training is an essential ingredient of fall prevention programs. In this paper, we propose a concept for stepping training that aims to maximize training effects by taking into account recent research evidence and a precise dosing of training ingredients. The concept addresses motor as well as cognitive falls-related aspects, it is suitable for individual as well as group based training, and it does not require costly equipment. Theory and evidence behind all of the training principles is reviewed, and an example of an exercise protocol is described in detail. Participants are presented with stepping patterns which they have to memorize and implement on a mat. In order to enable investigation of dose-response effects, the difficulty level systematically and gradually increases session by session based on four principles: execution speed, pattern complexity, pattern length and execution in dual-/multi-tasking conditions. The presented concept can be used as a framework for the development of further prevention and/or rehabilitation stepping exercise programs. Further studies using this exercise regimen or modified versions of it are encouraged.

Variant and Invariant Spatiotemporal Structures in Kinematic Coordination to Regulate Speed During Walking and Running

Humans walk, run, and change their speed in accordance with circumstances. These gaits are rhythmic motions generated by multi-articulated movements, which have specific spatiotemporal patterns. The kinematic characteristics depend on the gait and speed. In this study, we focused on the kinematic coordination of locomotor behavior to clarify the underlying mechanism for the effect of speed on the spatiotemporal kinematic patterns for each gait. In particular, we used seven elevation angles for the whole-body motion and separated the measured data into different phases depending on the foot-contact condition, that is, single-stance phase, double-stance phase, and flight phase, which have different physical constraints during locomotion. We extracted the spatiotemporal kinematic coordination patterns with singular value decomposition and investigated the effect of speed on the coordination patterns. Our results showed that most of the whole-body motion could be explained by only two sets of temporal and spatial coordination patterns in each phase. Furthermore, the temporal coordination patterns were invariant for different speeds, while the spatial coordination patterns varied. These findings will improve our understanding of human adaptation mechanisms to tune locomotor behavior for changing speed.

Cortical Correlates of Locomotor Muscle Synergy Activation in Humans: An Electroencephalographic Decoding Study

Muscular control during walking is believed to be simplified by the coactivation of muscles called muscle synergies. Although significant corticomuscular connectivity during walking has been reported, the level at which the cortical activity is involved in muscle activity (muscle synergy or individual muscle level) remains unclear. Here we examined cortical correlates of muscle activation during walking by brain decoding of activation of muscle synergies and individual muscles from electroencephalographic signals. We demonstrated that the activation of locomotor muscle synergies was decoded from slow cortical waves. In addition, the decoding accuracy for muscle synergies was greater than that for individual muscles and the decoding of individual muscle activation was based on muscle-synergy-related cortical information. These results indicate the cortical correlates of locomotor muscle synergy activation. These findings expand our understanding of the relationships between brain and locomotor muscle synergies and could accelerate the development of effective brain-machine interfaces for walking rehabilitation.

Walking speed is not the best outcome to evaluate the effect of robotic assisted gait training in people with motor incomplete Spinal Cord Injury: A Systematic Review with meta-analysis

CONTEXT

While there are previous systematic reviews on the effectiveness of the use of robotic-assisted gait training (RAGT) in people with spinal cord injuries (SCI), as this is a dynamic field, new studies have been produced that are now incorporated on this systematic review (SR) with meta-analysis, updating the available evidence on this area.

OBJECTIVE

To synthesise the available evidence on the use of RAGT, to improve gait, strength and functioning.

METHODS

SR and meta-analysis following the Cochrane Handbook for Systematic Reviews of Interventions were implemented. Cochrane Injuries Group Specialized Register, PubMed, MEDLINE, EMBASE, CINAHL, ISIWeb of Science (SCIEXPANDED) databases were reviewed for the period 1990 to December 2016. Three researchers independently identified and categorized trials; 293 studies were identified, 273 eliminated; remaining 15 randomized clinical trials (RCT) and five SR. Six studies had available data for meta-analysis (222 participants).

RESULTS

The pooled mean demonstrated a beneficial effect of RAGT for WISCI, FIM-L and LEMS (3.01, 2.74 and 1.95 respectively), and no effect for speed.

CONCLUSIONS

The results show a positive effect in the use of RAGT. However, this should be taken carefully due to heterogeneity of the studies, small samples and identified limitations of some of the included trials. These results highlight the relevance of implementing a well-designed multicenter RCT powered enough to evaluate different RAGT approaches.

Neuromusculoskeletal model that walks and runs across a speed range with a few motor control parameter changes based on the muscle synergy hypothesis

Humans walk and run, as well as change their gait speed, through the control of their complicated and redundant musculoskeletal system. These gaits exhibit different locomotor behaviors, such as a double-stance phase in walking and flight phase in running. The complex and redundant nature of the musculoskeletal system and the wide variation in locomotion characteristics lead us to imagine that the motor control strategies for these gaits, which remain unclear, are extremely complex and differ from one another. It has been previously proposed that muscle activations may be generated by linearly combining a small set of basic pulses produced by central pattern generators (muscle synergy hypothesis). This control scheme is simple and thought to be shared between walking and running at different speeds. Demonstrating that this control scheme can generate walking and running and change the speed is critical, as bipedal locomotion is dynamically challenging. Here, we provide such a demonstration by using a motor control model with 69 parameters developed based on the muscle synergy hypothesis. Specifically, we show that it produces both walking and running of a human musculoskeletal model by changing only seven key motor control parameters. Furthermore, we show that the model can walk and run at different speeds by changing only the same seven parameters based on the desired speed. These findings will improve our understanding of human motor control in locomotion and provide guiding principles for the control design of wearable exoskeletons and prostheses.

Lower Local Dynamic Stability and Invariable Orbital Stability in the Activation of Muscle Synergies in Response to Accelerated Walking Speeds

In order to achieve flexible and smooth walking, we must accomplish subtasks (e. g., loading response, forward propulsion or swing initiation) within a gait cycle. To evaluate subtasks within a gait cycle, the analysis of muscle synergies may be effective. In the case of walking, extracted sets of muscle synergies characterize muscle patterns that relate to the subtasks within a gait cycle. Although previous studies have reported that the muscle synergies of individuals with disorders reflect impairments, a way to investigate the instability in the activations of muscle synergies themselves has not been proposed. Thus, we investigated the local dynamic stability and orbital stability of activations of muscle synergies across various walking speeds using maximum Lyapunov exponents and maximum Floquet multipliers. We revealed that the local dynamic stability in the activations decreased with accelerated walking speeds. Contrary to the local dynamic stability, the orbital stability of the activations was almost constant across walking speeds. In addition, the increasing rates of maximum Lyapunov exponents were different among the muscle synergies. Therefore, the local dynamic stability in the activations might depend on the requirement of motor output related to the subtasks within a gait cycle. We concluded that the local dynamic stability in the activation of muscle synergies decrease as walking speed accelerates. On the other hand, the orbital stability is sustained across broad walking speeds.

Modular Control of Human Movement During Running: An Open Access Data Set

The human body is an outstandingly complex machine including around 1000 muscles and joints acting synergistically. Yet, the coordination of the enormous amount of degrees of freedom needed for movement is mastered by our one brain and spinal cord. The idea that some synergistic neural components of movement exist was already suggested at the beginning of the 20th century. Since then, it has been widely accepted that the central nervous system might simplify the production of movement by avoiding the control of each muscle individually. Instead, it might be controlling muscles in common patterns that have been called muscle synergies. Only with the advent of modern computational methods and hardware it has been possible to numerically extract synergies from electromyography (EMG) signals. However, typical experimental setups do not include a big number of individuals, with common sample sizes of 5 to 20 participants. With this study, we make publicly available a set of EMG activities recorded during treadmill running from the right lower limb of 135 healthy and young adults (78 males and 57 females). Moreover, we include in this open access data set the code used to extract synergies from EMG data using non-negative matrix factorization (NMF) and the relative outcomes. Muscle synergies, containing the time-invariant muscle weightings (motor modules) and the time-dependent activation coefficients (motor primitives), were extracted from 13 ipsilateral EMG activities using NMF. Four synergies were enough to describe as many gait cycle phases during running: weight acceptance, propulsion, early swing, and late swing. We foresee many possible applications of our data that we can summarize in three key points. First, it can be a prime source for broadening the representation of human motor control due to the big sample size. Second, it could serve as a benchmark for scientists from multiple disciplines such as musculoskeletal modeling, robotics, clinical neuroscience, sport science, etc. Third, the data set could be used both to train students or to support established scientists in the perfection of current muscle synergies extraction methods. All the data is available at Zenodo (doi: 10.5281/zenodo.1254380).

The modulation of locomotor speed is maintained following partial denervation of ankle extensors in spinal cats

Speed modulation requires spatiotemporal adjustments and altered neural drive to different muscles. The loss of certain muscles produces changes in the locomotor pattern and functional compensation. However, how the loss of specific muscles affects speed modulation has not been specifically investigated. Here, we denervated the lateral gastrocnemius and soleus muscles unilaterally in seven cats that had recovered hindlimb locomotion following complete spinal transection (spinal cats). Hindlimb locomotion was tested at 10 speeds, from 0.1 to 1.0 m/s, before, 1-2 days, and 1-8 wk after denervation. Six of seven cats performed hindlimb locomotion 1-2 days postdenervation at all speeds, with the exception of two out of those six cats that did not perform stable stepping at 0.9 and 1.0 m/s. All seven cats performed hindlimb locomotion 1-8 wk postdenervation at all speeds. In some cats, at 1-2 days postdenervation, the ipsilateral hindlimb performed more steps than the contralateral hindlimb, particularly at slow speeds. This 2:1 coordination disappeared over time. In three cats, the linear increase in the amplitude of the electromyography of the ipsilateral medial gastrocnemius was reduced with increasing speed early after denervation before recovering later on. Overall, the results indicate that spinal circuits interacting with sensory feedback from the hindlimbs compensate for the partial loss of ankle extensors, retaining the ability to modulate locomotor speed. NEW & NOTEWORTHY We investigated speed modulation after denervating 2 ankle extensors unilaterally at 10 treadmill speeds in spinal-transected cats. Although we observed new forms of left-right coordination and changes in muscle activity of a remaining synergist, modulation of spatiotemporal variables with increasing speed was largely maintained after denervation. The results indicate that spinal locomotor centers interacting with sensory feedback compensate for the loss of ankle extensors, allowing speed modulation.

Kinematic patterns while walking on a slope at different speeds

During walking, the elevation angles of the thigh, shank, and foot (i.e., the angle between the segment and the vertical) covary along a characteristic loop constrained on a plane. Here, we investigate how the shape of the loop and the orientation of the plane, which reflect the intersegmental coordination, change with the slope of the terrain and the speed of progression. Ten subjects walked on an inclined treadmill at different slopes (between -9° and +9°) and speeds (from 0.56 to 2.22 m/s). A principal component analysis was performed on the covariance matrix of the thigh, shank, and foot elevation angles. At each slope and speed, the variance accounted for by the two principal components was >99%, indicating that the planar covariation is maintained. The two principal components can be associated to the limb orientation (PC1*) and the limb length (PC2*). At low walking speeds, changes in the intersegmental coordination across slopes are characterized mainly by a change in the orientation of the covariation plane and in PC2* and to a lesser extent, by a change in PC1*. As speed increases, changes in the intersegmental coordination across slopes are more related to a change in PC1 *, with limited changes in the orientation of the plane and in PC 2*. Our results show that the kinematic patterns highly depend on both slope and speed. NEW & NOTEWORTHY In this paper, changes in the lower-limb intersegmental coordination during walking with slope and speed are linked to changes in the trajectory of the body center of mass. Modifications in the kinematic pattern with slope depend on speed: at slow speeds, the net vertical displacement of the body during each step is related to changes in limb length and orientation. When speed increases, the vertical displacement is mostly related to a change in limb orientation.

Muscle synergies are consistent across level and uphill treadmill running

This study aimed to identify muscle synergies of the lower limb during treadmill running on level and inclined ground. Eight subjects ran on a treadmill at three speeds (2.5, 3.3, and 4.1 m/s) and two grades (level and 10% grade). Surface electromyographic (EMG) signals were recorded from 10 muscles of the lower limb, including deeper muscles such as vastus intermedius, adductor magnus, and adductor longus. Muscle synergies were extracted applying a non-negative matrix factorization algorithm, and relative co-activations across muscles and the temporal recruitment pattern were identified by muscle synergy vector and synergy activation coefficient, respectively. The scalar product between pairs of synergy vectors and synergy activation coefficients during level and uphill running conditions were analyzed as a similarity index, with values above 0.8 recognized as similar. Approximately 4 muscle synergies controlled the majority of variability in 10 EMGs during running, and were common between level and uphill conditions. At each running speed, inter-condition similarity was observed in synergy vector (r > 0.83) and synergy activation coefficients (r > 0.84) at each type of synergy. These results suggest that types of synergy are consistent between level and uphill running.

Velocity-dependent transfer of adaptation in human running as revealed by split-belt treadmill adaptation

Animal studies demonstrate that the neural mechanisms underlying locomotion are specific to the modes and/or speeds of locomotion. In line with animal results, human locomotor adaptation studies, particularly those focusing on walking, have revealed limited transfers of adaptation among movement contexts including different locomotion speeds. Running is another common gait that humans utilize in their daily lives and is distinct from walking in terms of the underlying neural mechanisms. The present study employed an adaptation paradigm on a split-belt treadmill to examine the possible independence of neural mechanisms mediating different running speeds. The adaptations learned with split-belt running resulted in aftereffects with magnitudes that varied in a speed-dependent matter. In the two components of the ground reaction force investigated, the anterior braking and posterior propulsive components exhibited different trends. The anterior braking component tended to show larger aftereffect under speeds near the slower side speed of the previously experienced split-belt in contrast to the posterior propulsive component in which the aftereffect size tended to be the largest at a speed that corresponded to the faster side speed of the split-belt. These results show that the neural mechanisms underlying different running speeds in humans may be independent, just as in human walking and animal studies.