Motor abundance contributes to resolving multiple kinematic task constraints

The Amount and Pattern of Reciprocal Compensations Predict Performance Stability in a Visually Guided Finger Force Production Task

Previous work suggests that synergistic activity among motor elements implicated in force production tasks underlies enhanced performance stability associated with visual feedback. A hallmark of synergistic activity is reciprocal compensation, that is, covariation in the states of motor elements that stabilizes critical performance variables. The present study examined if characteristics of reciprocal compensation are indicators of individuals' capacity to respond adaptively to variations in the resolution of visual feedback about criterion performance. Twenty healthy adults (19.25 ± 1.25 years; 15 females and five males) pressed two sensors with their index fingers to produce a total target force equivalent to 20% of their maximal voluntary contraction under nine conditions that differed in the spatial resolution of real-time feedback about their performance. By combining within-trial uncontrolled manifold and sample entropy analyses, we quantified the amount and degree of irregularity (i.e., non-repetitiveness) of reciprocal compensations over time. We found a U-shaped relationship between performance stability and gain. Importantly, this relationship was moderated by the degree of irregularity of reciprocal compensation. Lower irregularity in reciprocal compensation patterns was related to individuals' capacity to maintain (or minimize losses in) performance under changes in feedback resolution. Results invite future investigation into how interindividual variations in reciprocal compensation patterns relate to differences in control strategies supporting adaptive responses in complex, visually guided motor tasks.

An open-access database of video stimuli for action observation research in neuroimaging settings: psychometric evaluation and motion characterization

Video presentation has become ubiquitous in paradigms investigating the neural and behavioral responses to observed actions. In spite of the great interest in uncovering the processing of observed bodily movements and actions in neuroscience and cognitive science, at present, no standardized set of video stimuli for action observation research in neuroimaging settings exists. To facilitate future action observation research, we developed an open-access database of 135 high-definition videos of a male actor performing object-oriented actions. Actions from 3 categories: kinematically natural and goal-intact (Normal), kinematically unnatural and goal-intact (How), or kinematically natural and goal-violating (What), directed toward 15 different objects were filmed from 3 angles. Psychometric evaluation of the database revealed high video recognition accuracy (Mean accuracy = 88.61 %) and substantial inter-rater agreement (Fleiss' Kappa = 0.702), establishing excellent validity and reliability. Videos' exact timing of motion onset was identified using a custom motion detection frame-differencing procedure. Based on its outcome, the videos were edited to assure that motion begins at the second frame of each video. The videos' timing of category recognition was also identified using a novel behavioral up-down staircase procedure. The identified timings can be incorporated in future experimental designs to counteract jittered stimulus onsets, thus vastly improving the sensitivity of neuroimaging experiments. All videos, their psychometric evaluations, and the timing of their frame of category recognition, as well as our custom programs for performing these evaluations on our, or on other similar video databases, are available at the Open Science Framework (https://osf.io/zexc4/).

Exploring motor skill acquisition in bimanual coordination: insights from navigating a novel maze task

In this study, we introduce a novel maze task designed to investigate naturalistic motor learning in bimanual coordination. We developed and validated an extended set of movement primitives tailored to capture the full spectrum of scenarios encountered in a maze game. Over a 3-day training period, we evaluated participants' performance using these primitives and a custom-developed software, enabling precise quantification of performance. Our methodology integrated the primitives with in-depth kinematic analyses and thorough thumb pressure assessments, charting the trajectory of participants' progression from novice to proficient stages. Results demonstrated consistent improvement in maze performance and significant adaptive changes in joint behaviors and strategic recalibrations in thumb pressure distribution. These findings highlight the central nervous system's adaptability in orchestrating sophisticated motor strategies and the crucial role of tactile feedback in precision tasks. The maze platform and setup emerge as a valuable foundation for future experiments, providing a tool for the exploration of motor learning and coordination dynamics. This research underscores the complexity of bimanual motor learning in naturalistic environments, enhancing our understanding of skill acquisition and task efficiency while emphasizing the necessity for further exploration and deeper investigation into these adaptive mechanisms.

Synergic control of the minimum toe clearance in young and older adults during foot swing on treadmill walking in different speeds

BACKGROUND

The vertical toe position at minimum toe clearance (MTC) in the swing phase is critical for walking safety. Consequently, the joints involved should be strictly controlled and coordinated to stabilize the foot at MTC. The uncontrolled manifold (UCM) hypothesis framework has been used to determine the existence of synergies that stabilize relevant performance variables during walking. However, no study investigated the presence of a multi-joint synergy stabilizing the foot position at MTC and the effects of age and walking speed on this synergy.

RESEARCH QUESTIONS

Is there a multi-joint synergy stabilizing MTC during treadmill walking? Does it depend on the persons' age and walking speed?

METHODS

Kinematic data from 23 young and 15 older adults were analyzed using the UCM approach. The participants walked on a treadmill at three speeds: slow, self-selected, and fast. The sagittal and frontal joint angles from the swing and stance legs and pelvis obliquity were used as motor elements and the vertical toe position at MTC was the performance variable. The variances in the joint space that affected (VORT, 'bad' variance) and did not affect (VUCM, 'good' variance) the toe position at MTC and the synergy index (ΔV) were computed.

RESULTS

The ΔV>0 was revealed for all subjects. Walking speed did not affect ΔV in older adults, whereas ΔV reduced with speed in young adults. ΔV was higher for older than for young adults at self-selected and fast speeds, owing to a lower VORT in the older group.

SIGNIFICANCE

The vertical toe position at MTC was stabilized by a strong multi-joint synergy. In older adults, this synergy was stronger, as they were better at limiting VORT than young adults. Reduced VORT in older adults could be caused by more constrained walking, which may be associated with anxiety due to walking on a treadmill.

Incompatibility Influences Cursor Placement When Pointing to Images of Cups

OBJECTIVE

As images are used within graphical user interfaces to signify menu selection, it is important to understand how image properties can influence cursor placement online.

BACKGROUND

Objects have multiple dimensions that create potential ambiguity and Stroop-like confusions for the operator if a previously habitual response conflicts with the required response.

METHODS

To examine the impact of compatibility and other contextual factors, 41 participants used a computer Mouse or touch screen to place the cursor upon images of full or empty cups that varied in size, and direction of handle.

RESULTS

Cursor placements took longer using the Mouse than touch screen. Although participants were placing the cursor on images, the size of the cup, whether it was empty or full, and the handle orientation interacted in their effects upon response duration and cursor placement. The effects of cup size reversed for empty cups or those with incompatible handles.

CONCLUSION

Context can influence cursor placement. Perceived spillability influenced precision requirements, and the cup handle can serve as target or a flanking distractor.

APPLICATION

Image content can influence screen hotspots. As performance can change with cup spillability, this bodes well for attempts to detect intent from cursor trajectories.

A Systematic Review of Pharyngeal High-Resolution Manometry Normative Data

PURPOSE

The utilization of high-resolution pharyngeal manometry (HRPM) in the evaluation of pharyngeal dysphagia has been increasing; however, standardization of its use has lagged behind. Without standardization using normative values, it is difficult for clinicians to adopt this emerging technology into meaningful use. Our goal is to map and compare the published normative values for common HRPM metrics in order to help establish consensus reference values.

METHOD

A systematic review was conducted on prospective and retrospective studies that included HRPM metrics, defined by an international working group consensus, in healthy adult populations. Data on the following variables were extracted when available: contractile integrals of the pharynx (PhCI), velopharynx, mesopharynx, and hypopharynx, as well as the upper esophageal sphincter (UES) integrated relaxation pressure (IRP), relaxation time (RT), maximum admittance, and hypopharyngeal intrabolus pressure.

RESULTS

Thirty studies were included. Significant variation existed in the technique and equipment used to perform procedures between the different studies. Lower PhCIs and UES IRPs were seen in younger compared to older individuals. Higher UES RTs were found in individuals in the upright position compared to the supine position and in those using larger boluses sizes or smaller catheters.

CONCLUSIONS

Due to the wide variety of protocols, catheter configurations, manufacturers, and software used in the existing literature, it is difficult to formulate consensus on HPRM normative values using pooled data. Prospective studies adhering to standardized HRPM protocols for specific catheter configurations and manufacturers with larger cohorts of normal individuals are necessary to establish proper reference values for HRPM metrics.

SUPPLEMENTAL MATERIAL

https://doi.org/10.23641/asha.24843753.

Influence of Controlled Stomatognathic Motor Activity on Sway, Control and Stability of the Center of Mass During Dynamic Steady-State Balance—An Uncontrolled Manifold Analysis

Multiple sensory signals from visual, somatosensory and vestibular systems are used for human postural control. To maintain postural stability, the central nervous system keeps the center of mass (CoM) within the base of support. The influence of the stomatognathic motor system on postural control has been established under static conditions, but it has not yet been investigated during dynamic steady-state balance. The purpose of the study was to investigate the effects of controlled stomatognathic motor activity on the control and stability of the CoM during dynamic steady-state balance. A total of 48 physically active and healthy adults were assigned to three groups with different stomatognathic motor conditions: jaw clenching, tongue pressing and habitual stomatognathic behavior. Dynamic steady-state balance was assessed using an oscillating platform and the kinematic data were collected with a 3D motion capturing system. The path length (PL) of the 3D CoM trajectory was used for quantifying CoM sway. Temporal dynamics of the CoM movement was assessed with a detrended fluctuation analysis (DFA). An uncontrolled manifold (UCM) analysis was applied to assess the stability and control of the CoM with a subject-specific anthropometric 3D model. The statistical analysis revealed that the groups did not differ significantly in PL, DFA scaling exponents or UCM parameters. The results indicated that deliberate jaw clenching or tongue pressing did not seem to affect the sway, control or stability of the CoM on an oscillating platform significantly. Because of the task-specificity of balance, further research investigating the effects of stomatognathic motor activities on dynamic steady-state balance with different movement tasks are needed. Additionally, further analysis by use of muscle synergies or co-contractions may reveal effects on the level of muscles, which were not visible on the level of kinematics. This study can contribute to the understanding of postural control mechanisms, particularly in relation to stomatognathic motor activities and under dynamic conditions.

Clarifying the Biomechanical Concept of Coordination Through Comparison With Coordination in Motor Control

Coordination is a multidisciplinary concept in human movement science, particularly in the field of biomechanics and motor control. However, the term is not used synonymously by researchers and has substantially different meanings depending on the studies. Therefore, it is necessary to clarify the meaning of coordination to avoid confusion. The meaning of coordination in motor control from computational and ecological perspectives has been clarified, and the meanings differed between them. However, in biomechanics, each study has defined the meaning of the term and the meanings are diverse, and no study has attempted to bring together the diversity of the meanings of the term. Therefore, the purpose of this study is to provide a summary of the different meanings of coordination across the theoretical landscape and clarify the meaning of coordination in biomechanics. We showed that in biomechanics, coordination generally means the relation between elements that act toward the achievement of a motor task, which we call biomechanical coordination. We also showed that the term coordination used in computational and ecological perspectives has two different meanings, respectively. Each one had some similarities with biomechanical coordination. The findings of this study lead to an accurate understanding of the concept of coordination, which would help researchers formulate their empirical arguments for coordination in a more transparent manner. It would allow for accurate interpretation of data and theory development. By comprehensively providing multiple perspectives on coordination, this study intends to promote coordination studies in biomechanics.

Identifying coordination between joint movements during a throwing task with multiple degrees of freedom

It is known that coordination between joint movements is crucial for the achievement of motor tasks and has been studied extensively. Especially, in sports biomechanics, researchers are interested in determining which joint movements are coordinated to achieve a motor task. However, this issue cannot be easily addressed with the methods employed in previous studies. Therefore, we aimed to propose a method for identifying joint coordination. Subsequently, we examined which joint movements were coordinated using accurate overhead throwing, which required reduction in vertical hand velocity variability. Fourteen baseball players participated by attempting throwing using a motion capture system. The index of coordination for each joint movement and the effect of deviation of one joint movement on vertical hand velocity were quantified. Our results showed that the shoulder internal/external rotation angle (θ_1-IE) and the other joint movements or the shoulder horizontal flexion/extension angular velocity (ω_1-FE) and the other joint movements were coordinated. These results could be explained by the fact that the effects of the deviation of the shoulder internal rotation angle (θ_1-I) and shoulder horizontal flexion angular velocity (ω_1-F) on vertical hand velocity were larger than those of the other joint movements. This meant that it was necessary to cancel the deviations of θ_1-IE and ω_1-FE by the other joint movements. These findings indicate that the method proposed in this study enables the identification of which joint movements are coordinated in multiple degrees of freedom.

Greater Reliance on Cerebral Palsy-Specific Muscle Synergies During Gait Relates to Poorer Temporal-Spatial Performance Measures

Children with cerebral palsy typically exhibit reduced complexity of muscle coordination patterns during walking; however, the specific patterns that characterize their gait abnormalities are still not well documented. This study aimed to identify the specific repertoire of muscle coordination patterns in children with CP during walking compared to same-aged peers without CP and their relationships to gait performance. To identify muscle coordination patterns, we extracted muscle synergies from 10 children with CP and 10 age-matched typically developing children (TD). K-mean clustering and discriminant analyses of all extracted synergies were used to group similar synergies. Then, weight-averaged z-scores were quantified for each cluster to determine their group-specific level. In this cohort, 10 of the 17 distinct clusters were largely CP-specific while six clusters were seen mainly in TD, and one was non-specific. CP-specific clusters generally showed merging of two TD synergies, excessive antagonist co-activation, decreased muscle activation compared to TD, and complex or atypical pattern. Significant correlations were found between weight-averaged z-scores and step length asymmetry, cadence asymmetry, self-selected treadmill speed and AP-COM displacement of the pelvis such that greater CP-specificity of muscle synergies was related to poorer performance, thus indicating that CP-specific synergies can influence motor dysfunction.

Adjustments in end-effector trajectory and underlying joint angle synergies after a target switch: Order of adjustment is flexible

Goal-directed reaching adapts to meet changing task requirements after unexpected perturbations such as a sudden switch of target location. Literature on adaptive behavior using a target switch has primarily focused on adjustments of the end-effector trajectory, addressing proposed feedback and feedforward processes in planning adjusted actions. Starting from a dynamical systems approach to motor coordination, the current paper focusses on coordination of joint angles after a target switch, which has received little attention in the literature. We argue that joint angles are coordinated in synergies, temporary task-specific units emerging from interactions amongst task, organism, and environmental constraints. We asked whether after a target switch: i) joint angles were coordinated in synergies, ii) joint angles were coordinated in a different synergy than the synergy used when moving to the original target, and iii) synergies or end-effector trajectory was adjusted first. Participants (N = 12) performed manual reaching movements toward a target on a table (stationary target trials), where in some trials the target could unexpectedly switch to a new location (switch trials). Results showed that the end-effector curved to the switched target. Joint angles were synergistically organized as shown by the large extent of co-variation based on Uncontrolled Manifold analyses. At the end of the target switch movement, joint angle configurations differed from the joint angle configurations used to move to the original stationary target. Hence, we argue, a new synergy emerged after the target switch. The order of adjustment in the synergies and in the end-effector was flexible within participants, though most often synergies were adjusted first. These findings support the two-step framework of Kay (1988) to understand the coordination of abundant degrees of freedom and to explain adaptive actions. The flexibility in the order of adjustments of synergies suggests that the coordination of DOF emerges from self-organization.

Older but not younger adults rely on multijoint coordination to stabilize the swinging limb when performing a novel cued walking task

Motor flexibility, the ability to employ multiple motor strategies to meet task demands, may facilitate ambulation in complex environments that constrain movements; loss of motor flexibility may impair mobility. The purpose of this study was to determine the effects of obesity (a specific model of mobility impairment) and advanced age on motor flexibility during a task that constrained foot placement while walking. Twenty-one community-dwelling obese (OB) and 25 normal weight (NW) older adults (46 total older adults-OA) and 10 younger adults (YA) walked normally on a treadmill (baseline) then walked while stepping on lighted cues projected onto the treadmill at locations corresponding to average foot placement during normal walking (cued). The uncontrolled manifold (UCM) analysis was used to partition total variance in a set of seven lower-limb segment angles into components that did ("bad" variance) and did not ("good" variance) affect step-to-step variance in the trajectory of the swing foot. Motor flexibility was operationalized as an increase (baseline to cued) in total variance with an increase in good variance that exceeded the change in bad variance. There was no significant group × walking task interaction for total and good variance for OB vs NW, but there was a strong and significant interaction effect for OA vs YA (p < 0.01; Cohen's d > 1.0). Whereas YA reduced both good and bad variance, OA increased good variance beyond the change in bad variance. In OA, these changes were associated with several functional measures of mobility. Cued walking may place greater demands on OA requiring greater reliance on motor flexibility, although otherwise healthy older obese adults may be able to compensate for functional and cognitive declines associated with obesity by increasing motor flexibility under such tasks. The extent to which motor flexibility is employed during novel or constrained tasks may be a biomarker of healthy aging and a target for (re)habilitation.

Swallowing Pressure Variability as a Function of Pharyngeal Region, Bolus Volume, Age, and Sex

OBJECTIVES

Within-individual movement variability occurs in most motor domains. However, it is unknown how pharyngeal swallowing pressure varies in healthy individuals. We hypothesized that: 1) variability would differ among pharyngeal regions; 2) variability would decrease with increased bolus volume; 3) variability would increase with age; and 4) there would be no sex differences.

STUDY DESIGN

Case series.

METHODS

We used pharyngeal high-resolution manometry to measure swallowing pressure in the following regions: velopharynx, tongue base, hypopharynx, and upper esophageal sphincter. Data were collected from 97 healthy adults (41 male) aged 21 to 89 years during thin liquid swallows: 2 mL, 10 mL, and participant-selected comfortable volume. Pressure variability was measured using coefficient of variation. Repeated measures analysis of variance was used to assess impacts of region, bolus volume, age, and sex on pressure variability.

RESULTS

There was a significant region × volume interaction (P < .001) and significant main effect of age (P = .005). Pressures in the hypopharynx region were more variable than all other regions (P ≤ .028), and pressures in the tongue base region were less variable than all other regions (P ≤ .002) except at 2 mL volumes (P = .065). Swallowing pressure variability was significantly different in the velopharynx and upper esophageal sphincter regions, with comfortable volume and 2 mL swallows having greater variability than 10 mL swallows (P ≤ .026). Pressure variability significantly increased with increasing age (P = .002). There were no effects of sex on pressure variability (P ≥ .15).

CONCLUSION

Pharyngeal swallowing pressure variability differs according pharyngeal region, volume, and age but not sex. Abnormal swallowing pressure variability may reflect deviations in motor control in persons with swallowing impairment, and results from this study can be used as normative data for future investigations evaluating swallowing pressure generation.

LEVEL OF EVIDENCE

4 Laryngoscope, 131:E52-E58, 2021.

Target Uncertainty During Motor Decision-Making: The Time Course of Movement Variability Reveals the Effect of Different Sources of Uncertainty on the Control of Reaching Movements

The processes underlying motor decision-making have recently caught considerable amount of scientific attention, focusing on the integration of empirical evidence from sensorimotor control research with psychological theories and computational models on decision-making. Empirical studies on motor decision-making suggest that the kinematics of goal-directed reaching movements are sensitive to the level of target uncertainty during movement planning. However, the source of uncertainty as a relevant factor influencing the process of motor decision-making has not been sufficiently considered, yet. In this study, we test the assumption that the source of target uncertainty has an effect on motor decision-making, which can be proven by analyzing movement variability during the time course of movement execution. Ten healthy young adults performed three blocks with 66 trials of goal-directed reaching movements in each block, across which the source and level of reach target uncertainty at movement onset were manipulated (“no uncertainty”, “extrinsic uncertainty”, and “intrinsic uncertainty”). Fingertip position of the right index finger was recorded using an optical motion tracking system. Standard kinematic measures (i.e., path length and movement duration) as well as variability of fingertip position across the time course of movement execution and at movement end were analyzed. In line with previous studies, we found that a high level of extrinsic target uncertainty leads to increased overall movement duration, which could be attributed to increased path length in this condition, as compared to intrinsic and no target uncertainty (all p < 0.001). Movement duration and path length did not show any differences between the latter two conditions. However, the time course analysis of movement variability revealed significant differences between these two conditions, with increased variability of fingertip position in the presence of intrinsic target uncertainty (Condition × Sampling point: p = 0.01), though considerably less than under high extrinsic target uncertainty (p ≤ 0.001). These findings suggest that both the level and source of uncertainty have a significant effect on the processing of potential action plans during motor decision-making, which can be revealed through the analysis of the time course of movement variability at the end-effector level.

On the coordination of highly dynamic human movements: an extension of the Uncontrolled Manifold approach applied to precision jump in parkour

The human body generally has more degrees of freedom than necessary for generating a given movement. According to the motor abundance principle, this redundancy is beneficial as it provides the central nervous system with flexibility and robustness for the generation of movements. Under the hypothesis of the Uncontrolled Manifold, the additional degrees of freedom are used to produce motor solutions by reducing the variability that affects the motion performance across repetitions. In this paper, we present a general mathematical framework derived from robotics to formulate kinematic and dynamic tasks in human movement. On this basis, an extension of the Uncontrolled Manifold approach is introduced to deal with dynamic movements. This extension allows us to present a complex experimental application of the proposed framework to highly dynamic task variables in parkour movements. This experiment involves dynamic tasks expressed in terms of linear and angular momenta. The results show that the central nervous system is able to coordinate such skilled tasks which appear to be preferentially controlled and hierarchically organized. The proposed extension is promising for the study of motion generation in anthropomorphic systems and provides a formal description to investigate kinematics and dynamics tasks in human motions.

Anticipatory coarticulation in non-speeded arm movements can be motor-equivalent, carry-over coarticulation always is

In a sequence of arm movements, any given segment could be influenced by its predecessors (carry-over coarticulation) and by its successor (anticipatory coarticulation). To study the interdependence of movement segments, we asked participants to move an object from an initial position to a first and then on to a second target location. The task involved ten joint angles controlling the three-dimensional spatial path of the object and hand. We applied the principle of the uncontrolled manifold (UCM) to analyze the difference between joint trajectories that either affect (non-motor equivalent) or do not affect (motor equivalent) the hand's trajectory in space. We found evidence for anticipatory coarticulation that was distributed equally in the two directions in joint space. We also found strong carry-over coarticulation, which showed clear structure in joint space: More of the difference between joint configurations observed for different preceding movements lies in directions in joint space that leaves the hand's path in space invariant than in orthogonal directions in joint space that varies the hand's path in space. We argue that the findings are consistent with anticipatory coarticulation reflecting processes of movement planning that lie at the level of the hand's trajectory in space. Carry-over coarticulation may reflect primarily processes of motor control that are governed by the principle of the UCM, according to which changes that do not affect the hand's trajectory in space are not actively delimited. Two follow-up experiments zoomed in on anticipatory coarticulation. These experiments strengthened evidence for anticipatory coarticulation. Anticipatory coarticulation was motor-equivalent when visual information supported the steering of the object to its first target, but was not motor equivalent when that information was removed. The experiments showed that visual updating of the hand's path in space when the object approaches the first target only affected the component of the joint difference vector orthogonal to the UCM, consistent with the UCM principle.

The Propagation of Movement Variability in Time: A Methodological Approach for Discrete Movements with Multiple Degrees of Freedom

In recent years, theory-building in motor neuroscience and our understanding of the synergistic control of the redundant human motor system has significantly profited from the emergence of a range of different mathematical approaches to analyze the structure of movement variability. Approaches such as the Uncontrolled Manifold method or the Noise-Tolerance-Covariance decomposition method allow to detect and interpret changes in movement coordination due to e.g., learning, external task constraints or disease, by analyzing the structure of within-subject, inter-trial movement variability. Whereas, for cyclical movements (e.g., locomotion), mathematical approaches exist to investigate the propagation of movement variability in time (e.g., time series analysis), similar approaches are missing for discrete, goal-directed movements, such as reaching. Here, we propose canonical correlation analysis as a suitable method to analyze the propagation of within-subject variability across different time points during the execution of discrete movements. While similar analyses have already been applied for discrete movements with only one degree of freedom (DoF; e.g., Pearson's product-moment correlation), canonical correlation analysis allows to evaluate the coupling of inter-trial variability across different time points along the movement trajectory for multiple DoF-effector systems, such as the arm. The theoretical analysis is illustrated by empirical data from a study on reaching movements under normal and disturbed proprioception. The results show increased movement duration, decreased movement amplitude, as well as altered movement coordination under ischemia, which results in a reduced complexity of movement control. Movement endpoint variability is not increased under ischemia. This suggests that healthy adults are able to immediately and efficiently adjust the control of complex reaching movements to compensate for the loss of proprioceptive information. Further, it is shown that, by using canonical correlation analysis, alterations in movement coordination that indicate changes in the control strategy concerning the use of motor redundancy can be detected, which represents an important methodical advance in the context of neuromechanics.

Does practicing a wide range of joint angle configurations lead to higher flexibility in a manual obstacle-avoidance target-pointing task?

Flexibility in motor actions can be defined as variability in the use of degrees of freedom (e.g., joint angles in the arm) over repetitions while keeping performance (e.g., fingertip position) stabilized. We examined whether flexibility can be increased through enlarging the joint angle range during practice in a manual obstacle-avoidance target-pointing task. To establish differences in flexibility we partitioned the variability in joint angles over repetitions in variability within (GEV) and variability outside the solution space (NGEV). More GEV than NGEV reflects flexibility; when the ratio of the GEV and NGEV is higher, flexibility is higher. The pretest and posttest consisted of 30 repetitions of manual pointing to a target while moving over a 10 cm high obstacle. To enlarge the joint angle range during practice participants performed 600 target-pointing movements while moving over obstacles of different heights (5-9 cm, 11-15 cm). The results indicated that practicing movements over obstacles of different heights led participants to use enlarged range of joint angles compared to the range of joint angles used in movements over the 10 cm obstacle in the pretest. However, for each individual obstacle neither joint angle variance nor flexibility were higher during practice. We also did not find more flexibility after practice. In the posttest, joint angle variance was in fact smaller than before practice, primarily in GEV. The potential influences of learning effects and the task used that could underlie the results obtained are discussed. We conclude that with this specific type of practice in this specific task, enlarging the range of joint angles does not lead to more flexibility.

Multi-Finger Interaction and Synergies in Finger Flexion and Extension Force Production

The aim of this study was to discover finger interaction indices during single-finger ramp tasks and multi-finger coordination during a steady state force production in two directions, flexion, and extension. Furthermore, the indices of anticipatory adjustment of elemental variables (i.e., finger forces) prior to a quick pulse force production were quantified. It is currently unknown whether the organization and anticipatory modulation of stability properties are affected by force directions and strengths of in multi-finger actions. We expected to observe a smaller finger independency and larger indices of multi-finger coordination during extension than during flexion due to both neural and peripheral differences between the finger flexion and extension actions. We also examined the indices of the anticipatory adjustment between different force direction conditions. The anticipatory adjustment could be a neural process, which may be affected by the properties of the muscles and by the direction of the motions. The maximal voluntary contraction (MVC) force was larger for flexion than for extension, which confirmed the fact that the strength of finger flexor muscles (e.g., flexor digitorum profundus) was larger than that of finger extensor (e.g., extensor digitorum). The analysis within the uncontrolled manifold (UCM) hypothesis was used to quantify the motor synergy of elemental variables by decomposing two sources of variances across repetitive trials, which identifies the variances in the uncontrolled manifold (V_UCM) and that are orthogonal to the UCM (V_ORT). The presence of motor synergy and its strength were quantified by the relative amount of V_UCM and V_ORT. The strength of motor synergies at the steady state was larger in the extension condition, which suggests that the stability property (i.e., multi-finger synergies) may be a direction specific quantity. However, the results for the existence of anticipatory adjustment; however, no difference between the directional conditions suggests that feed-forward synergy adjustment (changes in the stability property) may be at least independent of the magnitude of the task-specific apparent performance variables and its direction (e.g., flexion and extension forces).

Plasticity of Sensorimotor Networks: Multiple Overlapping Mechanisms

Redundancy is an important feature of the motor system, as abundant degrees of freedom are prominent at every level of organization across the central and peripheral nervous systems, and musculoskeletal system. This basic feature results in a system that is both flexible and robust, and which can be sustainably adapted through plasticity mechanisms in response to intrinsic organismal changes and dynamic environments. While much early work of motor system organization has focused on synaptic-based plasticity processes that are driven via experience, recent investigations of neuron-glia interactions, epigenetic mechanisms and large-scale network dynamics have revealed a plethora of plasticity mechanisms that support motor system organization across multiple, overlapping spatial and temporal scales. Furthermore, an important role of these mechanisms is the regulation of intrinsic variability. Here, we review several of these mechanisms and discuss their potential role in neurorehabilitation.

Coordination of muscles to control the footpath during over-ground walking in neurologically intact individuals and stroke survivors

The central nervous system (CNS) is believed to use the abundant degrees of freedom of muscles and joints to stabilize a particular task variable important for task success, such as footpath during walking. Stroke survivors often demonstrate impaired balance and high incidences of falls due to increased footpath variability during walking. In the current study, we use the uncontrolled manifold (UCM) approach to investigate the role of motor abundance in stabilizing footpath during swing phase in healthy individuals and stroke survivors. Twelve stroke survivors and their age- and gender-matched controls walked over-ground at self-selected speed, while electromyographic and kinematic data were collected. UCM analysis partitioned the variance of muscle groups (modes) across gait cycles into "good variance" (i.e., muscle mode variance leading to a consistent or stable footpath) or "bad variance" (i.e., muscle mode variance resulting in an inconsistent footpath). Both groups had a significantly greater "good" than "bad" variance, suggesting that footpath is an important task variable stabilized by the CNS during walking. The relative variance difference that reflects normalized difference between "good" and "bad" variance was not significantly different between groups. However, significant differences in muscle mode structure and muscle mode activation timing were observed between the two groups. Our results suggest that though the mode structure and activation timing are altered, stroke survivors may retain their ability to explore the redundancy within the neuromotor system and utilize it to stabilize the footpath.

Coordination of muscle torques stabilizes upright standing posture: an UCM analysis

The control of upright stance is commonly explained on the basis of the single inverted pendulum model (ankle strategy) or the double inverted pendulum model (combination of ankle and hip strategy). Kinematic analysis using the uncontrolled manifold (UCM) approach suggests, however, that stability in upright standing results from coordinated movement of multiple joints. This is based on evidence that postural sway induces more variance in joint configurations that leave the body position in space invariant than in joint configurations that move the body in space. But does this UCM structure of kinematic variance truly reflect coordination at the level of the neural control strategy or could it result from passive biomechanical factors? To address this question, we applied the UCM approach at the level of muscle torques rather than joint angles. Participants stood on the floor or on a narrow base of support. We estimated torques at the ankle, knee, and hip joints using a model of the body dynamics. We then partitioned the joint torques into contributions from net, motion-dependent, gravitational, and generalized muscle torques. A UCM analysis of the structure of variance of the muscle torque revealed that postural sway induced substantially more variance in directions in muscle torque space that leave the Center of Mass (COM) force invariant than in directions that affect the force acting on the COM. This difference decreased when we decorrelated the muscle torque data by randomizing across time. Our findings show that the UCM structure of variance exists at the level of muscle torques and is thus not merely a by-product of biomechanical coupling. Because muscle torques reflect neural control signals more directly than joint angles do, our results suggest that the control strategy for upright stance involves the task-specific coordination of multiple degrees of freedom.

Physical Demand but Not Dexterity Is Associated with Motor Flexibility during Rapid Reaching in Healthy Young Adults

Healthy humans are able to place light and heavy objects in small and large target locations with remarkable accuracy. Here we examine how dexterity demand and physical demand affect flexibility in joint coordination and end-effector kinematics when healthy young adults perform an upper extremity reaching task. We manipulated dexterity demand by changing target size and physical demand by increasing external resistance to reaching. Uncontrolled manifold analysis was used to decompose variability in joint coordination patterns into variability stabilizing the end-effector and variability de-stabilizing the end-effector during reaching. Our results demonstrate a proportional increase in stabilizing and de-stabilizing variability without a change in the ratio of the two variability components as physical demands increase. We interpret this finding in the context of previous studies showing that sensorimotor noise increases with increasing physical demands. We propose that the larger de-stabilizing variability as a function of physical demand originated from larger sensorimotor noise in the neuromuscular system. The larger stabilizing variability with larger physical demands is a strategy employed by the neuromuscular system to counter the de-stabilizing variability so that performance stability is maintained. Our findings have practical implications for improving the effectiveness of movement therapy in a wide range of patient groups, maintaining upper extremity function in old adults, and for maximizing athletic performance.

Intentional and unintentional multi-joint movements: their nature and structure of variance

We tested predictions of a hierarchical scheme on the control of natural movements with referent body configurations. Subjects occupied an initial hand position against a bias force generated by a HapticMaster robot. A smooth force perturbation was applied to the hand consisting of an increase in the bias force, keeping it at a new level for 5s, and decreasing it back to the bias value. When the force returned to the bias value, the arm stopped at a position different from the initial one interpreted as an involuntary movement. We then asked subjects to make voluntary movements to targets corresponding to the measured end-position of the unintentional movements. No target for hand orientation was used. The joint configuration variance was compared between intentional and unintentional movements within the framework of the uncontrolled manifold hypothesis. Our central hypothesis was that both unintentional and intentional movements would be characterized by structure of joint configuration variance reflecting task-specific stability of salient performance variables, such as hand position and orientation. The analysis confirmed that most variance at the final steady states was compatible with unchanged values of both hand position and orientation following both intentional and unintentional movements. We interpret unintentional movements as consequences of back-coupling between the actual and referent configurations at the task level. The results suggested that both intentional and unintentional movements resulted from shifts of the body referent configuration produced intentionally or as a result of the hypothesized back-coupling. Inter-trial variance signature reflects similar task-specific stability properties of the system following both types of movements, intentional and unintentional.

Unintentional movements produced by back-coupling between the actual and referent body configurations: violations of equifinality in multi-joint positional tasks

We tested several predictions of a recent theory that combines the ideas of control with referent configurations, hierarchical control, and the uncontrolled manifold (UCM) hypothesis. In particular, we tested a hypothesis that unintentional changes in hand coordinate can happen following a long-lasting transient perturbation. The subjects grasped a handle with the right hand, occupied an initial position against a bias force produced by the HapticMaster robot, and then tried not to react to changes in the robot-produced force. Changes in the force were smooth and transient; they always ended with the same force as the bias force. The force-change amplitude and the time the force was kept at the new level (dwell time) varied across conditions. After the transient force change was over, the handle rested in a position that differed significantly from the initial position. The amplitude of this unintentional movement increased with the amplitude of transient force change and with the dwell time. In the new position, the across-trials joint configuration variance was mostly confined to a subspace compatible with the average handle coordinate and orientation (the UCMs for these variables). We view these results as the first experimental support for the hypothesis on back-coupling between the referent and actual body configurations during multi-joint actions. The results suggest that even under the instruction "not to react to transient force changes," the subjects may be unable to prevent unintentional drift of the referent configuration. The structure of joint configuration variance after such movements was similar to that in earlier reports on joint configuration variance after intentional movements. We conclude that the intentional and unintentional movements are products of a single neural system that can lead to intentional and unintentional shifts of the referent body configuration.

Not all is lost: old adults retain flexibility in motor behaviour during sit-to-stand

Sit-to-stand is a fundamental activity of daily living, which becomes increasingly difficult with advancing age. Due to severe loss of leg strength old adults are required to change the way they rise from a chair and maintain stability. Here we examine whether old compared to young adults differently prioritize task-important performance variables and whether there are age-related differences in the use of available motor flexibility. We applied the uncontrolled manifold analysis to decompose trial-to-trial variability in joint kinematics into variability that stabilizes and destabilizes task-important performance variables. Comparing the amount of variability stabilizing and destabilizing task-important variables enabled us to identify the variable of primary importance for the task. We measured maximal isometric voluntary force of three muscle groups in the right leg. Independent of age and muscle strength, old and young adults similarly prioritized stability of the ground reaction force vector during sit-to-stand. Old compared to young adults employed greater motor flexibility, stabilizing ground reaction forces during sit-to-sand. We concluded that freeing those degrees of freedom that stabilize task-important variables is a strategy used by the aging neuromuscular system to compensate for strength deficits.

Diminished joint coordination with aging leads to more variable hand paths

Differences in joint coordination between arms and due to aging were studied in healthy young and older adults reaching to either a fixed, central target or to the same target when it could unexpectedly change location after reach initiation. Joint coordination was investigated by artificially removing the covariation of each joint's motions with other joints' motions. Uncontrolled manifold analysis was used to partition joint configuration variance into variance reflecting motor abundance (VUCM) and variance causing hand path variability (VORT). The extent to which VORT, related to the consistency of the hand path, increased after removing a joint's covariation indicated the strength of its coordination with other joints. Young adults exhibited stronger indices of joint coordination, evidenced by a larger increase in VORT after removing joint covariation than for older adults. This effect was more striking for the dominant right compared to the left arm for young adults, but not for older adults, especially with target uncertainty. The results indicate that interjoint coordination in young adults leads to less hand path variability compared to older adults.

Practicing elements versus practicing coordination: changes in the structure of variance

The authors explored effects of practice of a 2-finger accurate force production task on components of finger force variance quantified within the uncontrolled manifold (UCM) hypothesis, V(UCM), that had no effect on total force and V(ORT) that affected total force. A variable task with graded instability was designed to encourage use of variable solutions. Two groups of subjects (n = 9 each) were tested prior to a 1.5-hr practice session, after the session, and 2 weeks later (retention test). Group 1 practiced 1 finger at a time, while Group 2 practiced the task with 2 fingers (index and middle) pressing together. Both groups showed comparable improvements in the performance indices. Both groups showed a decrease in V(ORT), while only Group 2 showed an increase in V(UCM). These effects persisted during the retention test. The results show that practicing elements and practicing redundant groups of elements may lead to similar changes in performance (i.e., in the variability of the total force produced by the set of fingers), accompanied by dramatically different changes in the structure of variance: A drop in V(UCM) after the single-finger practice and an increase following the 2-finger practice. The strong retention effects promise applications of the method to rehabilitation.

Improving finger coordination in young and elderly persons

We studied the effects of a single practice session of a variable task with subject-specific adjustments of task difficulty (instability) on indices of multi-finger coordination in young and elderly persons. The main hypothesis was that practicing such a task would lead to contrasting changes in the amounts of two components of variance estimated across repetitive trials within the uncontrolled manifold (UCM) hypothesis: V UCM that had no effect on total force and V ORT that affected total force. In addition, we also expected to see strong transfer effects to a different task. A variable task with graded instability was designed to encourage use of variable solutions during the accurate production of total force with two fingers. The subjects practiced with the index and middle fingers pressing on individual force sensors. Overall, the older subjects showed lower indices of performance and higher indices of both V UCM and V ORT. After about 1 h of practice, both groups showed an increase in the index of involuntary force production by non-task fingers (enslaving). Both groups improved the indices of performance. The two variance indices showed opposite effects of practice: V ORT dropped with practice, while V UCM increased leading to an increase in the total amount of variance in the space of commands to fingers and in the index of force-stabilizing synergy. Performance in a simpler, non-practiced task improved, but there was no transfer of the changes in the structure of variance. Specifically, both variance components, V ORT and V UCM, dropped in the non-practiced task. The results show that the neural system responsible for synergies stabilizing important features of performance is highly adaptable to practice of tasks designed to encourage use of variable solutions. We view the results as highly promising for future use in populations with impaired coordination characterized by low synergy indices.

End-state comfort and joint configuration variance during reaching

This study joined two approaches to motor control. The first approach comes from cognitive psychology and is based on the idea that goal postures and movements are chosen to satisfy task-specific constraints. The second approach comes from the principle of motor abundance and is based on the idea that control of apparently redundant systems is associated with the creation of multi-element synergies stabilizing important performance variables. The first approach has been tested by relying on psychophysical ratings of comfort. The second approach has been tested by estimating variance along different directions in the space of elemental variables such as joint postures. The two approaches were joined here. Standing subjects performed series of movements in which they brought a hand-held pointer to each of four targets oriented within a frontal plane, close to or far from the body. The subjects were asked to rate the comfort of the final postures, and the variance of their joint configurations during the steady state following pointing was quantified with respect to pointer endpoint position and pointer orientation. The subjects showed consistent patterns of comfort ratings among the targets, and all movements were characterized by multi-joint synergies stabilizing both pointer endpoint position and orientation. Contrary to what was expected, less comfortable postures had higher joint configuration variance than did more comfortable postures without major changes in the synergy indices. Multi-joint synergies stabilized the pointer position and orientation similarly across a range of comfortable/uncomfortable postures. The results are interpreted in terms conducive to the two theoretical frameworks underlying this work, one focusing on comfort ratings reflecting mean postures adopted for different targets and the other focusing on indices of joint configuration variance.

Functional synergies underlying control of upright posture during changes in head orientation

Background

Studies of human upright posture typically have stressed the need to control ankle and hip joints to achieve postural stability. Recent studies, however, suggest that postural stability involves multi degree-of-freedom (DOF) coordination, especially when performing supra-postural tasks. This study investigated kinematic synergies related to control of the body’s position in space (two, four and six DOF models) and changes in the head’s orientation (six DOF model).

Methodology/Principal Findings

Subjects either tracked a vertically moving target with a head-mounted laser pointer or fixated a stationary point during 4-min trials. Uncontrolled manifold (UCM) analysis was performed across tracking cycles at each point in time to determine the structure of joint configuration variance related to postural stability or tracking consistency. The effect of simulated removal of covariance among joints on that structure was investigated to further determine the role of multijoint coordination. Results indicated that cervical joint motion was poorly coordinated with other joints to stabilize the position of the body center of mass (CM). However, cervical joints were coordinated in a flexible manner with more caudal joints to achieve consistent changes in head orientation.

Conclusions/Significance

An understanding of multijoint coordination requires reference to the stability/control of important performance variables. The nature of that coordination differs depending on the reference variable. Stability of upright posture primarily involved multijoint coordination of lower extremity and lower trunk joints. Consistent changes in the orientation of the head, however, required flexible coordination of those joints with motion of the cervical spine. A two-segment model of postural control was unable to account for the observed stability of the CM position during the tracking task, further supporting the need to consider multijoint coordination to understand postural stability.

Synergistic control of joint angle variability: influence of target shape

Reaching movements are often used to study the effectiveness of motor control processes with respect to the final position of arm and hand. Empirical evidence shows that different targets can be grasped with similar final position accuracy. However, movements that achieve similar accuracy at their final position may nevertheless be controlled differently. In particular, control strategies may differ in the control of the abundant degrees of freedom with respect to the task-specific costs. The objective of the present study was to investigate whether the applied control strategy was influenced by the shape of the target to be grasped. It was investigated whether mechanical constraints, imposed on final hand orientation or final hand position by the shape of the targets, affected the synergistic coordination of the kinematic degrees of freedom of the arm. Subjects were asked to grasp either a cylindrical or a spherical target, which imposed different constraints on final hand orientation and position. Besides temporal movement aspects, variability of the joint angles of the arm, as well as variability of hand orientation and hand position was analyzed over the whole time course of movement execution, using the uncontrolled manifold method. Overall movement duration differed between cylindrical and spherical target condition, due to differences in deceleration duration. Reaching movements towards the cylindrical target, which was more constraint in final hand orientation and position, took longer than movements towards the spherical target. Analysis further revealed that the degrees of freedom of the arm were synergistically coordinated to stabilize both hand orientation and hand position, when grasping either the spherical or the cylindrical target. This suggests that the applied control strategy in natural reaching movements can simultaneously account for multiple task constraints. The analysis further revealed that stabilization of hand orientation was stronger when reaching towards a cylindrical target, which imposed more constraints on final hand orientation. In contrast, hand position was more strongly stabilized in the spherical target shape condition, where stronger constraints on final hand position were applied. This suggests that different target shapes do influence the control strategy of reaching movements even though variability at movement end was not affected.

Optimality versus variability: effect of fatigue in multi-finger redundant tasks

We used two methods to address two aspects of multi-finger synergies and their changes after fatigue of the index finger. Analytical inverse optimization (ANIO) was used to identify cost functions and corresponding spaces of optimal solutions over a broad range of task parameters. Analysis within the uncontrolled manifold (UCM) hypothesis was used to quantify co-variation of finger forces across repetitive trials that helped reduce variability of (stabilized) performance variables produced by all the fingers together. Subjects produced steady-state levels of total force and moment of force simultaneously as accurately as possible by pressing with the four fingers of the right hand. Both before and during fatigue, the subjects performed single trials for many force-moment combinations covering a broad range; the data were used for the ANIO analysis. Multiple trials were performed at two force-moment combinations; these data were used for analysis within the UCM hypothesis. Fatigue was induced by 1-min maximal voluntary contraction exercise by the index finger. Principal component (PC) analysis showed that the first two PCs explained over 90% of the total variance both before and during fatigue. Hence, experimental observations formed a plane in the four-dimensional finger force space both before and during fatigue conditions. Based on this finding, quadratic cost functions with linear terms were estimated from the experimental data. The dihedral angle between the plane of optimal solutions and the plane of experimental observations (D (ANGLE)) was very small (a few degrees); it increased during fatigue. There was an increase in fatigue of the coefficient at the quadratic term for the index finger force balanced by a drop in the coefficients for the ring and middle fingers. Within each finger pair (index-middle and ring-little), the contribution of the "central" fingers to moment production increased during fatigue. An index of antagonist moment production dropped with fatigue. Fatigue led to higher co-variation indices during pronation tasks (index finger is an agonist) but opposite effects during supination tasks. The results suggest that adaptive changes in co-variation indices that help stabilize performance may depend on the role of the fatigued element, agonist or antagonist.

Stabilization of the total force in multi-finger pressing tasks studied with the 'inverse piano' technique

When one finger changes its force, other fingers of the hand can show unintended force changes in the same direction (enslaving) and in the opposite direction (error compensation). We tested a hypothesis that externally imposed changes in finger force predominantly lead to error compensation effects in other fingers thus stabilizing the total force. A novel device, the "inverse piano", was used to impose controlled displacements to one of the fingers over different magnitudes and at different rates. Subjects (n=10) pressed with four fingers at a constant force level and then one of the fingers was unexpectedly raised. The subjects were instructed not to interfere with possible changes in the finger forces. Raising a finger caused an increase in its force and a drop in the force of the other three fingers. Overall, total force showed a small increase. Larger force drops were seen in neighbors of the raised finger (proximity effect). The results showed that multi-finger force stabilizing synergies dominate during involuntary reactions to externally imposed finger force changes. Within the referent configuration hypothesis, the data suggest that the instruction "not to interfere" leads to adjustments of the referent coordinates of all the individual fingers.

Fatigue and motor redundancy: adaptive increase in finger force variance in multi-finger tasks

We studied the effects of fatigue of the index finger on indices of force variability in discrete and rhythmic accurate force production tasks performed by the index finger and by all four fingers pressing in parallel. An increase in the variance of the force produced by the fatigued index finger was expected. We hypothesized that the other fingers would also show increased variance of their forces, which would be accompanied by co-variation among the finger forces resulting in relatively preserved accuracy of performance. The subjects performed isometric tasks including maximal voluntary contraction (MVC) and accurate force production before and after a 1-min MVC fatiguing exercise by the index finger. During fatigue, there was a significant increase in the root mean square index of force variability during accurate force production by the index finger. In the four-finger tasks, the variance of the individual finger force increased for all four fingers, while the total force variance showed only a modest change. We quantified two components of variance in the space of hypothetical commands to fingers, finger modes. There was a large increase in the variance component that did not affect total force and a much smaller increase in the component that did. The results suggest an adaptive increase in force variance by nonfatigued elements as a strategy to attenuate effects of fatigue on accuracy of multi-element performance. These effects were unlikely to originate at the level of synchronization of motor units across muscle compartments but rather involved higher control levels.

Multi-muscle synergies in a dual postural task: evidence for the principle of superposition

We used the framework of the uncontrolled manifold hypothesis to quantify multi-muscle synergies stabilizing the moment of force about the frontal axis (M(Y)) and the shear force in the anterior-posterior direction (F(X)) during voluntary body sway performed by standing subjects. We tested a hypothesis whether the controller could stabilize both M(Y) and F(X) at the same time when the task and the visual feedback was provided only on one of the variables (M(Y)). Healthy young subjects performed voluntary body sway in the anterior-posterior direction while different loads were attached at the ankle level producing horizontal forces acting forward or backwards. Principal component analysis was used to identify three M-modes within the space of integrated indices of muscle activation. Variance in the M-mode space across sway cycles was partitioned into two components, one that did not affect a selected performance variable (M(Y) or F(X)) and the other that did. Under all loading conditions and for each performance variable, a higher value for the former variance component was found. We interpret these results as reflections of two multi-M-mode synergies stabilizing both F(X) and M(Y). The indices of synergies were modulated within the sway cycle; both performance variables were better stabilized when the body moved forward than when it moved backward. The results show that the controller can use a set of three elemental variables (M-modes) to stabilize two performance variables at the same time. No negative interference was seen between the synergy indices computed for the two performance variables supporting the principle of superposition with respect to multi-muscle postural control.