Predictive and reactive co-ordination of grip and load forces in bimanual lifting in man

Movement predictability modulates sensorimotor processing

Introduction

An important factor for optimal sensorimotor control is how well we are able to predict sensory feedback from internal and external sources during movement. If predictability decreases due to external disturbances, the brain is able to adjust muscle activation and the filtering of incoming sensory inputs. However, little is known about sensorimotor adjustments when predictability is increased by availability of additional internal feedback. In the present study we investigated how modifications of internal and external sensory feedback influence the control of muscle activation and gating of sensory input.

Methods

Co-activation of forearm muscles, somatosensory evoked potentials (SEP) and short afferent inhibition (SAI) were assessed during three object manipulation tasks designed to differ in the predictability of sensory feedback. These included manipulation of a shared object with both hands (predictable coupling), manipulation of two independent objects without (uncoupled) and with external interference on one of the objects (unpredictable coupling).

Results

We found a task-specific reduction in co-activation during the predictable coupling compared to the other tasks. Less sensory gating, reflected in larger subcortical SEP amplitudes, was observed in the unpredictable coupling task. SAI behavior was closely linked to the subcortical SEP component indicating an important function of subcortical sites in predictability related SEP gating and their direct influence on M1 inhibition.

Discussion

Together, these findings suggest that the unpredictable coupling task cannot only rely on predictive forward control and is compensated by enhancing co-activation and increasing the saliency for external stimuli by reducing sensory gating at subcortical level. This behavior might serve as a preparatory step to compensate for external disturbances and to enhance processing and integration of all incoming external stimuli to update the current sensorimotor state. In contrast, predictive forward control is accurate in the predictable coupling task due to the integrated sensory feedback from both hands where sensorimotor resources are economized by reducing muscular co-activation and increasing sensory gating.

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

BACKGROUND

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

METHOD

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

RESULTS

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

CONCLUSIONS

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

Effects of aging on rapid grip force responses during bimanual manipulation of an active object

Rapid grip force responses to unexpected pulling loads on the fingertips are deteriorated in older adults due to, in part, age-related declines in somatosensory function. Such reports are limited to one-hand conditions despite the higher frequency of using two hands together in daily living activities of older adults. Unexpected perturbations during bimanual movements elicit goal-oriented and cortically-meditated bilateral rapid motor responses. Since aging is associated with declined somatosensory and cognitive functions, we hypothesized that bilateral rapid motor responses differ between young and older adults, such that older adults exert stronger grip forces following perturbation and the unperturbed hand is more involved in stabilizing the object in older adults. We tested our hypothesis by comparing the rapid grip force responses of both hands in young and older adults. A total of 13 right-handed young individuals (24.2 ± 4.0 years old, 5 men) and 13 right-handed older individuals (68.7 ± 7.1 years old, 5 men) were recruited. Tactile detection threshold, fingertip friction, and the rapid grip force responses of both hands triggered by unpredicted pulling loads during grip-lift movements were assessed. Older adults had higher tactile detection thresholds and lower fingertip friction compared to young adults. Regardless of age, rapid motor responses were found in both the perturbed (right) hand and the indirectly perturbed (left) hand at 73 ms and 135 ms after the perturbation, respectively, while magnitudes of the responses depended on perturbation magnitudes. Higher values in maximum grip force and maximum grip force rate were found in older adults as compared to young adults. In older adults, the indirectly perturbed (left) hand was more involved in stabilizing the object as compared to young healthy adults. The current study suggests that age-related changes in the peripheral and central nervous systems contribute to the greater involvement of the indirectly perturbed hand in older adults.

Neural coordination of bilateral power and precision finger movements

The dexterity of hands and fingers is related to the strength of control by cortico-motoneuronal connections which exclusively exist in primates. The cortical command is associated with a task-specific, rapid proprioceptive adaptation of forces applied by hands and fingers to an object. This neural control differs between "power grip" movements (e.g., reach and grasp of a cup) where hand and fingers act as a unity and "precision grip" movements (e.g., picking up a raspberry) where fingers move independently from the hand. In motor tasks requiring hands and fingers of both sides a "neural coupling" (reflected in bilateral reflex responses to unilateral stimulations) coordinates power grip movements (e.g., opening a bottle). In contrast, during bilateral precision movements, such as playing piano, the fingers of both hands move independently, due to a direct cortico-motoneuronal control, while the hands are coupled (e.g., to maintain the rhythm between the two sides). While most studies on prehension concern unilateral hand movements, many activities of daily life are tackled by bilateral power grips where a neural coupling serves for an automatic movement performance. In primates this mode of motor control is supplemented by a system that enables the uni- or bilateral performance of skilled individual finger movements.

Differential neural coordination of bilateral hand and finger movements

Cooperative hand movements (e.g., opening a bottle) require a close coordination of the hands. This is reflected in a neural coupling between the two sides. The aim of this study was to investigate in how far neural coupling is present not only during bilateral hand but also during bilateral finger movements. For this purpose unilateral mechanical and electrical nerve stimuli were delivered during bilateral sequentially and synchronously performed finger movements on a keyboard and, for comparison, during bilateral hand flexion movements. Electromyographic (EMG) activity and reflex responses in forearm flexor and extensor muscles of both sides were recorded and analyzed. Confounding EMG activity related to hand movements during the finger task was limited by wrist fixating braces. During the hand flexion task, complex reflex responses appeared in the forearm muscles of both sides to unilateral stimulation of the ulnar nerve (mean latency 57 ms), reflecting neural coupling between the two hands. In contrast, during the bilateral finger movement task, unilateral electrical nerve or mechanical stimulation of the right index finger was followed by dominant ipsilateral reflex responses (latency 45 and 58 ms, respectively). The results indicate that in contrast to the coupled hand movements, finger movements may not be coupled but can move independently on each side. Functionally this makes sense because during most activities of daily living, a close cooperation of the hands but not of individual fingers is needed. This independence of individual finger movements may rely on strong, specific, contralateral cortico‐motoneuronal control.

Rapid crossed responses in an intrinsic hand muscle during perturbed bimanual movements

Mechanical perturbations in one upper limb often elicit corrective responses in both the perturbed as well as its contralateral and unperturbed counterpart. These crossed corrective responses have been shown to be sensitive to the bimanual requirements of the perturbation, but crossed responses (CRs) in hand muscles are far less well studied. Here, we investigate corrective CRs in an intrinsic hand muscle, the first dorsal interosseous (1DI), to clockwise and anticlockwise mechanical perturbations to the contralateral index finger while participants performed a bimanual finger abduction task. We found that the CRs in the unperturbed 1DI were sensitive to the direction of the perturbation of the contralateral index finger. However, the size of the CRs was not sensitive to the amplitude of the contralateral perturbation nor its context within the bimanual task. The onset latency of the CRs was too fast to be purely transcortical (<70 ms) in 12/12 participants. This confirms that during isolated bimanual finger movements, sensory feedback from one hand can influence the other, but the pathways mediating the earliest components of this interaction are likely to involve subcortical systems such as the brainstem or spinal cord, which may afford less flexibility to the task demands.NEW & NOTEWORTHY An intrinsic hand muscle shows a crossed response to a perturbation of the contralateral index finger. The crossed response is dependent on the direction of the contralateral perturbation but not on the amplitude or the bimanual requirements of the movement, suggesting a far less flexible control policy than those governing crossed responses in more proximal muscles. The crossed response is too fast to be purely mediated by transcortical pathways, suggesting subcortical contributions.

Bimanual coordination deficits in hands following stroke and their relationship with motor and functional performance

Background

Stroke can lead to movement disorders that affect interlimb coordination control of the bilateral upper extremities, especially the hands. However, few studies have investigated the influence of a stroke on bimanual force coordination control between the hands using a quantitative measurement tool, or the relationship of force coordination with paretic upper extremity motor and functional performance. We aimed to investigate these outcomes using a novel measurement device, and analyze the relationship of bimanual force coordination control deficits in both hands with motor and functional performances of the paretic upper extremity in stroke patients.

Methods

Sixteen healthy adults and 22 stroke patients were enrolled. A novel bilateral hand grip measurement device with two embedded dynamometers was used to evaluate the grip force during a bilateral hand grip-force coordination control task. The alternating time and force applied for coordination with the grip force of both hands were calculated to analyze control of bimanual grip force coordination. Motor and functional measurements included the upper-extremity portion of the Fugl-Meyer assessment (FMA-UE), Wolf Motor Function Test (WMFT), Motor Assessment Scale (MAS), and Barthel Index (BI).

Results

Compared with the healthy group, the alternating time from the non-paretic to the paretic hand was 27.6% shorter for stroke patients (p < 0.001). The grip force generated for coordination in the healthy group was significantly greater (30–59%) than that of the stroke group (p < 0.05), and the coefficients of variation of alternating time (p = 0.001) and force applied (p = 0.002) were significantly higher in the stroke group than the healthy group. The alternating time from the paretic to the non-paretic hand showed moderately significant correlations with the FMA-UE (r = − 0.533; p = 0.011), the WMFT (r = − 0.450; p = 0.036), and the BI (r = − 0.497; p = 0.019).

Conclusions

Stroke results in a decline in bimanual grip force generation and increases the alternating time for coordinating the two hands. A shorter alternating time is moderately to highly associated with enhanced motor and functional performances.

Hand forces and placement are modulated and covary during anticipatory control of bimanual manipulation

Dexterous object manipulation relies on the feedforward and feedback control of kinetics (forces) and kinematics (hand shaping and digit placement). Lifting objects with an uneven mass distribution involves the generation of compensatory moments at object lift-off to counter object torques. This is accomplished through the modulation and covariation of digit forces and placement, which has been shown to be a general feature of unimanual manipulation. These feedforward anticipatory processes occur before performance-specific feedback. Whether this adaptation is a feature unique to unimanual dexterous manipulation or general across unimanual and bimanual manipulation is not known. We investigated the generation of compensatory moments through hand placement and force modulation during bimanual manipulation of an object with variable center of mass. Participants were instructed to prevent object roll during the lift. Similar to unimanual grasping, we found modulation and covariation of hand forces and placement for successful performance. Thus this motor adaptation of the anticipatory control of compensatory moment is a general feature across unimanual and bimanual effectors. Our results highlight the involvement of high-level representation of manipulation goals and underscore a sensorimotor circuitry for anticipatory control through a continuum of force and placement modulation of object manipulation across a range of effectors.

NEW & NOTEWORTHY This is the first study, to our knowledge, to show that successful bimanual manipulation of objects with asymmetrical centers of mass is performed through the modulation and covariation of hand forces and placements to generate compensatory moments. Digit force-to-placement modulation is thus a general phenomenon across multiple effectors, such as the fingers of one hand, and both hands. This adds to our understanding of integrating low-level internal representations of object properties into high-level task representations.

Cooperative hand movements in post-stroke subjects: Neural reorganization

OBJECTIVE

Recent research indicates a task-specific neural coupling controlling cooperative hand movements reflected in bilateral electromyographic reflex responses in arm muscles following unilateral nerve stimulation. Reorganization of this mechanism was explored in post-stroke patients in this study.

METHODS

Electromyographic reflex responses in forearm muscles to unilateral electrical ulnar nerve stimulation were examined during cooperative and non-cooperative hand movements.

RESULTS

Stimulation of the unaffected arm during cooperative hand movements led to electromyographic responses in bilateral forearm muscles, similar to those seen in healthy subjects, while stimulation of the affected side was followed only by ipsilateral responses. No contralateral reflex responses could be evoked in severely affected patients. The presence of contralateral responses correlated with the clinical motor impairment as assessed by the Fugl-Meyer test.

CONCLUSION

The observations suggest that after stroke an impaired processing of afferent input from the affected side leads to a defective neural coupling and is associated with a greater involvement of fiber tracts from the unaffected hemisphere during cooperative hand movements.

SIGNIFICANCE

The mechanism of neural coupling underlying cooperative hand movements is shown to be defective in post-stroke patients. The neural re-organizations observed have consequences for the rehabilitation of hand function.

Neural coupling of cooperative hand movements: a reflex and fMRI study

The neural control of "cooperative" hand movements reflecting "opening a bottle" was explored in human subjects by electromyographic (EMG) and functional magnetic resonance imaging (fMRI) recordings. EMG responses to unilateral nonnoxious ulnar nerve stimulation were analyzed in the forearm muscles of both sides during dynamic movements against a torque applied by the right hand to a device which was compensated for by the left hand. For control, stimuli were applied while task was performed in a static/isometric mode and during bilateral synchronous pro-/supination movements. During the dynamic cooperative task, EMG responses to stimulations appeared in the right extensor and left flexor muscles, regardless of which side was stimulated. Under the control conditions, responses appeared only on the stimulated side. fMRI recordings showed a bilateral extra-activation and functional coupling of the secondary somatosensory cortex (S2) during the dynamic cooperative, but not during the control, tasks. This activation might reflect processing of shared cutaneous input during the cooperative task. Correspondingly, it is assumed that stimulation-induced unilateral volleys are processed in S2, leading to a release of EMG responses to both forearms. This indicates a task-specific neural coupling during cooperative hand movements, which has consequences for the rehabilitation of hand function in poststroke patients.

Weight-Perception-Based Novel Control of a Power-Assist Robot for the Cooperative Lifting of Light-Weight Objects

We developed a 1-DOF power assist robot system for lifting objects by two humans cooperatively. We hypothesized that weight perception due to inertia might be different from that due to gravity when lifting an object with power-assist because the perceived weight differs from the actual weight. The system was simulated and two humans cooperatively lifted objects with it. We analyzed human features such as weight perception, load forces, motions etc. We found that the robot reduced the perceived weights to 25% of the actual weights, and the load forces were 8 times larger than the actual requirements. The excessive load forces resulted in excessive accelerations that jeopardized the performances. We then implemented a novel control based on the human features, which was such that a virtual mass exponentially declined from a large value to a small one when subjects lifted objects with the robot and the command velocity exceeded a threshold. The novel control reduced excessive load forces and accelerations and thus enhanced performances in terms of maneuverability, safety etc. The findings may be used to develop power assist robots for manipulating heavy objects in industries that may augment human's abilities and skills and may improve interactions between robots and users.

Lack of predictive control in lifting series of virtual objects by individuals with diplegic cerebral palsy

To date, research on the motor control of hand function in cerebral palsy has focused on children with hemiplegia, although many persons with diplegic cerebral palsy (dCP) have asymmetrically decreased hand function. We explored the predictive capabilities of the motor system in a simple motor task of lifting a series of virtual objects for five persons with spastic dCP and five age-matched controls. When a person lifts an object, s/he uses an expectation of the weight of the object to generate a motor command. We asked the study subjects to lift a series of increasing weights and determined whether they extrapolated from past experience to predict the next weight in the series, even though that weight had never been experienced. Planning of precision grasp was assessed by measurement of the grip force at the beginning of the lifting task and by estimating the motor command. Execution of precision grasp was assessed by measurement of the time interval between the onset of grip and the onset of movement. We found that persons with dCP demonstrated a lack of predictive feed-forward control in their lifting movements: they exhibited a significantly longer time between onset of grip and onset of movement than the control subjects and they did not predict the weight of the next object in the lifting task. In addition, for subjects with dCP, the time between the onset of grip and the onset of movement of the dominant hand correlated strongly with the outcome of a hand function test. We postulate that a higher-order motor planning deficit in addition to execution deficit are evident in the subjects with spastic diplegic.

Shared bimanual tasks elicit bimanual reflexes during movement

Previous research has suggested distinct predictive and reactive control mechanisms for bimanual movements compared with unimanual motion. Recent studies have extended these findings by demonstrating that movement corrections during bimanual movements might differ depending on whether or not the task is shared between the arms. We hypothesized that corrective responses during shared bimanual tasks recruit bilateral rapid feedback mechanisms such as reflexes. We tested this hypothesis by perturbing one arm as subjects performed uni- and bimanual movements. Movements were made in a virtual-reality environment in which hand position was displayed as a cursor on a screen. During bimanual motion, we provided cursor feedback either independently for each arm (independent-cursor) or such that one cursor was placed at the average location between the arms (shared-cursor). On random trials, we applied a 40 N force pulse to the right arm 100 ms after movement onset. Our results show that while reflex responses were rapidly elicited in the perturbed arm, electromyographic activity remained close to baseline levels in the unperturbed arm during the independent-cursor trials. In contrast, when the cursor was shared between the arms, reflex responses were reduced in the perturbed arm and were rapidly elicited in the unperturbed arm. Our results thus suggest that when both arms contribute to achieving the task goal, reflex responses are bilaterally elicited in response to unilateral perturbations. These results agree with and extend recent suggestions that bimanual feedback control might be modified depending on task context.

Coding and use of tactile signals from the fingertips in object manipulation tasks

During object manipulation tasks, the brain selects and implements action-phase controllers that use sensory predictions and afferent signals to tailor motor output to the physical properties of the objects involved. Analysis of signals in tactile afferent neurons and central processes in humans reveals how contact events are encoded and used to monitor and update task performance.

Hierarchical control of static prehension: II. Multi-digit synergies

The purpose of this study was to explore the ability of the central nervous system (CNS) to organize synergies at two levels of a hypothetical control hierarchy involved in two-hand multi-finger prehension tasks with one or more persons participating in the task together. At the higher level of the hierarchy, the total force and moment of force produced on an object are distributed between the thumb and the virtual finger (an imagined finger with mechanical output equal to the involved fingers of the hand), while at the lower level the virtual finger action is distributed among the four fingers. We tested a hypothesis that the CNS is able to organize synergies at only one level of the hierarchy. The subjects held vertically one of the two handles, a narrow one and a wide one. They used the four fingers of the right hand opposed by the right hand thumb, the left hand thumb, the left hand index finger, the thumb of an experimenter, the index finger of an experimenter, or an inanimate object. Forces and moments of force produced by each digit were recorded. Indices of synergies stabilizing the mechanical output variables at each of the two levels were computed. Contrary to the expectations, force and moment of force stabilizing synergies were found at one or both levels of the hierarchy across all tasks. Unimanual tasks exhibited higher synergy indices compared to all tasks, while intrapersonal synergy indices were higher than those of interpersonal synergies. The results suggest that both feed-forward and feedback mechanisms may be used to create force and moment of force stabilizing synergies. We invoke the notion of chain effects and generalize it for relations among variance components related to stabilization of different mechanical variables. The reference configuration hypothesis offers a fruitful framework for analysis of prehension synergies.

Hand interactions in rapid grip force adjustments are independent of object dynamics

Object manipulation requires rapid increase in grip force to prevent slippage when the load force of the object suddenly increases. Previous experiments have shown that grip force reactions interact between the hands when holding a single object. Here we test whether this interaction is modulated by the object dynamics experienced before the perturbation of the load force. We hypothesized that coupling of grip forces should be stronger when holding a single object than when holding separate objects. We measured the grip force reactions elicited by unpredictable load perturbations when participants were instructed to hold one single or two separate objects. We simulated these objects both visually and dynamically using a virtual environment consisting of two robotic devices and a calibrated stereo display. In contrast to previous studies, the load forces arising from a single object could be uncoupled at the moment of perturbation, allowing for a pure measurement of grip force coupling. Participants increased grip forces rapidly (onset approximately 70 ms) in response to perturbations. Grip force increases were stronger when the load force on the other hand also increased. No such coupling was present in the reaction of the arms to the load force increase. Surprisingly, however, the grip force interaction did not depend on the nature of the manipulated object. These results show fast obligatory coupling of bimanual grip force responses. Although this coupling may play a functional role for providing stability in bimanual object manipulation, it seems to constitute a relatively hard-wired modulation of a reflex.

Entropy compensation in human motor adaptation

This experiment examined the changes in entropy of the coordination of isometric force output under different levels of task demands and feedback from the environment. The goal of the study was to examine the hypothesis that human motor adaptation can be characterized as a process of entropy conservation that is reflected in the compensation of entropy between the task, organism (motor output), and environment. Healthy young individuals produced two-finger force output to a total constant level under different task (error tolerance) and environmental (feedback frequency) conditions. Information entropy of the coordination dynamics (relative phase) of the motor output was made conditional on the idealized situation of human movement, for which the goal is always achieved. Conditional entropy of the motor output decreased as the error tolerance and feedback frequency were decreased. Thus, as the likelihood of meeting the task demands is decreased (increased task entropy) and/or the amount of information from the environment is reduced (increased environmental entropy), the subjects employed fewer coordination patterns in the force output to achieve the goal.

Action-perception dissociation; preserved reactive grip force despite tactile extinction due to cortical stroke

Sensory extinction following stroke, manifests as a bias in spatial attention towards ipsilesional spatial locations, which arises when stimuli from other locations compete for pathologically limited attentional resources. In the tactile domain, extinction results in a failure to verbally report tactile stimuli applied to a contralesional body part when they are timed to coincide with ipsilesional tactile contact. While it is typical for research in this area to focus on the verbal report of sensory stimuli as a measure of conscious awareness, work in visual extinction has shown that when contralesional stimuli fail to reach conscious awareness, they may still contribute to the control of actions. We describe the case of a woman with tactile extinction who failed to verbally report contralesional tactile input associated with perturbations to bimanual grasp. Despite this, the same stimulus was sufficient to drive reflexive grip force responses.

Evaluation of a method for bimanual testing coordination of hand grip and load forces under isometric conditions

The purpose of the study was to evaluate a method for testing bimanual prehension based on a novel experimental device. The device consists of two handles allowing for simultaneous measurement of bimanual hand grip forces (GF) and different patterns of load forces (LF) exerted during compression and tension along the longitudinal axis. In order to assess the reliability of the obtained measures, eight healthy subjects were tested over three consecutive test, while three moderately impaired neurological patients were tested once. In healthy subjects, high coordination was observed between GFs and LFs, as well as between two GFs and two LFs. The results also suggest a satisfactory task performance in regards to exerting the instructed LF profile, as well as a sufficient, but not excessive GF. The reliability of most of the assessed variables proved to be either moderate or high. When compared to healthy subjects, the data obtained from neurological patients mainly revealed irregular patterns of LFs, excessive GFs, as well as a relatively weak relationship between GFs and LFs. It was concluded that the evaluated methodological approach can be applied not only to explore uni- and bi-manual coordination of arm and hand grip forces in various prehensile activities, but also to serve as a basis for future development of specific clinical tests for neurological patients and other populations that demonstrate impaired hand function.

Interlimb and within limb force coordination in static bimanual manipulation task

The aim of the study was to compare the coordination of hand grip (G) and load force (a force that tends to cause slippage of a grasped object; L) in static bimanual manipulation tasks with the same data obtained from the similar dynamic tasks. Based on the previous findings obtained from dynamic tasks, it was hypothesized that an increase in the rate of L change would be predominantly associated with a decrease in the coordination of the within limb forces (coordination of G and L of each hand as assessed through the correlation coefficients), while a decrease in coordination of interlimb forces (between two G and two L) will be less pronounced. Regarding the pattern of modulation of G, the same increase in L frequency was also expected to be associated with a decrease in G gain and an increase in G offset (as assessed by slope and intercept of the regression lines obtained from G to L diagrams, respectively), as well as with an increase in average G/L ratio. Subjects exerted oscillatory isometric L profiles by simultaneous pulling out two handles of an externally fixed device under an exceptionally wide range of L frequencies (0.67-3.33 Hz). The results demonstrated relatively high correlation coefficients between both the interlimb and within limb forces that were only moderately affected under sub-maximal L frequencies. Furthermore, the hypothesized changes in G gain and offset appeared only under the highest L frequency, while the G/L ratio remained unaffected. We conclude that, when compared with the dynamic tasks based on the unconstrained movements of hand-held objects that produce similar pattern of L change, the static manipulation tasks demonstrate a consistent and highly coordinated pattern of bilateral G and L under a wide range of frequencies. However, the neural mechanisms that play a role in the revealed differences need further elucidation.

Internal models for bi-manual tasks

Co-ordinated bi-manual actions form the basis for many everyday motor skills. In this review, the internal model approach to the problem of bi-manual co-ordination is presented. Bi-manual coordinative tasks are often regarded as a hallmark of complex action. They are often associated with object manipulation, whether the holding of a single object between the two hands or holding an object in each hand. However, the task of movement and control is deceptively difficult even when we execute an action with a single hand without holding an object. The simplest voluntary action requires the problems of co-ordination, timing and interaction between neural, muscular and skeletal structures to be overcome. When we are making a movement whilst holding an object, a further requirement is that an internal model is able to predict the dynamics of the object that is being held as well as the dynamics of the motor system. There has been extensive work examining the formation of internal models when acting in novel environments. The majority of studies examine uni-lateral learning of a task generally to the participant's dominant hand. However, many everyday motor tasks are bi-manual, and the existing findings regarding the learning of internal models in uni-manual tasks and their subsequent generalization highlights the complexities that must underlie the formation of bi-manual tasks. Our ability to perform bi-manual tasks raises interesting questions about how internal models are specified for co-ordinative actions, and also for how the motor system learns to represent the properties of objects.

Coordination of hand grip and load forces in uni- and bidirectional static force production tasks

The purpose of the study was to explore the differences in coordination of grip (G) and load forces (L) in a unidirectional and bidirectional bimanual static force production task. Subjects (N=10) exerted oscillatory isometric L profiles against an externally fixed hand-held device, modulated either in pure tension (unidirectional) or in alternating tension and compression (bidirectional) at a rate of either 1.33 or 2.67 Hz. The unidirectional task revealed a high level of coordination of both the ipsilateral (i.e., G and L of each hand) and contralateral pairs of forces (two Gs and two Ls) as assessed by correlation and stability of force ratios. The bidirectional task demonstrated a low level of inconsistently modulated Gs with respect to the change of L, which resulted in a deteriorated coordination, particularly between the ipsilateral forces. The overall effect of task on the force coordination was higher than the effect of frequency suggesting that the higher frequency of G modulation required in the bidirectional task is not likely to be the main cause of the observed phenomenon. We interpret these differences by a relative simplicity of the control mechanisms of the unidirectional task based on a single synergy of G and L muscles that allows simultaneous coordination of both the ipsilateral and contralateral forces. Due to the switching between two distinctive synergies involving G muscles, the bidirectional task could possess a higher control complexity causing a decoupled coordination of the ipsilateral forces, while retaining the coordination of contralateral forces at a relatively high level.