Human control of an inverted pendulum: is continuous control necessary? Is intermittent control effective? Is intermittent control physiological?

Right-left sEMG burst synchronization of the lumbar erector spinae muscles of seated violin players

Burst-like activation of postural muscles has been previously described and plays a crucial role in elucidating the strategies for postural control adopted by the central nervous system (CNS). A spatio-temporal descriptor of surface electromyographic (sEMG) bursts (STB) is proposed and applied to statistically quantify the burst-like activity of the right and left (R-L) lumbar erector spinae muscle of nine seated violinists playing for two hours. The STB signal is the number of pixels of the high density sEMG (HDsEMG) maps simultaneously showing sEMG amplitude above a given threshold. Burst activity was present in all nine subjects. Four of them met four stringent criteria allowing analysis of frequency, duration, and synchronization between the R-L bursts after 0, 15, 30, 60, 120 min of playing. Mean square coherence between STBs of the two muscles was > 0.75 within ⁓1 Hz bandwidth between 2.2 Hz and 4.5 Hz depending on subject. Non-parametric statistics was applied to compare, in time and space, the R-L features of the bursts. The mean STB width was significantly associated primarily to side and secondarily to time and ranged from 100 to 250 ms. The right STB signals led the left (p < 0.02) by 0 - 160 ms.The inverted pendulum composed by the upper body of a seated violinist is controlled in an intermittent way. The erector spinae of the selected subjects were active, on average, for less than 50% of the time. These findings demonstrate a CNS strategy of intermittent back muscle activation presumably aimed to reducing fatigue during hours of playing in seated violinists.

How the brain can be trained to achieve an intermittent control strategy for stabilizing quiet stance by means of reinforcement learning

The stabilization of human quiet stance is achieved by a combination of the intrinsic elastic properties of ankle muscles and an active closed-loop activation of the ankle muscles, driven by the delayed feedback of the ongoing sway angle and the corresponding angular velocity in a way of a delayed proportional (P) and derivative (D) feedback controller. It has been shown that the active component of the stabilization process is likely to operate in an intermittent manner rather than as a continuous controller: the switching policy is defined in the phase-plane, which is divided in dangerous and safe regions, separated by appropriate switching boundaries. When the state enters a dangerous region, the delayed PD control is activated, and it is switched off when it enters a safe region, leaving the system to evolve freely. In comparison with continuous feedback control, the intermittent mechanism is more robust and capable to better reproduce postural sway patterns in healthy people. However, the superior performance of the intermittent control paradigm as well as its biological plausibility, suggested by experimental evidence of the intermittent activation of the ankle muscles, leaves open the quest of a feasible learning process, by which the brain can identify the appropriate state-dependent switching policy and tune accordingly the P and D parameters. In this work, it is shown how such a goal can be achieved with a reinforcement motor learning paradigm, building upon the evidence that, in general, the basal ganglia are known to play a central role in reinforcement learning for action selection and, in particular, were found to be specifically involved in postural stabilization.

Brownian processes in human motor control support descending neural velocity commands

The motor neuroscience literature suggests that the central nervous system may encode some motor commands in terms of velocity. In this work, we tackle the question: what consequences would velocity commands produce at the behavioral level? Considering the ubiquitous presence of noise in the neuromusculoskeletal system, we predict that velocity commands affected by stationary noise would produce "random walks", also known as Brownian processes, in position. Brownian motions are distinctively characterized by a linearly growing variance and a power spectral density that declines in inverse proportion to frequency. This work first shows that these Brownian processes are indeed observed in unbounded motion tasks e.g., rotating a crank. We further predict that such growing variance would still be present, but bounded, in tasks requiring a constant posture e.g., maintaining a static hand position or quietly standing. This hypothesis was also confirmed by experimental observations. A series of descriptive models are investigated to justify the observed behavior. Interestingly, one of the models capable of accounting for all the experimental results must feature forward-path velocity commands corrupted by stationary noise. The results of this work provide behavioral support for the hypothesis that humans plan the motion components of their actions in terms of velocity.

The microstructure of intra- and interpersonal coordination

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

Assessing the influence of cognitive response conflict on balance control: an event-related approach using response-aligned force-plate time series data

Process interference or sharing of attentional resources between cognitive tasks and balance control during upright standing has been well documented. Attentional costs increase with greater balancing demands of a balance activity, for example in standing compared to sitting. The traditional approach for analyzing balance control using posturography with a force plate integrates across relative long trial periods of up to several minutes, which blends any balance adjustments and cognitive operations within this period. In the present study, we pursued an event-related approach to assess if single cognitive operations resolving response selection conflict in the Simon task interfere with concurrent balance control in quiet standing. In addition to traditional outcome measures (response latency, error proportions) in the cognitive Simon task, we investigated the effect of spatial congruency on measures of sway control. We expected that conflict resolution in incongruent trials would alter short-term progression of sway control. Our results demonstrated the expected congruency effect on performance in the cognitive Simon task and the mediolateral variability of balance control within 150 ms before the onset of the manual response was reduced to a greater degree in incongruent compared to congruent trials. In addition, mediolateral variability before and after the manual response was generally reduced compared to variability following target presentation, where no effect of congruency was observed. Assuming that response conflict in incongruent conditions requires suppression of the incorrect response tendencies, our results may imply that mechanisms of cognitive conflict resolution may also carry over to intermittent balance control mechanisms in a direction-specific manner.

Difference in the recruitment of intrinsic foot muscles in the elderly under static and dynamic postural conditions

Background

The effect of foot, especially intrinsic muscles, on postural control and its related mechanisms remain unclear due to the complex structure. Therefore, this study aims to investigate the activation of intrinsic foot muscles in the elderly under static and dynamic postural tasks.

Methods

Twenty-one elderly participants were included to perform different postural tests (sensory organization test (SOT), motor control test (MCT), limit of stability test (LOS), and unilateral stance test) by a NeuroCom Balance Manager System. The participants were instructed to maintain postural stability under conditions with combined different sensory inputs (vision, vestibular, and proprioception) in SOT as well as conditions with translation disturbance in MCT, and to perform an active weight-shifting tasks in LOS. During these tasks, muscle activation were simultaneously acquired from intrinsic foot muscles (abductor halluces (AbH) and flexor digitorum brevis (FDB)) and ankle muscles (anterior tibialis, medial head of gastrocnemius, lateral head of gastrocnemius, and peroneus longus). The root-mean-square amplitude of these muscles in postural tasks was calculated and normalized with the EMG activity in unilateral stance task.

Results

The activation of intrinsic foot muscles significantly differed among different SOT tasks (p < 0.001). Post-hoc tests showed that compared with that under normal condition 1 without sensory interference, EMGs increased significantly under sensory disturbance (conditions 2-6). By contrast, compared with that under the single-sensory disturbed conditions (conditions 2-4; 2 for disturbed vision, 3 for disturbed vestibular sensation, 4 for disturbed proprioception), activation was significantly greater under the dual-sensory disturbed postural tasks (conditions 5 and 6; 5 for disturbed vision and proprioception, 6 for disturbed vestibular sensation and proprioception). In MCT, EMGs of foot muscles increased significantly under different translation speeds (p < 0.001). In LOS, moderate and significant correlations were found between muscle activations and postural stability parameters (AbH, r = 0. 355-0.636, p < 0.05; FDB, r = 0.336-0.622, p < 0.05).

Conclusion

Intrinsic foot muscles play a complementary role to regulate postural stability when disturbances occur. In addition, the recruitment magnitude of intrinsic foot muscles is positively correlated with the limit of stability, indicating their contribution to increasing the limits of stability in the elderly.

Controlling stick balancing on a linear track: Delayed state feedback or delay-compensating predictor feedback?

A planar stick balancing task was investigated using stabilometry parameters (SP); a concept initially developed to assess the stability of human postural sway. Two subject groups were investigated: 6 subjects (MD) with many days of balancing a 90 cm stick on a linear track and 25 subjects (OD) with only one day of balancing experience. The underlying mechanical model is a pendulum-cart system. Two control force models were investigated by means of numerical simulations: (1) delayed state feedback (DSF); and (2) delay-compensating predictor feedback (PF). Both models require an internal model and are subject to certainty thresholds with delayed switching. Measured and simulated time histories were compared quantitatively using a cost function in terms of some essential SPs for all subjects. Minimization of the cost function showed that the control strategy of both OD and MD subjects can better be described by DSF. The control mechanism for the MD subjects was superior in two aspects: (1) they devoted less energy to controlling the cart's position; and (2) their perception threshold for the stick's angular velocity was found to be smaller. Findings support the concept that when sufficient sensory information is readily available, a delay-compensating PF strategy is not necessary.

Assistive Loading Promotes Goal-Directed Tuning of Stretch Reflex Gains

Voluntary movements are prepared before they are executed. Preparatory activity has been observed across the CNS and recently documented in first-order neurons of the human PNS (i.e., in muscle spindles). Changes seen in sensory organs suggest that independent modulation of stretch reflex gains may represent an important component of movement preparation. The aim of the current study was to further investigate the preparatory modulation of short-latency stretch reflex responses (SLRs) and long-latency stretch reflex responses (LLRs) of the dominant upper limb of human subjects. Specifically, we investigated how different target parameters (target distance and direction) affect the preparatory tuning of stretch reflex gains in the context of goal-directed reaching, and whether any such tuning depends on preparation duration and the direction of background loads. We found that target distance produced only small variations in reflex gains. In contrast, both SLR and LLR gains were strongly modulated as a function of target direction, in a manner that facilitated the upcoming voluntary movement. This goal-directed tuning of SLR and LLR gains was present or enhanced when the preparatory delay was sufficiently long (>250 ms) and the homonymous muscle was unloaded [i.e., when a background load was first applied in the direction of homonymous muscle action (assistive loading)]. The results extend further support for a relatively slow-evolving process in reach preparation that functions to modulate reflexive muscle stiffness, likely via the independent control of fusimotor neurons. Such control can augment voluntary goal-directed movement and is triggered or enhanced when the homonymous muscle is unloaded.

Skilled motor control of an inverted pendulum implies low entropy of states but high entropy of actions

The mastery of skills, such as balancing an inverted pendulum, implies a very accurate control of movements to achieve the task goals. Traditional accounts of skilled action control that focus on either routinization or perceptual control make opposite predictions about the ways we achieve mastery. The notion of routinization emphasizes the decrease of the variance of our actions, whereas the notion of perceptual control emphasizes the decrease of the variance of the states we visit, but not of the actions we execute. Here, we studied how participants managed control tasks of varying levels of difficulty, which consisted of controlling inverted pendulums of different lengths. We used information-theoretic measures to compare the predictions of alternative accounts that focus on routinization and perceptual control, respectively. Our results indicate that the successful performance of the control task strongly correlates with the decrease of state variability and the increase of action variability. As postulated by perceptual control theory, the mastery of skilled pendulum control consists in achieving stable control of goals by flexible means.

Does the patellar tendon reflex affect the postural stability in stroke patients with blocked vision?

Background

Stroke patients often show postural instability. The patellar tendon reflex is a basic physical examination for stroke patients. This study aimed to explore the correlation between patellar tendon reflex grade and postural stability among stroke patients.

Methods

A total of 37 elderly stroke patients, each with the same quadriceps muscle strength but different patellar tendon reflex levels, were tested on a force platform under eyes-open (EO) and eyes-closed (EC) conditions. Parametric analysis, detrended fluctuation analysis (DFA), and power spectral density (PSD) analysis were used in centre of pressure (COP) signal processing. The correlation between the results of measured data processing and the level of patellar tendon reflex was analysed.

Results

All three parameters of COP (the length of the sway trajectory, the mean range of the sway trajectory in the mediolateral [ML] direction [R _x ], and the mean range of the sway trajectory in the anterior-posterior [AP] directions [R _y ]) were negatively correlated with the patient's patellar tendon reflex grade under the EC condition. The DFA results showed that a higher grade of patellar tendon reflex was associated with a smaller value of the crossover point in the AP direction. Only the PSD values of each frequency band in the AP direction were negatively correlated with patellar tendon reflex grade with EO and became negatively correlated in both AP and ML directions with EC. Overall, the results showed a strong correlation between patellar tendon reflex and postural stability in stroke patients when vision was blocked.

Significance

The strong correlation with EC may provide insights into clinic evaluation and treatment for rehabilitation or fall risks of stroke patients.

Is the attenuation effect on the ankle muscles activity from the EMG biofeedback generalized to - or compensated by - other lower limb muscles during standing?

Biofeedback based on electromyograms (EMGs) has been recently proposed to reduce exaggerated postural activity. Whether the effect of EMG biofeedback on the targeted muscles generalizes to - or is compensated by - other muscles is still an open question we address here. Fourteen young individuals were tested in three 60 s standing trials, without and with EMG-audio feedback: (i) collectively from soleus and medial gastrocnemius and (ii) from medial gastrocnemii. The Root Mean Square (RMS) of bipolar EMGs sampled from postural muscles bilaterally was computed to assess the degree of activity and postural sway was assessed from the center of pressure (CoP). In relation to standing at naturally, EMG-audio feedback from soleus and medial gastrocnemii decreased plantar flexors' activity (∼10 %) but at the cost of increased amplitude of tibialis anterior (∼5%) and vasti muscles (∼20 %) accompanied by a posterior shift of the mean CoP position. However, EMG-audio feedback from medial gastrocnemii reduced only plantar flexors' activity (∼5%) when compared to standing at naturally. Current results suggest the EMG biofeedback has the potential to reduce calf muscles' activity without loading other postural muscles especially when using medial gastrocnemii as feedback source, with implications on postural training aimed at assisting individuals in activating more efficiently postural muscles during standing.

What is the contribution of voluntary and reflex processes to sensorimotor control of balance?

The contribution to balance of spinal and transcortical processes including the long-latency reflex is well known. The control of balance has been modelled previously as a continuous, state feedback controller representing, long-latency reflexes. However, the contribution of slower, variable delay processes has not been quantified. Compared with fixed delay processes (spinal, transcortical), we hypothesize that variable delay processes provide the largest contribution to balance and are sensitive to historical context as well as current states. Twenty-two healthy participants used a myoelectric control signal from their leg muscles to maintain balance of their own body while strapped to an actuated, inverted pendulum. We study the myoelectric control signal (u) in relation to the independent disturbance (d) comprising paired, discrete perturbations of varying inter-stimulus-interval (ISI). We fit the closed loop response, u from d, using one linear and two non-linear non-parametric (many parameter) models. Model M1 (ARX) is a generalized, high-order linear-time-invariant (LTI) process with fixed delay. Model M1 is equivalent to any parametric, closed-loop, continuous, linear-time-invariant (LTI), state feedback model. Model M2, a single non-linear process (fixed delay, time-varying amplitude), adds an optimized response amplitude to each stimulus. Model M3, two non-linear processes (one fixed delay, one variable delay, each of time-varying amplitude), add a second process of optimized delay and optimized response amplitude to each stimulus. At short ISI, the myoelectric control signals deviated systematically both from the fixed delay LTI process (M1), and also from the fixed delay, time-varying amplitude process (M2) and not from the two-process model (M3). Analysis of M3 (all fixed delay and variable delay response amplitudes) showed the variable (compared with fixed) delay process 1) made the largest contribution to the response, 2) exhibited refractoriness (increased delay related to short ISI) and 3) was sensitive to stimulus history (stimulus direction 2 relative to stimulus 1). For this whole-body balance task and for these impulsive stimuli, non-linear processes at variable delay are central to control of balance. Compared with fixed delay processes (spinal, transcortical), variable delay processes provided the largest contribution to balance and were sensitive to historical context as well as current states.

Thinking rhythm objects

The focus of this mini-review is on rhythm objects, defined as strongly coherent chunks of combined sound and body motion in music, typically in the duration range of a few seconds, as may for instance be found in a fragment of dance music, in an energetic drum fill, in a flute ornament, or in a cascade of sounds of a rapid harp glissando. Although there has been much research on rhythm in continuous musical sound and its links with behavior, including the neurocognitive aspects of periodicity, synchrony, and entrainment, there has been much less focus on the generation and perception of singular coherent rhythm objects. This mini-review aims to enhance our understanding of such rhythm objects by pointing to relevant literature on coherence-enhancing elements such as coarticulation, i.e., the fusion of motion events into more extended rhythm objects, and intermittent motor control, i.e., the discontinuous, instant-by-instant control and triggering of rhythm objects.

Constraint-Based Sound-Motion Objects in Music Performance

The aim of this paper is to present principles of constraint-based sound-motion objects in music performance. Sound-motion objects are multimodal fragments of combined sound and sound-producing body motion, usually in the duration range of just a few seconds, and conceived, produced, and perceived as intrinsically coherent units. Sound-motion objects have a privileged role as building blocks in music because of their duration, coherence, and salient features and emerge from combined instrumental, biomechanical, and motor control constraints at work in performance. Exploring these constraints and the crucial role of the sound-motion objects can enhance our understanding of generative processes in music and have practical applications in performance, improvisation, and composition.

Small vessel disease disrupts EEG postural brain networks in 'unexplained dizziness in the elderly'

•

Unexplained dizziness in the elderly may result from cerebral small vessel disease.

•

Dizzy elderly patients differed from controls in EEG power when standing.

•

EEG power when standing correlated with subjective (perceived) instability.

Objective

To examine the hypothesis that small vessel disease disrupts postural networks in older adults with unexplained dizziness in the elderly (UDE).

Methods

Simultaneous electroencephalography and postural sway measurements were undertaken in upright, eyes closed standing, and sitting postures (as baseline) in 19 younger adults, 33 older controls and 36 older patients with UDE. Older adults underwent magnetic resonance imaging to determine whole brain white matter hyperintensity volumes, a measure of small vessel disease. Linear regression was used to estimate the effect of instability on electroencephalographic power and connectivity.

Results

Ageing increased theta and alpha desynchronisation on standing. In older controls, delta and gamma power increased, and theta and alpha power reduced with instability. Dizzy older patients had higher white matter hyperintensity volumes and more theta desynchronisation during periods of instability. White matter hyperintensity volume and delta power during periods of instability were correlated, positively in controls but negatively in dizzy older patients. Delta power correlated with subjective dizziness and instability.

Conclusions

Neural resource demands of postural control increase with age, particularly in patients with UDE, driven by small vessel disease.

Significance

EEG correlates of postural control saturate in older adults with UDE, offering a neuro-physiological basis to this common syndrome.

Learning to stand with unexpected sensorimotor delays

Human standing balance relies on self-motion estimates that are used by the nervous system to detect unexpected movements and enable corrective responses and adaptations in control. These estimates must accommodate for inherent delays in sensory and motor pathways. Here, we used a robotic system to simulate human standing about the ankles in the anteroposterior direction and impose sensorimotor delays into the control of balance. Imposed delays destabilized standing, but through training, participants adapted and re-learned to balance with the delays. Before training, imposed delays attenuated vestibular contributions to balance and triggered perceptions of unexpected standing motion, suggesting increased uncertainty in the internal self-motion estimates. After training, vestibular contributions partially returned to baseline levels and larger delays were needed to evoke perceptions of unexpected standing motion. Through learning, the nervous system accommodates balance sensorimotor delays by causally linking whole-body sensory feedback (initially interpreted as imposed motion) to self-generated balance motor commands.

When standing, neurons in the brain send signals to skeletal muscles so we can adjust our movements to stay upright based on the requirements from the surrounding environment. The long nerves needed to connect our brain, muscles and sensors lead to considerable time delays (up to 160 milliseconds) between sensing the environment and the generation of balance-correcting motor signals. Such delays must be accounted for by the brain so it can adjust how it regulates balance and compensates for unexpected movements.

Aging and neurological disorders can lead to lengthened neural delays, which may result in poorer balance. Computer modeling suggests that we cannot maintain upright balance if delays are longer than 300-340 milliseconds. Directly assessing the destabilizing effects of increased delays in human volunteers can reveal how capable the brain is at adapting to this neurological change.

Using a custom-designed robotic balance simulator, Rasman et al. tested whether healthy volunteers could learn to balance with delays longer than the predicted 300-340 millisecond limit. In a series of experiments, 46 healthy participants stood on the balance simulator which recreates the physical sensations and neural signals for balancing upright based on a computer-driven virtual reality. This unique device enabled Rasman et al. to artificially impose delays by increasing the time between the generation of motor signals and resulting whole-body motion.

The experiments showed that lengthening the delay between motor signals and whole-body motion destabilized upright standing, decreased sensory contributions to balance and led to perceptions of unexpected movements. Over five days of training on the robotic balance simulator, participants regained their ability to balance, which was accompanied by recovered sensory contributions and perceptions of expected standing, despite the imposed delays. When a subset of participants was tested three months later, they were still able to compensate for the increased delay.

The experiments show that the human brain can learn to overcome delays up to 560 milliseconds in the control of balance. This discovery may have important implications for people who develop balance problems because of older age or neurologic diseases like multiple sclerosis. It is possible that robot-assisted training therapies, like the one in this study, could help people overcome their balance impairments.

Continuous Head Motion is a Greater Motor Control Challenge than Transient Head Motion in Patients with Loss of Vestibular Function

Background. The vestibular system is vital for gaze stability via the vestibulo-ocular reflex, which generates compensatory eye motion in the direction opposite to head motion. Consequently, individuals with peripheral vestibular loss demonstrate impaired gaze stability that reduces functional capacity and quality of life. To facilitate patients' compensatory strategies, two classes of gaze stabilization exercises are often prescribed: (i) transient (eg, ballistic) and (ii) continuous. However, the relative benefits of these two classes of exercises are not well understood. Objective. To quantify head motion kinematics in patients with vestibular loss while they performed both classes of exercises. Methods. Using inertial measurement units, head movements of 18 vestibular schwannoma patients were measured before and after surgical deafferentation and compared with age-matched controls. Results. We found that the head movement during both classes of exercises paralleled those of natural head movement recorded during daily activities. However, head movement patterns were more informative for continuous than transient exercises in distinguishing patients from healthy controls. Specifically, we observed coupling between kinematic measures in control subjects that was absent in patients for continuous but not transient head motion exercises. In addition, kinematic measures (eg, cycle duration) were predictive of standard clinical measures for continuous but not transient head motion exercises. Conclusions. Our data suggest that performing continuous head motion is a greater motor control challenge than transient head motion in patients with less reliable vestibular feedback during the sub-acute stage of recovery, which may also prove to be a reliable measure of progression in vestibular rehabilitation protocols.

Perceiving Sound Objects in the Musique Concrète

In the late 1940s and early 1950s, there emerged a radically new kind of music based on recorded environmental sounds instead of sounds of traditional Western musical instruments. Centered in Paris around the composer, music theorist, engineer, and writer Pierre Schaeffer, this became known as musique concrète because of its use of concrete recorded sound fragments, manifesting a departure from the abstract concepts and representations of Western music notation. Furthermore, the term sound object was used to denote our perceptual images of such fragments. Sound objects and their features became the focus of an extensive research effort on the perception and cognition of music in general, remarkably anticipating topics of more recent music psychology research. This sound object theory makes extensive use of metaphors, often related to motion shapes, something that can provide holistic representations of perceptually salient, but temporally distributed, features in different kinds of music.

Idiosyncratic Characteristics of Postural Sway in Normal and Perturbed Standing

Objective

Are people with a characteristically large physiological sway rendered particularly unstable when standing on a moving surface? Is postural sway in standing individuals idiosyncratic? In this study, we examine postural sway in individuals standing normally, and when subtle continuous sinusoidal disturbances are applied to their support platform. We calculate consistency between conditions to verify if sway can be considered characteristic of each individual. We also correlate two different aspects of participants’ responses to disturbance; their sway velocity and their regulation of body orientation.

Methods

Nineteen healthy adults (age 29.2 ± 3.2 years) stood freely on footplates coaxially aligned with their ankles and attached to a motorized platform. They had their eyes closed, and hips and knees locked with a light wooden board attached to their body. Participants either stood quietly on a fixed platform or on a slowly tilting platform (0.1 Hz sinusoid; 0.2 and 0.4 deg). Postural sway size was separated into two entities: (1) the spontaneous sway velocity component (natural random relatively rapid postural adjustments, RMS body angular velocity) and (2) the evoked tilt gain component (much slower 0.1 Hz synchronous tilt induced by the movement of the platform, measured as peak-to-peak (p-p) gain, ratio of body angle to applied footplate rotation).

Results

There was no correlation between the velocity of an individual’s sway and their evoked tilt gain (r = 0.34, p = 0.15 and r = 0.30, p = 0.22). However, when considered separately, each of the two measurements showed fair to good absolute agreement within conditions. Spontaneous sway velocity consistently increased as participants were subjected to increasing disturbance. Participants who swayed more (or less) did so across all conditions [ICC_(3,k) = 0.95]. Evoked tilt gain also showed consistency between conditions [ICC_(3,k) = 0.79], but decreased from least to most disturbed conditions.

Conclusion

The two measurements remain consistent between conditions. Consistency between conditions of two very distinct unrelated measurements reflects the idiosyncratic nature of postural sway. However, sway velocity and tilt gain are not related, which supports the idea that the short-term regulation of stability and the longer-term regulation of orientation are controlled by different processes.

A review of the neurobiomechanical processes underlying secure gripping in object manipulation

O'SHEA, H. and S. J. Redmond. A review of the neurobiomechanical processes underlying secure gripping in object manipulation. NEUROSCI BIOBEHAV REV 286-300, 2021. Humans display skilful control over the objects they manipulate, so much so that biomimetic systems have yet to emulate this remarkable behaviour. Two key control processes are assumed to facilitate such dexterity: predictive cognitive-motor processes that guide manipulation procedures by anticipating action outcomes; and reactive sensorimotor processes that provide important error-based information for movement adaptation. Notwithstanding increased interdisciplinary research interest in object manipulation behaviour, the complexity of the perceptual-sensorimotor-cognitive processes involved and the theoretical divide regarding the fundamentality of control mean that the essential mechanisms underlying manipulative action remain undetermined. In this paper, following a detailed discussion of the theoretical and empirical bases for understanding human dexterous movement, we emphasise the role of tactile-related sensory events in secure object handling, and consider the contribution of certain biophysical and biomechanical phenomena. We aim to provide an integrated account of the current state-of-art in skilled human-object interaction that bridges the literature in neuroscience, cognitive psychology, and biophysics. We also propose novel directions for future research exploration in this area.

TEMPORAL AND FRACTAL BEHAVIOR OF THE CENTER OF PRESSURE IN PARKINSONIAN AND HEALTHY ELDERLY COHORTS DURING QUIET STANDING

This study investigated the quantitative scaling properties of the center of pressure (COP) as well as the spatial-temporal properties of the COP to elucidate the postural control behavior of healthy elderly (HE) adults and adults with Parkinson’s disease (PD) during quiet standing. Eighteen adults with PD and eighteen HE adults participated in this study. The COP movements were recorded while participants stood on either a firm surface or on a foam pad with their eyes either opened or closed. The sway ranges in the anterior–posterior (AP) ([Formula: see text] and medio-lateral (ML) ([Formula: see text] directions, the total length of the trajectory ([Formula: see text], sway area ([Formula: see text], and scaling exponents ([Formula: see text] from detrended fluctuation analysis were computed from the measured COP data. All temporal variables of the COP in all conditions were found to be significantly larger in the PD group than in the HE group. Low scaling exponents obtained for the PD group showed this group possessed diminished postural control ability compared to the HE group. The PD group showed unpredictable open-loop control in both the AP and ML directions. This proprioceptive control became predictable and the time scale relations decreased as the postural challenges increased. The AP and ML closed-loop control of the PD group was more predictable than that of the HE group only when proprioception was distorted using intact visual input, and the visual and proprioceptive inputs were both intact.

Intermittent control strategy can enhance stabilization robustness in bumblebee hovering

Active flight control plays a crucial role in stabilizing the body posture of insects to stay aloft under a complex natural environment. Insects can achieve a closed-loop flight control by integrating the external mechanical system and the internal working system through manipulating wing kinematics according to feedback information from multiple sensors. While studies of proportional derivative/proportional integral derivative-based algorithms are the main subject to explore the continuous flight control mechanisms associated with insect flights, it is normally observed that insects achieve an intermittent spike firing in steering muscles to manipulate wings in flight control discontinuously. Here we proposed a novel intermittent control strategy for a 3 degree of freedom (DoF) pitch-control and explored its stabilization robustness in bumblebee hovering. An integrated computational model was established and validated, which comprises an insect-inspired dynamic flight simulator and a novel discrete feedback controller as well as a simplified free-flight dynamic model. We found that the intermittent control model can achieve an angular-dominant flight control, whereas the continuous control model corresponds to an angular-velocity-dominant one. Given the biological constraints in sensorimotor neurobiology and musculoskeletal mechanics, the intermittent control strategy was examined capable of enhancing the stabilization robustness in terms of sensory latency, stroke derivation, spike interval, and damping strength. Our results indicate that the intermittent control strategy is likely a sophisticated flight control mechanism in insect flights while providing a bioinspired flight-control design for insect size flapping-wing micro air vehicles.

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standing balance. In particular, we address the questions of how much proprioception alone could explain balance control, and whether one modality, force or length feedback, is more important than the other. A sagittal plane neuro-musculoskeletal model was developed with six degrees of freedom and nine muscles in each leg. A controller was designed using proprioceptive reflexes and a dead zone. No feedback control was applied inside the dead zone. Reflexes were active once the center of mass moved outside the dead zone. Controller parameters were found by solving an optimization problem, where effort was minimized while the neuro-musculoskeletal model should remain standing upright on a perturbed platform. The ground was perturbed with random square pulses in the sagittal plane with different amplitudes and durations. The optimization was solved for three controllers: using force and length feedback (base model), using only force feedback, and using only length feedback. Simulations were compared to human data from previous work, where an experiment with the same perturbation signal was performed. The optimized controller yielded a similar posture, since average joint angles were within 5 degrees of the experimental average joint angles. The joint angles of the base model, the length only model, and the force only model correlated weakly (ankle) to moderately with the experimental joint angles. The ankle moment correlated weakly to moderately with the experimental ankle moment, while the hip and knee moment were only weakly correlated, or not at all. The time series of the joint angles showed that the length feedback model was better able to explain the experimental joint angles than the force feedback model. Changes in time delay affected the correlation of the joint angles and joint moments. The objective of effort minimization yielded lower joint moments than in the experiment, suggesting that other objectives are also important in balance control, which cause an increase in effort and thus larger joint moments.

Control Architecture for Human-Like Motion With Applications to Articulated Soft Robots

Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the introduction of compliant elements in the robotic structure can be regarded as an attempt to bridge the gap between the animal body and the robot one. Soft articulated robots aim at replicating the musculoskeletal characteristics of vertebrates. Yet, substantial advancements are still needed under a control point of view, to fully exploit the new possibilities provided by soft robotic bodies. This paper introduces a control framework that ensures natural movements in articulated soft robots, implementing specific functionalities of the human central nervous system, i.e., learning by repetition, after-effect on known and unknown trajectories, anticipatory behavior, its reactive re-planning, and state covariation in precise task execution. The control architecture we propose has a hierarchical structure composed of two levels. The low level deals with dynamic inversion and focuses on trajectory tracking problems. The high level manages the degree of freedom redundancy, and it allows to control the system through a reduced set of variables. The building blocks of this novel control architecture are well-rooted in the control theory, which can furnish an established vocabulary to describe the functional mechanisms underlying the motor control system. The proposed control architecture is validated through simulations and experiments on a bio-mimetic articulated soft robot.

Design and Validation of a Lower-Limb Haptic Rehabilitation Robot

Present robots for investigating lower-limb motor control and rehabilitation focus on gait training. An alternative approach is to focus on restoring precursor abilities such as motor adaptation and volitional movement, as is common in upper-limb robotic therapy. Here we describe NOTTABIKE, a one degree-of-freedom rehabilitation robot designed to probe and promote these underlying capabilities. A recumbent exercise cycle platform is powered with a servomotor and instrumented with angular encoders, force-torque sensing pedals, and a wireless EMG system. Virtual environments ranging from spring-mass-damper systems to novel foot-to-crank mechanical laws present variants of leg-reaching and pedaling tasks that challenge perception, cognition, motion planning, and motor control systems. This paper characterizes the dynamic performance and haptic rendering accuracy of NOTTABIKE and presents an example motor adaptation task to illustrate its use. Torque and velocity mode controllers showed near unity magnitude ratio and phase loss less than 60 degrees up to 10 Hz. Spring rendering demonstrated 1% mean error in stiffness, and damper rendering performed comparably at 2.5%. Virtual mass rendering was less accurate but successful in varying perceived mass. NOTTABIKE will be used to study lower-limb motor adaptation in intact and impaired persons and to develop rehabilitation protocols that promote volitional movement recovery.

A bang-bang control model predicts the triphasic muscles activity during hand reaching

There are numerous ways to reach for an apple hanging from a tree. Yet, our motor system uses a specific muscle activity pattern that features activity bursts and silent periods. We suggest that these bursts are an evidence against the common view that the brain controls the commands to the muscles in a smooth continuous manner. Instead, we propose a model in which a motor plan is transformed into a piecewise-constant control signal that is low-pass filtered and transmitted to the muscles with different muscle-specific delays. We use a Markov chain Monte Carlo (MCMC) method to identify transitions in the state of the muscles following initial activation and show that fitting a bang-bang control model to the kinematics of movement predicts these transitions in the state of the muscles. Such a bang-bang controller suggests that the brain reduces the complexity of the problem of ballistic movements control by sending commands to the muscles at sparse times. Identifying this bang-bang controller can be useful to develop efficient controllers for neuroprostheses and other physical human-robot interaction systems.NEW & NOTEWORTHY While ballistic hand reaching movements are characterized by smooth position and velocity signals, the activity of the muscles exhibits bursts and silent periods. Here, we propose that a model based on bang-bang control provides the link between the abrupt changes in the muscle activity and the smooth reaching trajectory. Using bang-bang control instead of continuous control may simplify the design of prostheses and other physical human-robot interaction systems.

State-space intermittent feedback stabilization of a dual balancing task

Balancing the body in upright standing and balancing a stick on the fingertip are two examples of unstable tasks that, in spite of strong motor and sensory differences, appear to share a similar motor control paradigm, namely a state-space intermittent feedback stabilization mechanism. In this study subjects were required to perform the two tasks simultaneously, with the purpose of highlighting both the coordination between the two skills and the underlying interaction between the corresponding controllers. The experimental results reveal, in particular, that upright standing (the less critical task) is modified in an adaptive way, in order to facilitate the more critical task (stick balancing), but keeping the overall spatio-temporal signature well known in regular upright standing. We were then faced with the following question: to which extent the physical/biomechanical interaction between the two independent intermittent controllers is capable to explain the dual task coordination patterns, without the need to introduce an additional, supervisory layer/module? By comparing the experimental data with the output of a simulation study we support the former hypothesis, suggesting that it is made possible by the intrinsic robustness of both state-space intermittent feedback stabilization mechanisms.

Performance Limitations in Sensorimotor Control: Trade-Offs Between Neural Computation and Accuracy in Tracking Fast Movements

The ability to move fast and accurately track moving objects is fundamentally constrained by the biophysics of neurons and dynamics of the muscles involved. Yet the corresponding trade-offs between these factors and tracking motor commands have not been rigorously quantified. We use feedback control principles to quantify performance limitations of the sensorimotor control system (SCS) to track fast periodic movements. We show that (1) linear models of the SCS fail to predict known undesirable phenomena, including skipped cycles, overshoot and undershoot, produced when tracking signals in the "fast regime," while nonlinear pulsatile control models can predict such undesirable phenomena, and (2) tools from nonlinear control theory allow us to characterize fundamental limitations in this fast regime. Using a validated and tractable nonlinear model of the SCS, we derive an analytical upper bound on frequencies that the SCS model can reliably track before producing such undesirable phenomena as a function of the neurons' biophysical constraints and muscle dynamics. The performance limitations derived here have important implications in sensorimotor control. For example, if the primary motor cortex is compromised due to disease or damage, the theory suggests ways to manipulate muscle dynamics by adding the necessary compensatory forces using an assistive neuroprosthetic device to restore motor performance and, more important, fast and agile movements. Just how one should compensate can be informed by our SCS model and the theory developed here.

Reliability and robustness of optimization properties for stabilization of the upright stance as determined using posturography

Diagnostic value of static posturography depends on its methodological features, measurement properties, and on computational methods that extract meaningful information from the postural sway i.e. the center-of-pressure (CoP) displacements. In this study, we assessed the reliability and robustness of the postural system based on the optimization properties of the CoP signal: descending, local and global stability, and convergence. For the analysis, we used CoP data from 146 participants (104 [71%] female, age 46 ± 23 years, body mass index 23.6 ± 3.4 kg/m²) recorded while standing quietly on a foam surface without visual input. Reliability was estimated using the intraclass correlation coefficient from a single (ICC_2,1) and averaged (ICC_2,3) measurements. Robustness was assessed through main and interaction effects for the signal duration (60, 30 s), sampling frequency (100, 50 Hz), and lowpass filtering cutoff frequency (10, 5 Hz). The observed reliability depended on the use of average or single measurements as it was excellent for the stability property (ICC_2,k ≥ 0.772); excellent-to-acceptable (ICC_2,3 ≥ 0.540) or excellent-to-unacceptable (ICC_2,1 ≥ 0.281) for the descending property; and excellent-to-unacceptable (ICC_2,3 > 0.295; ICC_2,1 > 0.122) for the convergence property. Robustness analysis showed large main effects of signal duration (ω² ≤ 0.834, p < 0.001), sampling frequency (ω² ≤ 0.526, p < 0.001), and the lowpass filter cutoff frequency (ω² ≤ 0.523, p < 0.001) on the optimization properties; but all two-way and three-way effects varied from medium to trivial. Reliability is thus excellent to acceptable for deriving the descending, stability, and convergence properties from the average of three measurements. Those optimization properties are robust to the interaction but not the main effects of methodological sources of variation of posturography.

Explaining Parkinsonian postural sway variabilities using intermittent control theory

Postural impairment due to neuro-degenerative disorders such as Parkinson's Disease (PD) leads to restricted gait patterns, fall-related injuries, decreased mobility, and loss of functional independence. Though several clinical and posturographic studies have attempted to reveal the complex pathophysiology involved in PD, the diversity of Parkinsonian population makes them unclear and sometimes even contradictory. For instance, studies related to the Center of Pressure (CoP) sway during quiet stance in PD patients highlight both increase and reduction of magnitude in contrast to age-matched healthy individuals. A possible explanation for this contradiction is presented in this article. While the presence of intermittent control has been observed in postural control in human quiet stance, we hypothesize that one of the factors that affects postural instability in PD might be the increase in intermittency in active feedback control. Using a simulation model representing the Anterior-Posterior dynamics of human quiet standing, the intermittent control strategy is first contrasted against continuous control strategy in terms of stability, energy efficiency and settling time, thus establishing the inherent advantages of an intermittent control strategy. Further, the ability of the intermittent control strategy to explain several clinical observations in PD is demonstrated. An experimental pilot study is also conducted to support the simulation study, and several body sway parameters derived from recordings of CoP are presented. The presented results are in close agreement with reported clinical observations and may also prove useful for the assessment of disease progression and future fall risk.

Feedback Delay Changes the Control of an Inverted Pendulum

We recently developed a simulated inverted pendulum in order to examine human sensorimotor control strategies for stabilization. This simulated system allows us to manipulate the visual and haptic feedback independently from the physical dynamics of the task. Here we examine the effect of sensory delay in a balancing task. Human participants attempted to balance an inverted pendulum (simulated on a robotic manipulandum) with three different added delays (25, 50, and 75 ms), where the same delay was added to both the visual and haptic feedback. Increasing sensory delays decreased the ability of the participants to stabilize the pendulum. Investigation into the online control of the pendulum showed that with longer delays participants reduced their movement frequency but increased the amplitudes of their corrections.

Flexible organization of grip force control during movement frequency scaling

The grip force applied to maintain grasp of a handheld object has been typically reported as tightly coupled to the load force exerted by the object as it is actively manipulated, occurring proportionally and consistently in phase with changes in load force. However, continuous grip force-load force coupling breaks down when overall load force levels and oscillation amplitudes are lower (Grover F, Lamb M, Bonnette S, Silva PL, Lorenz T, Riley MA. Exp Brain Res 236: 2531–2544, 2018) or more predictable (Grover FM, Nalepka P, Silva PL, Lorenz T, Riley MA. Exp Brain Res 237: 687–703, 2019). Under these circumstances, grip force is instead only intermittently coupled to load force; continuous coupling is prompted only when load force levels or variations become sufficiently high or unpredictable. The current study investigated the nature of the transition between continuous and intermittent modes of grip force control by scaling the load force level and the oscillation amplitude continuously in time by means of scaling the required frequency of movement oscillations. Participants grasped a cylindrical object between the thumb and forefinger and oscillated their arm about the shoulder in the sagittal plane. Oscillation frequencies were paced with a metronome that scaled through an ascending or descending frequency progression. Due to greater accelerations, faster frequencies produced greater overall load force levels and more pronounced load oscillations. We observed smooth but nonlinear transitions between clear regimes of intermittent and continuous grip force-load force coordination, for both scaling directions, indicating that grip force control can flexibly reorganize as parameters affecting grasp (e.g., variations in load force) change over time.

NEW & NOTEWORTHY Grip force (GF) is synchronously coupled to changing load forces (LF) during object manipulation when LF levels are high or unpredictable, but only intermittently coupled to LF during less challenging grasp conditions. This study characterized the nature of transitions between synchronous and intermittent GF-LF coupling, revealing a smooth but nonlinear change in intermittent GF modulation in response to continuous scaling of LF amplitude. Intermittent, “drift-and-act” control may provide an alternative framework for understanding GF-LF coupling.

Coordination of Voluntary Residual Muscle Contractions in Transtibial Amputees: a Pilot Study

Recently there has been considerable interest in the use of electromyography (EMG) for the control of powered, lower-limb prostheses. However, little is understood regarding amputee residual muscle, specifically the ability for lower-limb amputees to coordinate previously antagonist residual muscles for different control tasks. In this study, we aimed to investigate the capability of transtibial amputees in coordinating residual gastrocnemius and tibialis anterior for performing a high-level task. Specifically, we examined how three transtibial amputees and one ablebodied subject used residual and intact ankle muscles to balance a virtual inverted pendulum. Subjects controlled the pendulum by modulating stiffness of the base joint proportional to the level of EMG signal exerted. We conducted ten trials for each subject and quantified success of task performance by area of overall sway and number of falls (termed failure). Amputees successfully reduced number of failures, though not to the extent of able-bodied subjects. Interestingly, while able-bodied subjects reduced overall pendulum sway, amputees did not. EMG coordination patterns that preceded failure for amputees were different than that of able-bodied subjects. These results suggest that amputees have altered ability to coordinate muscle post-amputation; however, all subjects can improve the task performance and learn to reduce EMG coordination patterns that led to task failure. Further study is required to investigate the limit of amputees in learning of coordination between antagonist residual muscles in order to inform future neural control of prosthetic legs.

Postural stability in Parkinson's disease patients' wives and in elderly women leading different lifestyles

The study aimed to determine postural stability of Parkinson's disease (PD) patients' wives in comparison with women differing in their lifestyle. (PD) patients' wives (n = 44), homemakers (n = 41), and female students of the University of the Third Age (n = 43) performed balance tests on a stabilometric platform. The PD patients' wives were characterized by significantly (p < 0.001) higher values of mean velocity sway than the homemakers and students (approximately 3.5 and 5 mm/s, respectively) and performed worst in displacement velocity and sway range in both sagittal and frontal plane. The results indicate that the wives of PD patients need support in the area of health training targeted at improving their standing stability.

Parameters of the crossing points between center of pressure and center of mass signals are potential markers of postural control efficiency

Posturographic signals were recorded for 384 subjects of different ages and with old persons with gait disturbances. Four conditions were used: Eyes Open/Closed vs. Head Normal/Bent Back. ‘Center of Pressure’ (CoP) signals were decomposed into ‘Center of Mass’ (CoM) and the remaining difference between Center of Pressure and Center of Mass (CoPM). The Zero-Crossing points in which the Center of Mass and Center of Pressure paths cross each other have been extracted. Velocity of CoM, velocity of CoPM and acceleration of CoPM in Zero-Crossing points were analyzed to be potential markers of balance efficiency. Three factors causing the deterioration of balance quality were analyzed: closing eyes, bending the head back and patient age. The influence of the given factors was measured using the significance p of the t-Student test and Cohen's d effect size and applied to differences for the logarithms of three of the mentioned above variables measured without and with the given deteriorating factor. In the majority of comparisons, the proposed new parameters of balance quality possessed higher statistical power to detect deteriorated balance quality than the standard parameters: standard deviation of the signal and ellipse area covering 90% of the signal envelope. Most valuable are the velocity and acceleration of CoPM for the medio-lateral direction. Logarithms of the analyzed parameters are proposed to be used in analyses because they possess normal or close to normal distribution and they are less sensitive to single high values occurring often in measurements.

Balance control systems in Parkinson's disease and the impact of pedunculopontine area stimulation

Impaired balance is a major contributor to falls and diminished quality of life in Parkinson’s disease, yet the pathophysiology is poorly understood. Here, we assessed if patients with Parkinson’s disease and severe clinical balance impairment have deficits in the intermittent and continuous control systems proposed to maintain upright stance, and furthermore, whether such deficits are potentially reversible, with the experimental therapy of pedunculopontine nucleus deep brain stimulation. Two subject groups were assessed: (i) 13 patients with Parkinson’s disease and severe clinical balance impairment, implanted with pedunculopontine nucleus deep brain stimulators; and (ii) 13 healthy control subjects. Patients were assessed in the OFF medication state and blinded to two conditions; off and on pedunculopontine nucleus stimulation. Postural sway data (deviations in centre of pressure) were collected during quiet stance using posturography. Intermittent control of sway was assessed by calculating the frequency of intermittent switching behaviour (discontinuities), derived using a wavelet-based transformation of the sway time series. Continuous control of sway was assessed with a proportional–integral–derivative (PID) controller model using ballistic reaction time as a measure of feedback delay. Clinical balance impairment was assessed using the ‘pull test’ to rate postural reflexes and by rating attempts to arise from sitting to standing. Patients with Parkinson’s disease demonstrated reduced intermittent switching of postural sway compared with healthy controls. Patients also had abnormal feedback gains in postural sway according to the PID model. Pedunculopontine nucleus stimulation improved intermittent switching of postural sway, feedback gains in the PID model and clinical balance impairment. Clinical balance impairment correlated with intermittent switching of postural sway (rho = − 0.705, P < 0.001) and feedback gains in the PID model (rho = 0.619, P = 0.011). These results suggest that dysfunctional intermittent and continuous control systems may contribute to the pathophysiology of clinical balance impairment in Parkinson’s disease. Clinical balance impairment and their related control system deficits are potentially reversible, as demonstrated by their improvement with pedunculopontine nucleus deep brain stimulation.

Controller Gains of an Inverted Pendulum are Influenced by the Visual Feedback Position

In this study we experimentally test and model the control behavior of human participants when controlling inverted pendulums of different dynamic lengths, and with visual feedback of varying congruence to these dynamic lengths. Participants were asked to stabilize the inverted pendulum of L = 1 m and L = 4 m, with visual feedback shown at various distances along the pendulum. We fit a family of linear models to the control input (cart velocity) applied by participants. We further tested the models by predicting this control input for a pendulum with dynamic length L = 2 m and comparing the prediction to the experimental data. We show that the sum of proportional error correction and a term inversely proportional to visual feedback gain can well describe the control in human participants.

A Technique for Measuring Visuomotor Feedback Contributions to the Control of an Inverted Pendulum

We developed a new technique to measure the contributions of rapid visuomotor feedback responses to the stabilization of a simulated inverted pendulum. Human participants balanced an inverted pendulum simulated on a robotic manipulandum. At a random time during the balancing task, the visual representation of the tip of the pendulum was shifted by a small displacement to the left or right while the motor response was measured. This response was either the exerted force against a fixation position, or the motion to re-stabilize the pendulum in the free condition. Our results demonstrate that rapid involuntary visuomotor feedback responses contribute to the stabilization of the pendulum.

Proportional Myoelectric Control of a Virtual Inverted Pendulum Using Residual Antagonistic Muscles: Toward Voluntary Postural Control

This paper aims to investigate whether transtibial amputees are capable of coordinating the descending neural commands to antagonistic residual ankle muscles for performing dynamic tasks that require continuous, precise control. To achieve this goal, we developed a virtual inverted pendulum that was inherently unstable and mimicked human-like dynamics in a standing posture. Balancing this dynamic system requires continuous inputs, proportional to electromyography (EMG) magnitudes recorded from (residual) tibialis anterior (TA) and lateral gastrocnemius muscles (GAS), respectively. The six able-bodied and six transtibial amputees were recruited and asked to balance the inverted pendulum for ten 90-s trials. The results showed that the amputees were capable of controlling this unstable dynamic system with a proportional myoelectric control; however, they underperformed the able-bodied subjects, who maintained the pendulum closer to center ( p = 0.041 ). Compared to the performance in the initial two trials, amputees improved the performance by significantly reducing the number of pendulum falls ( p = 0.0329 ) and sway size ( p = 0.048 ) in the final two trials. However, the amount of improvement varied across amputee subjects. Amputee subjects demonstrated different task adaptation strategies, including reduction of erroneous residual muscle contractions, development of an appropriate state-action (pendulum state-EMG activation) relationship for the task, and/or reduction of muscle control variability with the improved task performance efficiency (i.e., increased inactivity and sway minimization). The results suggest that after the training of transtibial amputees in coordinating antagonistic residual muscles in dynamic systems, it may be feasible to implement the proportional myoelectric control of the powered ankle prostheses in order to assist the postural control mechanisms, such as anticipatory and compensatory postural adjustments.

Stabilization of a Cart Inverted Pendulum: Improving the Intermittent Feedback Strategy to Match the Limits of Human Performance

Stabilization of the CIP (Cart Inverted Pendulum) is an analogy to stick balancing on a finger and is an example of unstable tasks that humans face in everyday life. The difficulty of the task grows exponentially with the decrease of the length of the stick and a stick length of 32 cm is considered as a human limit even for well-trained subjects. Moreover, there is a cybernetic limit related to the delay of the multimodal sensory feedback (about 230 ms) that supports a feedback stabilization strategy. We previously demonstrated that an intermittent-feedback control paradigm, originally developed for modeling the stabilization of upright standing, can be applied with success also to the CIP system, but with values of the critical parameters far from the limiting ones (stick length 50 cm and feedback delay 100 ms). The intermittent control paradigm is based on the alternation of on-phases, driven by a proportional/derivative delayed feedback controller, and off-phases, where the feedback is switched off and the motion evolves according to the intrinsic dynamics of the CIP. In its standard formulation, the switching mechanism consists of a simple threshold operator: the feedback control is switched off if the current (delayed) state vector is closer to the stable than to the unstable manifold of the off-phase and is switched on in the opposite case. Although this simple formulation is effective for explaining upright standing as well as CIP balancing, it fails in the most challenging configuration of the CIP. In this work we propose a modification of the standard intermittent control policy that focuses on the explicit selection of switching times and is based on the phase reset of the estimated state vector at each switching time and on the simulation of an approximated internal model of CIP dynamics. We demonstrate, by simulating the modified intermittent control policy, that it can match the limits of human performance, while operating near the edge of instability.

Balance Training With a Vibrotactile Biofeedback System Affects the Dynamical Structure of the Center of Pressure Trajectories in Chronic Stroke Patients

Haptic-based vibrotactile biofeedback (BF) is a promising technique to improve rehabilitation of balance in stroke patients. However, the extent to which BF training changes temporal structure of the center of pressure (CoP) trajectories remains unknown. This study aimed to investigate the effect of vibrotactile BF training on the temporal structure of CoP during quiet stance in chronic stroke patients using detrended fluctuation analysis (DFA). Nine chronic stroke patients (age; 81.56 ± 44 months post-stroke) received a balance training regimen using a vibrotactile BF system twice a week over 4 weeks. A Wii Balance board was used to record five 30 s trials of quiet stance pre- and post-training at 50 Hz. DFA revealed presence of two linear scaling regions in CoP indicating presence of fast- and slow-scale fluctuations. Averaged across all trials, fast-scale fluctuations showed persistent dynamics (α = 1.05 ± 0.08 for ML and α = 0.99 ± 0.17 for AP) and slow-scale fluctuations were anti-persistent (α = 0.35 ± 0.05 for ML and α = 0.32 ± 0.05 for AP). The slow-scale dynamics of ML CoP in stroke patients decreased from pre-training to post-BF training (α = 0.40 ± 0.13 vs. 0.31 ± 0.09). These results suggest that the vibrotactile BF training affects postural control strategy used by chronic stroke patients in the ML direction. Results of the DFA are further discussed in the context of balance training using vibrotactile BF and interpreted from the perspective of intermittent control of upright stance.

Influence of Visual Feedback on the Sensorimotor Control of an Inverted Pendulum

We examine the visual influence of stabilization in human sensorimotor control using a simulated inverted pendulum. As the inverted pendulum is fully simulated, we are able to manipulate the visual feedback independently from the dynamics during the motor control task. Human subjects performed a balancing task of an upright pendulum on a robotic manipulandum in two different visual feedback conditions. First we examined how subjects perform a task where the visual feedback is congruent with the pendulum dynamics. Second we tested how subjects performed when the physical dynamics were fixed but the visual feedback of the pendulum length was modulated. Subjects exhibited deficits in the control of the pendulum when haptic and visual feedback did not match, even when the visual feedback provided more sensitive information about the state of the pendulum. Overall we demonstrate the importance of accurate feedback regarding task dynamics for stabilization.

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.