Dual processing of visual rotation for bipedal stance control

Sensory conflicts through short, discrete visual input manipulations: Identification of balance responses to varied input characteristics

Human balance control relies on various sensory modalities, and conflict of sensory input may result in postural instability. Virtual reality (VR) technology allows to train balance under conflicting sensory information by decoupling visual from somatosensory and vestibular systems, creating additional demands on sensory reweighting for balance control. However, there is no metric for the design of visual input manipulations that can induce persistent sensory conflicts to perturb balance. This limits the possibilities to generate sustained sensory reweighting processes and design well-defined training approaches. This study aimed to investigate the effects that different onset characteristics, amplitudes and velocities of visual input manipulations may have on balance control and their ability to create persistent balance responses. Twenty-four young adults were recruited for the study. The VR was provided using a state-of-the-art head-mounted display and balance was challenged in two experiments by rotations of the visual scene in the frontal plane with scaled constellations of trajectories, amplitudes and velocities. Mean center of pressure speed was recorded and revealed to be greater when the visual input manipulation had an abrupt onset compared to a smooth onset. Furthermore, the balance response was greatest and most persistent when stimulus velocity was low and stimulus amplitude was large. These findings show clear dissociation in the state of the postural system for abrupt and smooth visual manipulation onsets with no indication of short-term adaption to abrupt manipulations with slow stimulus velocity. This augments our understanding of how conflicting visual information affect balance responses and could help to optimize the conceptualization of training and rehabilitation interventions.

Age-related impairments and influence of visual feedback when learning to stand with unexpected sensorimotor delays

Background

While standing upright, the brain must accurately accommodate for delays between sensory feedback and self-generated motor commands. Natural aging may limit adaptation to sensorimotor delays due to age-related decline in sensory acuity, neuromuscular capacity and cognitive function. This study examined balance learning in young and older adults as they stood with robot-induced sensorimotor delays.

Methods

A cohort of community dwelling young (mean = 23.6 years, N = 20) and older adults (mean = 70.1 years, N = 20) participated in this balance learning study. Participants stood on a robotic balance simulator which was used to artificially impose a 250 ms delay into their control of standing. Young and older adults practiced to balance with the imposed delay either with or without visual feedback (i.e., eyes open or closed), resulting in four training groups. We assessed their balance behavior and performance (i.e., variability in postural sway and ability to maintain upright posture) before, during and after training. We further evaluated whether training benefits gained in one visual condition transferred to the untrained condition.

Results

All participants, regardless of age or visual training condition, improved their balance performance through training to stand with the imposed delay. Compared to young adults, however, older adults had larger postural oscillations at all stages of the experiments, exhibited less relative learning to balance with the delay and had slower rates of balance improvement. Visual feedback was not required to learn to stand with the imposed delay, but it had a modest effect on the amount of time participants could remain upright. For all groups, balance improvements gained from training in one visual condition transferred to the untrained visual condition.

Conclusion

Our study reveals that while advanced age partially impairs balance learning, the older nervous system maintains the ability to recalibrate motor control to stand with initially destabilizing sensorimotor delays under differing visual feedback conditions.

Identification of Human Balance Control Responses to Visual Inputs Using Virtual Reality

Human upright balance is maintained through feedback mechanisms that use a variety of sensory modalities. Vision senses information about the motion of the visual surround to improve balance. This study characterized the effects of visual information on human anterior-posterior body sway in upright stance by presenting perturbations through a virtual reality system. This made it possible to use a new visual stimulus, whose amplitude and velocity could be controlled separately. To date, the influences of visual field position and velocity have only been studied independently due to the experimental limitations. The hip displacement, ankle torques, shank angles, and surface EMGs of four major ankle muscles were measured bilaterally as outputs. We found that the root-mean-square (RMS) hip displacement (body angle) increased systematically with visual input amplitude. However, for each amplitude, the RMS body angle increased when input velocity was changed from 2 to 5 degree per second and then decreased from 5 to 10 dps. Spectral analysis was utilized to compute frequency response over a frequency range from 0.04-0.6 Hz. The gain of body sway relative to the perturbation increased with frequency, while the coherence declined. Moreover, as the stimulus amplitude increased, the gain generally decreased, while the mean coherence values always increased. The mean gains and mean coherence values were greatest for the velocity of 5 dps. This study presents a novel experimental approach to study human postural control and augments our knowledge on how the visual information is processed in the central nervous system to maintain balance.

Processing moving visual scenes during upright stance in elderly patients with mild cognitive impairment

Background

The ability to maintain balance in an upright stance gradually worsens with age and is even more difficult for patients with cognitive disorders. Cognitive impairment plays a probable role in the worsening of stability. The purpose of this study was to expose subjects with mild cognitive impairment (MCI) and healthy, age-matched controls to moving visual scenes in order to examine their postural adaptation abilities.

Methods

We observed postural responses to moving visual stimulation while subjects stood on a force platform. The visual disturbance was created by interposing a moving picture in four directions (forward, backward, right, and left). The pre-stimulus (a static scene for 10 s), stimulus (a dynamic visual scene for 20 seconds) and post-stimulus (a static scene for 20 seconds) periods were evaluated. We separately analyzed the total path (TP) of the center of pressure (COP) and the root mean square (RMS) of the COP displacement in all four directions.

Results

We found differences in the TP of the COP during the post-stimulus period for all stimulus directions except in motion towards the subject (left p = 0.006, right p = 0.004, and away from the subject p = 0.009). Significant RMS differences between groups were also observed during the post-stimulus period in all directions except when directed towards the subject (left p = 0.002, right p = 0.007, and away from the subject p = 0.014).

Conclusion

Exposing subjects to a moving visual scene induced greater destabilization in MCI subjects compared to healthy elderly controls. Surprisingly, the moving visual scene also induced significant aftereffects in the MCI group. Our findings indicate that the MCI group had diminished adaptation to the dynamic visual scene and recovery. These results suggest that even mild cognitive deficits can impair sensory information integration and alter the sensory re-weighing process.

Adaptation of balancing behaviour during continuous perturbations of stance. Supra-postural visual tasks and platform translation frequency modulate adaptation rate

When humans are administered continuous and predictable perturbations of stance, an adaptation period precedes the steady state of balancing behaviour. Little information is available on the modulation of adaptation by vision and perturbation frequency. Moreover, performance of supra-postural tasks may modulate adaptation in as yet unidentified ways. Our purpose was to identify differences in adaptation associated to distinct visual tasks and perturbation frequencies. Twenty non-disabled adult volunteers stood on a platform translating 10 cm in antero-posterior (AP) direction at low (LF, 0.18 Hz) and high frequency (HF, 0.56 Hz) with eyes open (EO) and closed (EC). Additional conditions were reading a text fixed to platform (EO-TP) and reading a text stationary on ground (EO-TG). Peak-to-peak (PP) displacement amplitude and AP position of head and pelvis markers were computed for each of 27 continuous perturbation cycles. The time constant and extent of head and pelvis adaptation and the cross-correlation coefficients between head and pelvis were compared across visual conditions and frequencies. Head and pelvis mean positions in space varied little across conditions and perturbation cycles but the mean head PP displacements changed over time. On average, at LF, the PP displacement of the head and pelvis increased progressively. Adaptation was rapid or ineffective with EO, but slower with EO-TG, EO-TP, EC. At HF, the head PP displacement amplitude decreased progressively with fast adaptation rates, while the pelvis adaptation was not apparent. The results show that visual tasks can modulate the adaptation rate, highlight the effect of the perturbation frequency on adaptation and provide evidence of priority assigned to pelvis stabilization over visual tasks at HF. The effects of perturbation frequency and optic flow and their interaction with other sensory inputs and cognitive tasks on the adaptation strategies should be investigated in impaired individuals and considered in the design of rehabilitation protocols.

The role(s) of "Simultaneous Postural Adjustments" (SPA) during Single Step revealed with the Lissajous method

Dynamical phenomena in the postural chain occur before, during and after the voluntary movement. These phenomena correspond to anticipatory (APA), simultaneous (SPA), and consecutive (CPA) postural adjustments, respectively. APA and, more recently, CPA, have been extensively investigated in the literature. SPA have surprisingly received much less attention. The aim of the present study was to examine the role(s) of SPA associated with a single step task (SST). Ten healthy young adults performed series of SST on a force-plate. A 2-DOF mechanical model was used to separate the dynamics of the swing leg and the dynamics of the rest of the body, corresponding to the focal and the postural component of the SST, respectively. The postural component was plotted against the focal one during SPA (from heel-off to foot-contact), and this plot was modelled as a Lissajous ellipse. Result showed that this ellipse systematically ran through the same three quadrants of the diagram. For each of these quadrants, the role of the postural component in regards to the focal one was interpreted according to the relative orientation of the postural and focal dynamics. Results thus showed that SPA ensured the following successive roles: counter-perturbation of swing leg dynamics following heel-off, propulsion of swing leg, counter-perturbation of swing leg dynamics again, and then braking swing leg movement. These new findings contribute to a better knowledge of postural adjustments properties, and may provide new insights for understanding balance troubles with aging and in neurological patients (e.g. people with Parkinson's disease).

Inter-trial phase coherence of visually evoked postural responses in virtual reality

Vision plays a central role in maintaining balance. When humans perceive their body as moving, they trigger counter movements. This results in body sway, which has typically been investigated by measuring the body’s center of pressure (COP). Here, we aimed to induce visually evoked postural responses (VEPR) by simulating self-motion in virtual reality (VR) using a sinusoidally oscillating “moving room” paradigm. Ten healthy subjects participated in the experiment. Stimulation consisted of a 3D-cloud of random dots, presented through a VR headset, which oscillated sinusoidally in the anterior–posterior direction at different frequencies. We used a force platform to measure subjects’ COP over time and quantified the resulting trajectory by wavelet analyses including inter-trial phase coherence (ITPC). Subjects exhibited significant coupling of their COP to the respective stimulus. Even when spectral analysis of postural sway showed only small responses in the expected frequency bands (power), ITPC revealed an almost constant strength of coupling to the stimulus within but also across subjects and presented frequencies. Remarkably, ITPC even revealed a strong phase coupling to stimulation at 1.5 Hz, which exceeds the frequency range that has generally been attributed to the coupling of human postural sway to an oscillatory visual scenery. These findings suggest phase-locking to be an essential feature of visuomotor control.

Stepping in circles: how locomotor signals of rotation adapt over time

KEY POINTS

While it has been well described that prolonged rotational stepping will adapt the podokinetic sense of rotation, the mechanisms involved are not clearly understood. By studying podokinetic after-rotations following conditioning rotations not previously reported we have shown that slower rotational velocities are more readily adapted than faster velocities and adaptation occurs more quickly than previously thought. We propose a dynamic feedback model of vestibular and podokinetic adaptation that can fit rotation trajectories across multiple conditions and data sets. Two adaptation processes were identified that may reflect central and peripheral processes and the discussion unifies prior findings in the podokinetic literature under this new framework. The findings show the technique is feasible for people with locomotor turning problems.

ABSTRACT

After a prolonged period stepping in circles, people walk with a curved trajectory when attempting to walk in a straight line without vision. Podokinetic adaptation shows promise in clinical populations to improve locomotor turning; however, the adaptive mechanisms involved are poorly understood. The first phase of this study asks: how does the podokinetic conditioning velocity affect the response velocity and how quickly can adaptation occur? The second phase of the study asks: can a mathematical feedback model account for the rotation trajectories across different conditioning parameters and different datasets? Twelve healthy participants stepped in place on the axis of a rotating surface ranging from 4 to 20 deg s^-1 for durations of 1-10 min, while using visual cues to maintain a constant heading direction. Afterward on solid ground, participants were blindfolded and attempted to step without rotating. Participants unknowingly stepped in circles opposite to the direction of the prior platform rotation for all conditions. The angular velocity of this response peaked within 1 min and the ratio of the stimulus-to-response peak velocity fitted a decreasing power function. The response then decayed exponentially. The feedback model of podokinetic and vestibular adaptive processes had a good fit with the data and suggested that podokinetic adaptation is explained by a short (141 s) and a long (27 min) time constant. The podokinetic system adapts more quickly than previously thought and subjects adapt more readily to slower rotation than to faster rotation. These findings will have implications for clinical applications of the technique.

Visual field motion during a body pull affects compensatory standing and stepping responses

KEY POINTS

It is unclear whether the visual input that accompanies a perturbation of a standing person can affect whether a recovery step is taken. Visual motion speeds were manipulated during unexpected forward and backward shoulder pulls. Visual motion that appeared slower than actual body motion reduced the initial in-place resistance to the perturbation. As a result of the modulation of the in-place response, less pull force was needed to trigger a step when visual velocity appeared slower than normal. The visuomotor postural response occurred earlier and was larger when the full-field visual input was paired with a mechanical perturbation.

ABSTRACT

The present study aimed to determine how visual motion evoked by an upper body perturbation during standing affects compensatory postural responses. This was investigated by rotating the visual field forwards or backwards about the ankle, time-locked to a forwards or backwards shoulder pull. Kinematic, kinetic and electromyographic responses were recorded to a range of pull forces over 160 trials in 12 healthy adults (mean ± SD = 31 ± 5.8 years). Stepping threshold forces and in-place postural responses were compared between conditions. When the visual field moved in the same direction as the pull, so that the apparent velocity of the body was reduced (SLOW condition), the pull-force required to induce a step was less than when the visual field either rotated in the opposite direction (FAST) or was unaltered (NATURAL). For in-place responses, the body was displaced further in the direction of the pull in the SLOW condition. This was the result of a reduction in the resistive force from lower leg muscles 130 ms after the visual motion onset. In trials with no pull, the visual motion induced postural responses that were later (290 ms) and had smaller amplitudes compared to when visual motion is paired with an unexpected perturbation of the body. The results suggest that the apparent speed of the visual environment during a perturbation does influence whether a compensatory step is taken, not via a direct effect on the decision to step but by modulating the initial in-place response.

Perceptual assessment of environmental stability modulates postural sway

We actively maintain postural equilibrium in everyday life, and, although we are unaware of the underlying processing, there is increasing evidence for cortical involvement in this postural control. Converging evidence shows that we make appropriate use of 'postural anchors', for example static objects in the environment, to stabilise our posture. Visually evoked postural responses (VEPR) that are caused when we counteract the illusory perception of self-motion in space (vection) are modulated in the presence of postural anchors and therefore provide a convenient behavioural measure. The aim of this study is to evaluate the factors influencing visual appraisal of the suitability of postural anchors. We are specifically interested in the effect of perceived 'reality' in VR the expected 'stability' of visual anchors. To explore the effect of 'reality' we introduced an accommodation-vergence conflict. We show that VEPR are appropriately modulated only when virtual visual 'anchors' are rendered such that vergence and accommodation cues are consistent. In a second experiment we directly test whether cognitive assessment of the likely stability of real perceptual anchors (we contrast a 'teapot on a stand' and a 'helium balloon') affects VEPR. We show that the perceived positional stability of environmental anchors modulate postural responses. Our results confirm previous findings showing that postural sway is modulated by the configuration of the environment and further show that an assessment of the stability and reality of the environment plays an important role in this process. On this basis we propose design guidelines for VR systems, in particular we argue that accommodation-vergence conflicts should be minimised and that high quality motion tracking and rendering are essential for high fidelity VR.

Cerebellar Degeneration Increases Visual Influence on Dynamic Estimates of Verticality

Our perception of verticality relies on combining sensory information from multiple sources. Neuronal recordings in animals implicate the cerebellum in the process, yet disease of the human cerebellum was not found to affect this perception. Here we show that a perceptual disturbance of verticality is indeed present in people with a genetically determined and pure form of cerebellar degeneration (spinocerebellar ataxia type 6; SCA 6), but is only revealed under dynamic visual conditions. Participants were required to continuously orient a visually displayed bar to vertical while the bar angle was perturbed by a low-frequency random signal and a random dot pattern rotated in their visual periphery. The random dot pattern was rotated at one of two velocities (4°/s and 16°/s), traveling with either coherent or noisy motion. Perceived vertical was biased by visual rotation in healthy participants, particularly in a more elderly group, but SCA 6 participants were biased more than both groups. The bias was reduced by visual noise, but more so for SCA 6 participants than young controls. Distortion of verticality by visual rotation stems from the stimulus creating an illusion of self-rotation. We modeled this process using a maximum-likelihood sensory cue-combination model operating on noisy visual- and vestibular-rotation signals. The observed effects of visual rotation and visual noise could be compellingly explained by cerebellar degeneration, and to a lesser extent aging, causing an increase in central vestibular noise. This is consistent with the human cerebellum operating on dynamic vestibular signals to inform the process that estimates which way is up.

Sensorimotor Manipulations of the Balance Control Loop-Beyond Imposed External Perturbations

Standing balance relies on the integration of multiple sensory inputs to generate the motor commands required to stand. Mechanical and sensory perturbations elicit compensatory postural responses that are interpreted as a window into the sensorimotor processing involved in balance control. Popular methods involve imposed external perturbations that disrupt the control of quiet stance. Although these approaches provide critical information on how the balance system responds to external disturbances, the control mechanisms involved in correcting for these errors may differ from those responsible for the regulation of quiet standing. Alternative approaches use manipulations of the balance control loop to alter the relationship between sensory and motor cues. Coupled with imposed perturbations, these manipulations of the balance control loop provide unique opportunities to reveal how sensory and motor signals are integrated to control the upright body. In this review, we first explore imposed perturbation approaches that have been used to investigate the neural control of standing balance. We emphasize imposed perturbations that only elicit balance responses when the disturbing stimuli are relevant to the balance task. Next, we highlight manipulations of the balance control loop that, when carefully implemented, replicate and/or alter the sensorimotor dynamics of quiet standing. We further describe how manipulations of the balance control loop can be used in combination with imposed perturbations to characterize mechanistic principles underlying the control of standing balance. We propose that recent developments in the use of robotics and sensory manipulations will continue to enable new possibilities for simulating and/or altering the sensorimotor control of standing beyond compensatory responses to imposed external perturbations.

Effects of visual motion consistent or inconsistent with gravity on postural sway

Vision plays an important role in postural control, and visual perception of the gravity-defined vertical helps maintaining upright stance. In addition, the influence of the gravity field on objects' motion is known to provide a reference for motor and non-motor behavior. However, the role of dynamic visual cues related to gravity in the control of postural balance has been little investigated. In order to understand whether visual cues about gravitational acceleration are relevant for postural control, we assessed the relation between postural sway and visual motion congruent or incongruent with gravity acceleration. Postural sway of 44 healthy volunteers was recorded by means of force platforms while they watched virtual targets moving in different directions and with different accelerations. Small but significant differences emerged in sway parameters with respect to the characteristics of target motion. Namely, for vertically accelerated targets, gravitational motion (GM) was associated with smaller oscillations of the center of pressure than anti-GM. The present findings support the hypothesis that not only static, but also dynamic visual cues about direction and magnitude of the gravitational field are relevant for balance control during upright stance.