Separate Adaptive Mechanisms for Controlling Trajectory and Final Position in Reaching

Investigating Eye Movement and Postural Stability Relationships Using Mobile Eye-Tracking and Posturography: A Cross-Sectional Study

Vision and eye movements play a crucial role in maintaining postural stability. This study investigated the relationship between eye movements and postural control in healthy adults using mobile eye-tracking technology and posturography. Forty healthy participants underwent assessments of eye movements using a mobile eye-tracking system and postural stability using Tetrax posturography under various sensory conditions. Pearson correlation coefficients were computed to examine associations between eye movement parameters and postural control indices. Significant correlations were found between eye movement parameters and postural stability indices. Faster and more consistent horizontal eye movements were associated with better postural stability (r = -0.63, p < 0.05). Eye movement speed variability positively correlated with weight distribution indices under normal eyes open (r = 0.65, p < 0.05) and closed (r = 0.59, p < 0.05) conditions. Coordination of horizontal and vertical eye movements positively correlated with postural control (r = 0.69, p < 0.01). Negative correlations were observed between eye movement coordination and Fourier indices in various frequency bands (p < 0.05) and the stability index under different head positions (p < 0.05). The findings provide insights into sensory integration mechanisms underlying balance maintenance and highlight the importance of integrated sensory processing in postural stability. Eye movement assessments have potential applications in balance evaluation and fall risk prediction.

The complementary dominance hypothesis: a model for remediating the 'good' hand in stroke survivors

The complementary dominance hypothesis is a novel model of motor lateralization substantiated by decades of research examining interlimb differences in the control of upper extremity movements in neurotypical adults and hemisphere-specific motor deficits in stroke survivors. In contrast to earlier ideas that attribute handedness to the specialization of one hemisphere, our model proposes complementary motor control specializations in each hemisphere. The dominant hemisphere mediates optimal control of limb dynamics as required for smooth and efficient movements, whereas the non-dominant hemisphere mediates impedance control, important for countering unexpected mechanical conditions and achieving steady-state limb positions. Importantly, this model proposes that each hemisphere contributes its specialization to both arms (though with greater influence from either arm's contralateral hemisphere) and thus predicts that lesions to one hemisphere should produce hemisphere-specific motor deficits in not only the contralesional arm, but also the ipsilesional arm of stroke survivors - a powerful prediction now supported by a growing body of evidence. Such ipsilesional arm motor deficits vary with contralesional arm impairment, and thus individuals with little to no functional use of the contralesional arm experience both the greatest impairments in the ipsilesional arm, as well as the greatest reliance on it to serve as the main or sole manipulator for activities of daily living. Accordingly, we have proposed and tested a novel intervention that reduces hemisphere-specific ipsilesional arm deficits and thereby improves functional independence in stroke survivors with severe contralesional impairment.

Dissociable Codes in Motor Working Memory

Working memory has been comprehensively studied in sensory domains, like vision, but little attention has been paid to how motor information (e.g., kinematics of recent movements) is maintained and manipulated in working memory. "Motor working memory" (MWM) is important for short-term behavioral control and skill learning. Here, we employed tasks that required participants to encode and recall reaching movements over short timescales. We conducted three experiments (N = 65 undergraduates) to examine MWM under varying cognitive loads, delays, and degrees of interference. The results support a model of MWM that includes an abstract code that flexibly transfers across effectors, and an effector-specific code vulnerable to interfering movements, even when interfering movements are irrelevant to the task. Neither code was disrupted by increasing visuospatial working memory load. These results echo distinctions between representational formats in other domains, suggesting that MWM shares a basic computational structure with other working memory subsystems.

Spatial mapping of posture-dependent resistance to passive displacement of the hypertonic arm post-stroke

BACKGROUND

Muscles in the post-stroke arm commonly demonstrate abnormal reflexes that result in increased position- and velocity-dependent resistance to movement. We sought to develop a reliable way to quantify mechanical consequences of abnormal neuromuscular mechanisms throughout the reachable workspace in the hemiparetic arm post-stroke.

METHODS

Survivors of hemiparetic stroke (HS) and neurologically intact (NI) control subjects were instructed to relax as a robotic device repositioned the hand of their hemiparetic arm between several testing locations that sampled the arm's passive range of motion. During transitions, the robot induced motions at either the shoulder or elbow joint at three speeds: very slow (6°/s), medium (30°/s), and fast (90°/s). The robot held the hand at the testing location for at least 20 s after each transition. We recorded and analyzed hand force and electromyographic activations from selected muscles spanning the shoulder and elbow joints during and after transitions.

RESULTS

Hand forces and electromyographic activations were invariantly small at all speeds and all sample times in NI control subjects but varied systematically by transport speed during and shortly after movement in the HS subjects. Velocity-dependent resistance to stretch diminished within 2 s after movement ceased in the hemiparetic arms. Hand forces and EMGs changed very little from 2 s after the movement ended onward, exhibiting dependence on limb posture but no systematic dependence on movement speed or direction. Although each HS subject displayed a unique field of hand forces and EMG responses across the workspace after movement ceased, the magnitude of steady-state hand forces was generally greater near the outer boundaries of the workspace than in the center of the workspace for the HS group but not the NI group.

CONCLUSIONS

In the HS group, electromyographic activations exhibited abnormalities consistent with stroke-related decreases in the stretch reflex thresholds. These observations were consistent across repeated testing days. We expect that the approach described here will enable future studies to elucidate stroke's impact on the interaction between the neural mechanisms mediating control of upper extremity posture and movement during goal-directed actions such as reaching and pointing with the arm and hand.

Goal-directed modulation of stretch reflex gains is reduced in the non-dominant upper limb

Most individuals experience their dominant arm as being more dexterous than the non-dominant arm, but the neural mechanisms underlying this asymmetry in motor behaviour are unclear. Using a delayed-reach task, we have recently demonstrated strong goal-directed tuning of stretch reflex gains in the dominant upper limb of human participants. Here, we used an equivalent experimental paradigm to address the neural mechanisms that underlie the preparation for reaching movements with the non-dominant upper limb. There were consistent effects of load, preparatory delay duration and target direction on the long latency stretch reflex. However, by comparing stretch reflex responses in the non-dominant arm with those previously documented in the dominant arm, we demonstrate that goal-directed tuning of short and long latency stretch reflexes is markedly weaker in the non-dominant limb. The results indicate that the motor performance asymmetries across the two upper limbs are partly due to the more sophisticated control of reflexive stiffness in the dominant limb, likely facilitated by the superior goal-directed control of muscle spindle receptors. Our findings therefore suggest that fusimotor control may play a role in determining performance of complex motor behaviours and support existing proposals that the dominant arm is better supplied than the non-dominant arm for executing more complex tasks, such as trajectory control.

Continuous use of visual information about the position of the moving hand

People generally look at a target when they want to reach for it. Doing so presumably helps them continuously update their judgments about the target's position and motion. But not looking at their hand does not prevent people from updating judgments about its position on the basis of visual information, because people do respond to experimental perturbations of visual information about the position of their hand. Here, we study such responses by adding jitter to the movement of a cursor that follows participants' fingers. We analyse the response to the jitter in a way that reveals how the vigour of the response depends on the moment during the movement at which the change in cursor position occurs. We compare the change in vigour to that for equivalent jitter in the position of the target. We find that participants respond to jitter in the position of a cursor in much the same way as they respond to jitter in the target's position. The responses are more vigorous late in the movement, when adjustments need to be made within less time, but similarly so for the cursor as for the target. The responses are weaker for the cursor, presumably because of the jitter-free kinaesthetic information about the position of the finger.

Orientation control strategies and adaptation to a visuomotor perturbation in rotational hand movements

Computational approaches to biological motor control are used to discover the building blocks of human motor behaviour. Models explaining features of human hand movements have been studied thoroughly, yet only a few studies attempted to explain the control of the orientation of the hand; instead, they mainly focus on the control of hand translation, predominantly in a single plane. In this study, we present a new methodology to study the way humans control the orientation of their hands in three dimensions and demonstrate it in two sequential experiments. We developed a quaternion-based score that quantifies the geodicity of rotational hand movements and evaluated it experimentally. In the first experiment, participants performed a simple orientation-matching task with a robotic manipulator. We found that rotations are generally performed by following a geodesic in the quaternion hypersphere, which suggests that, similarly to translation, the orientation of the hand is centrally controlled, possibly by optimizing geometrical properties of the hand’s rotation. This result established a baseline for the study of human response to perturbed visual feedback of the orientation of the hand. In the second experiment, we developed a novel visuomotor rotation task in which the rotation is applied on the hand’s rotation, and studied the adaptation of participants to this rotation, and the transfer of the adaptation to a different initial orientation. We observed partial adaptation to the rotation. The patterns of the transfer of the adaptation to a different initial orientation were consistent with the representation of the orientation in extrinsic coordinates. The methodology that we developed allows for studying the control of a rigid body without reducing the dimensionality of the task. The results of the two experiments open questions for future studies regarding the mechanisms underlying the central control of hand orientation. These results can be of benefit for many applications that involve fine manipulation of rigid bodies, such as teleoperation and neurorehabilitation.

Posture dependent factors influence movement variability when reaching to nearby virtual objects

Reaching movements are subject to noise arising during the sensing, planning and execution phases of movement production, which contributes to movement variability. When vision of the moving hand is available, reach endpoint variability appears to be strongly influenced by internal noise associated with the specification and/or online updating of movement plans in visual coordinates. In contrast, without hand vision, endpoint variability appears more dependent upon movement direction, suggesting a greater influence of execution noise. Given that execution noise acts in part at the muscular level, we hypothesized that reaching variability should depend not only on movement direction but initial arm posture as well. Moreover, given that the effects of execution noise are more apparent when hand vision is unavailable, we reasoned that postural effects would be more evident when visual feedback was withheld. To test these hypotheses, participants planned memory-guided reaching movements to three frontal plane targets using one of two initial arm postures ("adducted" or "abducted"), attained by rotating the arm about the shoulder-hand axis. In this way, variability was examined for two sets of movements that were largely identical in endpoint coordinates but different in joint/muscle-based coordinates. We found that patterns of reaching variability differed in several respects when movements were initiated with different arm postures. These postural effects were evident shortly after movement onset, near the midpoints of the movements, and again at the endpoints. At the endpoints, posture dependent effects interacted with effects of visual feedback to determine some aspects of variability. These results suggest that posture dependent execution noise interacts with feedback control mechanisms and biomechanical factors to determine patterns of reach endpoint variability in 3D space.

Motor cortical influence relies on task-specific activity covariation

During limb movement, spinal circuits facilitate the alternating activation of antagonistic flexor and extensor muscles. Yet antagonist cocontraction is often required to stabilize joints, like when loads are handled. Previous results suggest that these different muscle activation patterns are mediated by separate flexion- and extension-related motor cortical output populations, while others suggest recruitment of task-specific populations. To distinguish between hypotheses, we developed a paradigm in which mice toggle between forelimb tasks requiring antagonist alternation or cocontraction and measured activity in motor cortical layer 5b. Our results conform to neither hypothesis: consistent flexion- and extension-related activity is not observed across tasks, and no task-specific populations are observed. Instead, activity covariation among motor cortical neurons dramatically changes between tasks, thereby altering the relation between neural and muscle activity. This is also observed specifically for corticospinal neurons. Collectively, our findings indicate that motor cortex drives different muscle activation patterns via task-specific activity covariation.

Neural Control of Stopping and Stabilizing the Arm

Stopping is a crucial yet under-studied action for planning and producing meaningful and efficient movements. In this review, we discuss classical human psychophysics studies as well as those using engineered systems that aim to develop models of motor control of the upper limb. We present evidence for a hybrid model of motor control, which has an evolutionary advantage due to division of labor between cerebral hemispheres. Stopping is a fundamental aspect of movement that deserves more attention in research than it currently receives. Such research may provide a basis for understanding arm stabilization deficits that can occur following central nervous system (CNS) damage.

A rare case of deafferentation reveals an essential role of proprioception in bilateral coordination

Loss of proprioception has been shown to produce deficits in intralimb coordination and in the ability to stabilize limb posture in the absence of visual feedback. However, the role of proprioceptive signals in the feedforward and feedback control of interlimb coordination remains unclear. To address this issue, we examined bimanual coordination in a deafferented participant (DP) with large-fiber sensory neuropathy, which resulted in the loss of proprioception and touch in both arms, and in age-matched control participants. The task required participants to move a single virtual bar with both hands to a rectangular target with horizontal orientation. The participants received visual feedback of the virtual bar, but not of the hand positions along the bar-axis. Although the task required symmetrical movement between the arms, there were significant differences in the trajectories of the dominant and non-dominant hands in the deafferented participant, and thus more final errors and impaired coordination compared to controls. Deafferentation was also associated with an asymmetric deficit in stabilizing the hand at the end of motion, where the dominant arm showed more drift than the non-dominant arm. While the findings with DP may reflect a unique adaptation to deafferentation, they suggest that 1) Bilateral coordination depends on proprioceptive feedback, and 2) Postural stability at the end of motion can be specified through feedforward mechanisms, in the absence of proprioceptive feedback, but this process appears to be asymmetric, with better stability in the non-dominant arm.

Deficits in Performance on a Mechanically Coupled Asymmetrical Bilateral Task in Chronic Stroke Survivors with Mild Unilateral Paresis

Typical upper limb-mediated activities of daily living involve coordination of both arms, often requiring distributed contributions to mechanically coupled tasks, such as stabilizing a loaf of bread with one hand while slicing with the other. We sought to examine whether mild paresis in one arm results in deficits in performance on a bilateral mechanically coupled task. We designed a virtual reality-based task requiring one hand to stabilize against a spring load that varies with displacement of the other arm. We recruited 15 chronic stroke survivors with mild hemiparesis and 7 age-matched neurologically intact adults. We found that stroke survivors produced less linear reaching movements and larger initial direction errors compared to controls (p < 0.05), and that contralesional hand performance was less linear than that of ipsilesional hand. We found a hand × group interaction (p < 0.05) for peak acceleration of the stabilizing hand, such that the dominant right hand of controls stabilized less effectively than the nondominant left hand while stroke survivors showed no differences between the hands. Our results indicate that chronic stroke survivors with mild hemiparesis show significant deficits in reaching aspects of bilateral coordination, but no deficits in stabilizing against a movement-dependent spring load in this task.

Similar stretch reflexes and behavioral patterns are expressed by the dominant and nondominant arms during postural control

Limb dominance is evident in many daily activities, leading to the prominent idea that each hemisphere of the brain specializes in controlling different aspects of movement. Past studies suggest that the dominant arm is primarily controlled via an internal model of limb dynamics that enables the nervous system to produce efficient movements. In contrast, the nondominant arm may be primarily controlled via impedance mechanisms that rely on the strong modulation of sensory feedback from individual joints to control limb posture. We tested whether such differences are evident in behavioral responses and stretch reflexes following sudden displacement of the arm during posture control. Experiment 1 applied specific combinations of elbow-shoulder torque perturbations (the same for all participants). Peak joint displacements, return times, end point accuracy, and the directional tuning and amplitude of stretch reflexes in nearly all muscles were not statistically different between the two arms. Experiment 2 induced specific combinations of joint motion (the same for all participants). Again, peak joint displacements, return times, end point accuracy, and the directional tuning and amplitude of stretch reflexes in nearly all muscles did not differ statistically when countering the imposed loads with each arm. Moderate to strong correlations were found between stretch reflexes and behavioral responses to the perturbations with the two arms across both experiments. Collectively, the results do not support the idea that the dominant arm specializes in exploiting internal models and the nondominant arm in impedance control by increasing reflex gains to counter sudden loads imposed on the arms during posture control.NEW & NOTEWORTHY A prominent hypothesis is that the nervous system controls the dominant arm through predictive internal models and the nondominant arm through impedance mechanisms. We tested whether stretch reflexes of muscles in the two arms also display such specialization during posture control. Nearly all behavioral responses and stretch reflexes did not differ statistically but were strongly correlated between the arms. The results indicate individual signatures of feedback control that are common for the two arms.

Hand pose selection in a bimanual fine-manipulation task

Many daily tasks involve the collaboration of both hands. Humans dexterously adjust hand poses and modulate the forces exerted by fingers in response to task demands. Hand pose selection has been intensively studied in unimanual tasks, but little work has investigated bimanual tasks. This work examines hand poses selection in a bimanual high-precision-screwing task taken from watchmaking. Twenty right-handed subjects dismounted a screw on the watch face with a screwdriver in two conditions. Results showed that although subjects used similar hand poses across steps within the same experimental conditions, the hand poses differed significantly in the two conditions. In the free-base condition, subjects needed to stabilize the watch face on the table. The role distribution across hands was strongly influenced by hand dominance: the dominant hand manipulated the tool, whereas the nondominant hand controlled the additional degrees of freedom that might impair performance. In contrast, in the fixed-base condition, the watch face was stationary. Subjects used both hands even though single hand would have been sufficient. Importantly, hand poses decoupled the control of task-demanded force and torque across hands through virtual fingers that grouped multiple fingers into functional units. This preference for bimanual over unimanual control strategy could be an effort to reduce variability caused by mechanical couplings and to alleviate intrinsic sensorimotor processing burdens. To afford analysis of this variety of observations, a novel graphical matrix-based representation of the distribution of hand pose combinations was developed. Atypical hand poses that are not documented in extant hand taxonomies are also included.NEW & NOTEWORTHY We study hand poses selection in bimanual fine motor skills. To understand how roles and control variables are distributed across the hands and fingers, we compared two conditions when unscrewing a screw from a watch face. When the watch face needed positioning, role distribution was strongly influenced by hand dominance; when the watch face was stationary, a variety of hand pose combinations emerged. Control of independent task demands is distributed either across hands or across distinct groups of fingers.

Contributions of implicit and explicit memories to sensorimotor adaptation of movement extent during goal-directed reaching

We examined how implicit and explicit memories contribute to sensorimotor adaptation of movement extent during goal-directed reaching. Twenty subjects grasped the handle of a horizontal planar robot that rendered spring-like resistance to movement. Subjects made rapid “out-and-back” reaches to capture a remembered visual target at the point of maximal reach extent. The robot’s resistance changed unpredictably between reaches, inducing target capture errors that subjects attempted to correct from one trial to the next. Each subject performed over 400 goal-directed reaching trials. Some trials were performed without concurrent visual cursor feedback of hand motion. Some trials required self-assessment of performance between trials, whereby subjects reported peak reach extent on the most recent trial. This was done by either moving a cursor on a horizontal display (visual self-assessment), or by moving the robot’s handle back to the recalled location (proprioceptive self-assessment). Control condition trials performed either without or with concurrent visual cursor feedback of hand motion did not require self-assessments. We used step-wise linear regression analyses to quantify the extent to which prior reach errors and explicit memories of reach extent contribute to subsequent reach performance. Consistent with prior reports, providing concurrent visual feedback of hand motion increased reach accuracy and reduced the impact of past performance errors on future performance, relative to the corresponding no-vision control condition. By contrast, we found no impact of interposed self-assessment on subsequent reach performance or on how prior target capture errors influence subsequent reach performance. Self-assessments were biased toward the remembered target location and they spanned a compressed range of values relative to actual reach extents, demonstrating that declarative memories of reach performance systematically differed from actual performances. We found that multilinear regression could best account for observed data variability when the regression model included only implicit memories of prior reach performance; including explicit memories (self-assessments) in the model did not improve its predictive accuracy. We conclude therefore that explicit memories of prior reach performance do not contribute to implicit sensorimotor adaptation of movement extent during goal-directed reaching under conditions of environmental uncertainty.

Hierarchical motor adaptations negotiate failures during force field learning

Humans have the amazing ability to learn the dynamics of the body and environment to develop motor skills. Traditional motor studies using arm reaching paradigms have viewed this ability as the process of ‘internal model adaptation’. However, the behaviors have not been fully explored in the case when reaches fail to attain the intended target. Here we examined human reaching under two force fields types; one that induces failures (i.e., target errors), and the other that does not. Our results show the presence of a distinct failure-driven adaptation process that enables quick task success after failures, and before completion of internal model adaptation, but that can result in persistent changes to the undisturbed trajectory. These behaviors can be explained by considering a hierarchical interaction between internal model adaptation and the failure-driven adaptation of reach direction. Our findings suggest that movement failure is negotiated using hierarchical motor adaptations by humans.

How do we improve actions after a movement failure? Although negotiating movement failures is obviously crucial, previous motor-control studies have predominantly examined human movement adaptations in the absence of failures, and it remains unclear how failures affect subsequent movement adaptations. Here we examined this issue by developing a novel force field adaptation task where the hand movement during an arm reaching is perturbed by novel forces that induce a large target error, that is a failure. Our experimental observation and computational modeling show that, in addition to the popular ‘internal model learning’ process of motor adaptations, humans also utilize a ‘failure-negotiating’ process, that enables them to quickly improve movements in the presence of failure, even at the expense of increased arm trajectory deflections, which are subsequently reduced gradually with training after the achievement of the task success. Our results suggest that a hierarchical interaction between these two processes is a key for humans to negotiate movement failures.

Effect of Short-Term Exposure to Supplemental Vibrotactile Kinesthetic Feedback on Goal-Directed Movements after Stroke: A Proof of Concept Case Series

Many survivors of stroke have persistent somatosensory deficits on the contralesional side of their body. Non-invasive supplemental feedback of limb movement could enhance the accuracy and efficiency of actions involving the upper extremity, potentially improving quality of life after stroke. In this proof-of-concept study, we evaluated the feasibility and the immediate effects of providing supplemental kinesthetic feedback to stroke survivors, performing goal-directed actions with the contralesional arm. Three survivors of stroke in the chronic stage of recovery participated in experimental sessions wherein they performed reaching and stabilization tasks with the contralesional arm under different combinations of visual and vibrotactile feedback, which was induced on the ipsilesional arm. Movement kinematics were encoded by a vibrotactile feedback interface in two ways: state feedback—an optimal combination of hand position and velocity; and error feedback—the difference between the actual hand position and its instantaneous target. In each session we evaluated the feedback encoding scheme’s immediate objective utility for improving motor performance as well as its perceived usefulness. All three participants improved their stabilization performance using at least one of the feedback encoding schemes within just one experimental session. Two of the participants also improved reaching performance with one or the other of the encoding schemes. Although the observed beneficial effects were modest in each participant, these preliminary findings show that supplemental vibrotactile kinesthetic feedback can be readily interpreted and exploited to improve reaching and object stabilizing actions performed with the contralesional arm after stroke. These short-term training results motivate a longer multisession training study using personalized vibrotactile feedback as a means to improve the accuracy and efficacy of contralesional arm actions after stroke.

Computational reproductions of external force field adaption without assuming desired trajectories

Optimal feedback control is an established framework that is used to characterize human movement. However, it is not fully understood how the brain computes optimal gains through interactions with the environment. In the past study, we proposed a model of motor learning that identifies a set of feedback and feedforward controllers and a state predictor of the arm musculoskeletal system to control free reaching movements. In this study, we applied the model to force field adaptation tasks where normal reaching movements are disturbed by an external force imposed on the hand. Without a priori knowledge about the arm and environment, the model was able to adapt to the force field by generating counteracting forces to overcome it in a manner similar to what is reported in the behavioral literature. The kinematics of the movements generated by our model share characteristic features of human movements observed before and after force field adaptation. In addition, we demonstrate that the structure and learning algorithm introduced in our model induced a shift in the end-point's equilibrium position and a static force modulation, accompanied by a fast and a slow learning process. Importantly, our model does not require desired trajectories, yields movements without specifying movement duration, and predicts force generation patterns by exploring the environment. Our model demonstrates a possible mechanism through which the central nervous system may control and adapt a point-to-point reaching movement without specifying a desired trajectory by continuously updating the body's musculoskeletal model.

When the non-dominant arm dominates: the effects of visual information and task experience on speed-accuracy advantages

Speed accuracy trade-off, the inverse relationship between movement speed and task accuracy, is a ubiquitous feature of skilled motor performance. Many previous studies have focused on the dominant arm, unimanual performance in both simple tasks, such as target reaching, and complex tasks, such as overarm throwing. However, while handedness is a prominent feature of human motor performance, the effect of limb dominance on speed-accuracy relationships is not well-understood. Based on previous research, we hypothesize that dominant arm skilled performance should depend on visual information and prior task experience, and that the non-dominant arm should show greater skill when no visual information nor prior task information is available. Forty right-handed young adults reached to 32 randomly presented targets across a virtual reality workspace with either the left or the right arm. Half of the participants received no visual feedback about hand position throughout each reach. Sensory information and task experience were lowest during the first cycle of exposure (32 reaches) in the no-vision condition, in which visual information about motion was not available. Under this condition, we found that the left arm group showed greater skill, measured in terms of position error normalized to speed, and by error variability. However, as task experience and sensory information increased, the right arm group showed substantial improvements in speed-accuracy relations, while the left arm group maintained, but did not improve, speed-accuracy relations throughout the task. These differences in performance between dominant and non-dominant arm groups during the separate stages of the task are consistent with complimentary models of lateralization, which propose different proficiencies of each hemisphere for different features of control. Our results are incompatible with global dominance models of handedness that propose dominant arm advantages under all performance conditions.

Somatosensory deafferentation reveals lateralized roles of proprioception in feedback and adaptive feedforward control of movement and posture

Proprioception provides crucial information necessary for determining limb position and movement, and plausibly also for updating internal models that might underlie the control of movement and posture. Seminal studies of upper-limb movements in individuals living with chronic, large fiber deafferentation have provided evidence for the role of proprioceptive information in the hypothetical formation and maintenance of internal models to produce accurate motor commands. Vision also contributes to sensorimotor functions but cannot fully compensate for proprioceptive deficits. More recent work has shown that posture and movement control processes are lateralized in the brain, and that proprioception plays a fundamental role in coordinating the contributions of these processes to the control of goal-directed actions. In fact, the behavior of each limb in a deafferented individual resembles the action of a controller in isolation. Proprioception, thus, provides state estimates necessary for the nervous system to efficiently coordinate multiple motor control processes.

Proprioceptive accuracy after uni-joint and multi-joint patterns of arm-raising movements directed to overhead targets

AIM

To determine the effect of arm-raising pattern on upper limb proprioceptive accuracy for movements made to overhead targets.

MATERIALS AND METHODS

Sixteen healthy young adults were tested in standing with arms at the sides, made dominant arm-raising movements to an unseen overhead stop, randomly placed at one of five different overhead targets. Movements were made either as a uni-joint shoulder flexion movement in an arc, or as an unconstrained arm raising that was a series of multi-joint movements involving the shoulder, elbow, and wrist.

RESULTS

Overall proprioceptive accuracy for discrimination between the five unseen overhead targets was not different after arm-raising with either a uni-joint or mult-joint pattern (F_{1, 15} = 0.50, p = 0.49, partial η² = 0.03). Better performers with one pattern also tended to perform well with the other (r = 0.70, p = 0.003). Trend analysis across the 4 pairwise scores for discriminations between the target positions (171.8°-173.6°, 173.6°-175.4°, 175.4°-177.2°, and 177.2°-179.0°) showed worsening discrimination towards the more distant targets (F_{1, 15} = 8.44, p = 0.01, partial η² = 0.36). However, this linear trend of falling discrimination accuracy was not different between the two movement patterns (p = 0.27).

CONCLUSION

Proprioceptive accuracy did not differ between simple uni-joint and more complex multi-joint arm-raising movement patterns, and the further the extent of the overhead target movement, the worse proprioceptive discrimination sensitivity for both movement patterns. Upper limb proprioceptive accuracy was therefore movement extent dependent, but movement pattern independent.

Left hemisphere damage produces deficits in predictive control of bilateral coordination

Previous research has demonstrated hemisphere-specific motor deficits in ipsilesional and contralesional unimanual movements in patients with hemiparetic stroke due to MCA infarct. Due to the importance of bilateral motor actions on activities of daily living, we now examine how bilateral coordination may be differentially affected by right or left hemisphere stroke. To avoid the caveat of simply adding unimanual deficits in assessing bimanual coordination, we designed a unique task that requires spatiotemporal coordination features that do not exist in unimanual movements. Participants with unilateral left (LHD) or right hemisphere damage (RHD) and age-matched controls moved a virtual rectangle (bar) from a midline start position to a midline target. Movement along the long axis of the bar was redundant to the task, such that the bar remained in the center of and parallel to an imaginary line connecting each hand. Thus, to maintain midline position of the bar, movements of one hand closer to or further away from the bar midline required simultaneous, but oppositely directed displacements with the other hand. Our findings indicate that left (LHD), but not right (RHD) hemisphere-damaged patients showed poor interlimb coordination, reflected by significantly lower correlations between displacements of each hand along the bar axis. These left hemisphere-specific deficits were only apparent prior to peak velocity, likely reflecting predictive control of interlimb coordination. In contrast, the RHD group bilateral coordination was not significantly different than that of the control group. We conclude that predictive mechanisms that govern bilateral coordination are dependent on left hemisphere mechanisms. These findings indicate that assessment and training in cooperative bimanual tasks should be considered as part of an intervention framework for post-stroke physical rehabilitation.

The neural foundations of handedness: insights from a rare case of deafferentation

The role of proprioceptive feedback on motor lateralization remains unclear. We asked whether motor lateralization is dependent on proprioceptive feedback by examining a rare case of proprioceptive deafferentation (GL). Motor lateralization is thought to arise from asymmetries in neural organization, particularly at the cortical level. For example, we have previously provided evidence that the left hemisphere mediates optimal motor control that allows execution of smooth and efficient arm trajectories, while the right hemisphere mediates impedance control that can achieve stable and accurate final arm postures. The role of proprioception in both of these processes has previously been demonstrated empirically, bringing into question whether loss of proprioception will disrupt lateralization of motor performance. In this study, we assessed whether the loss of online sensory information produces deficits in integrating specific control contributions from each hemisphere by using a reaching task to examine upper limb kinematics in GL and five age-matched controls. Behavioral findings revealed differential deficits in the control of the left and right hands in GL and performance deficits in each of GL's hands compared with controls. Computational simulations can explain the behavioral results as a disruption in the integration of postural and trajectory control mechanisms when no somatosensory information is available. This rare case of proprioceptive deafferentation provides insights into developing a more accurate understanding of handedness that emphasizes the role of proprioception in both predictive and feedback control mechanisms.NEW & NOTEWORTHY The role of proprioceptive feedback on the lateralization of motor control mechanisms is unclear. We examined upper limb kinematics in a rare case of peripheral deafferentation to determine the role of sensory information in integrating motor control mechanisms from each hemisphere. Our empirical findings and computational simulations showed that the loss of somatosensory information results in an impaired integration of control mechanisms, thus providing support for a complementary dominance hypothesis of handedness.

Stochastic optimal open-loop control as a theory of force and impedance planning via muscle co-contraction

Understanding the underpinnings of biological motor control is an important issue in movement neuroscience. Optimal control theory is a leading framework to rationalize this problem in computational terms. Previously, optimal control models have been devised either in deterministic or in stochastic settings to account for different aspects of motor control (e.g. average behavior versus trial-to-trial variability). While these approaches have yielded valuable insights about motor control, they typically fail in explaining muscle co-contraction. Co-contraction of a group of muscles associated to a motor function (e.g. agonist and antagonist muscles spanning a joint) contributes to modulate the mechanical impedance of the neuromusculoskeletal system (e.g. joint viscoelasticity) and is thought to be mainly under the influence of descending signals from the brain. Here we present a theory suggesting that one primary goal of motor planning may be to issue feedforward (open-loop) motor commands that optimally specify both force and impedance, according to noisy neuromusculoskeletal dynamics and to optimality criteria based on effort and variance. We show that the proposed framework naturally accounts for several previous experimental findings regarding the regulation of force and impedance via muscle co-contraction in the upper-limb. Stochastic optimal (closed-loop) control, preprogramming feedback gains but requiring on-line state estimation processes through long-latency sensory feedback loops, may then complement this nominal feedforward motor command to fully determine the limb’s mechanical impedance. The proposed stochastic optimal open-loop control theory may provide new insights about the general articulation of feedforward/feedback control mechanisms and justify the occurrence of muscle co-contraction in the neural control of movement.

This study presents a novel computational theory to explain the planning of force and impedance (e.g. viscoelasticity) in the neural control of movement. It assumes that one main goal of motor planning is to elaborate feedforward motor commands that determine both the force and the impedance required for the task at hand. These feedforward motor commands (i.e. that are defined prior to movement execution) are designed to minimize effort and variance costs considering the uncertainty arising from sensorimotor or environmental noise. A major outcome of this mathematical framework is the explanation of muscle co-contraction (i.e. the concurrent contraction of a group of muscles involved in a motor function). Muscle co-contraction has been shown to occur in many situations but previous modeling works struggled to account for it. Although effortful, co-contraction contributes to increase the robustness of motor behavior (e.g. small variance) upstream of sophisticated optimal closed-loop control processes that require state estimation from delayed sensory feedback to function. This work may have implications regarding our understanding of the neural control of movement in computational terms. It also provides a theoretical ground to explain how to optimally plan force and impedance within a general and versatile framework.

Attenuation of access to internal states in high obsessive-compulsive individuals might increase susceptibility to false feedback: Evidence from a visuo-motor hand-reaching task

BACKGROUND AND OBJECTIVES

The Seeking Proxies for Internal States (SPIS) model of obsessive-compulsive disorder (OCD) posits that obsessive-compulsive (OC) individuals have attenuated access to their internal states. Hence, they seek and rely on proxies, or discernible substitutes for these internal states. In previous studies, participants with high OC tendencies and OCD patients, compared to controls, showed increased reliance on external proxies and were more influenced by false feedback when judging their internal states. This study is the first to examine the effects of false feedback on performance of hand movements in participants with high and low OC tendencies.

METHOD

Thirty-four participants with high OC tendencies and 34 participants with low OC tendencies were asked to perform accurate hand reaches without visual feedback in two separate sessions of a computerized hand-reaching task: once after valid feedback training of their hand location and once with false-rotated feedback. We assessed the accuracy and directional adaptation of participants' reaches.

RESULTS

As predicted, high OC participants evidenced a larger decrease in their hand positioning accuracy after training with false feedback compared to low OC participants.

LIMITATIONS

The generalization of our findings to OCD requires replication with a clinical sample.

CONCLUSIONS

These results suggest that in addition to self-perceptions, motor performance of OC individuals is prone to be overly influenced by false feedback, possibly due to attenuated access to proprioceptive cues. These findings may be particularly relevant to understanding the distorted sense of agency in OCD.

Role of the cortex in visuomotor control of arm stability

Whereas numerous motor control theories describe the control of arm trajectory during reach, the control of stabilization in a constant arm position (i.e., visuomotor control of arm posture) is less clear. Three potential mechanisms have been proposed for visuomotor control of arm posture: 1) increased impedance of the arm through co-contraction of antagonistic muscles, 2) corrective muscle activity via spinal/supraspinal reflex circuits, and/or 3) intermittent voluntary corrections to errors in position. We examined the cortical mechanisms of visuomotor control of arm posture and tested the hypothesis that cortical error networks contribute to arm stabilization. We collected electroencephalography (EEG) data from 10 young healthy participants across four experimental planar movement tasks. We examined brain activity associated with intermittent voluntary corrections of position error and antagonist co-contraction during stabilization. EEG beta-band (13-26 Hz) power fluctuations were used as indicators of brain activity, and coherence between EEG electrodes was used as a measure of functional connectivity between brain regions. Cortical activity in the sensory, motor, and visual areas during arm stabilization was similar to activity during volitional arm movements and was larger than activity during co-contraction of the arm. However, cortical connectivity between the sensorimotor and visual regions was higher during arm stabilization compared with volitional arm movements and co-contraction of the arm. The difference in cortical activity and connectivity between tasks might be attributed to an underlying visuomotor error network used to update motor commands for visuomotor control of arm posture.NEW & NOTEWORTHY We examined cortical activity and connectivity during control of stabilization in a constant arm position (i.e., visuomotor control of arm posture). Our findings provide evidence for cortical involvement during control of stabilization in a constant arm position. A visuomotor error network appears to be active and may update motor commands for visuomotor control of arm posture.

A review of grasping as the movements of digits in space

It is tempting to describe human reach-to-grasp movements in terms of two, more or less independent visuomotor channels, one relating hand transport to the object’s location and the other relating grip aperture to the object’s size. Our review of experimental work questions this framework for reasons that go beyond noting the dependence between the two channels. Both the lack of effect of size illusions on grip aperture and the finding that the variability in grip aperture does not depend on the object’s size indicate that size information is not used to control grip aperture. An alternative is to describe grip formation as emerging from controlling the movements of the digits in space. Each digit’s trajectory when grasping an object is remarkably similar to its trajectory when moving to tap the same position on its own. The similarity is also evident in the fast responses when the object is displaced. This review develops a new description of the speed-accuracy trade-off for multiple effectors that is applied to grasping. The most direct support for the digit-in-space framework is that prism-induced adaptation of each digit’s tapping movements transfers to that digit’s movements when grasping, leading to changes in grip aperture for adaptation in opposite directions for the two digits. We conclude that although grip aperture and hand transport are convenient variables to describe grasping, treating grasping as movements of the digits in space is a more suitable basis for understanding the neural control of grasping.

Maintaining arm control during self-triggered and unpredictable unloading perturbations

We often perform actions where we must break through some resistive force, but want to remain in control during this unpredictable transition; for example, when an object we are pushing on transitions from static to dynamic friction and begins to move. We designed a laboratory task to replicate this situation in which participants actively pushed against a robotic manipulandum until they exceeded an unpredictable threshold, at which point the manipulandum moved freely. Human participants were instructed to either stop the movement of the handle following this unloading perturbation, or to continue pushing. We found that participants were able to modulate their reflexes in response to this unpredictable and self-triggered unloading perturbation according to the instruction they were following, and that this reflex modulation could not be explained by pre-perturbation muscle state. However, in a second task, where participants reactively produced force during the pre-unloading phase in response to the robotic manipulandum to maintain a set hand position, they were unable to modulate their reflexes in the same task-dependent way. This occurred even though the forces they produced were matched to the first task and they had more time to prepare for the unloading event. We suggest this disparity occurs because of different neural circuits involved in posture and movement, meaning that participants in the first task did not require additional time to switch from postural to movement control.

Eye movements do not play an important role in the adaptation of hand tracking to a visuomotor rotation

Adapting hand movements to changes in our body or the environment is essential for skilled motor behavior. Although eye movements are known to assist hand movement control, how eye movements might contribute to the adaptation of hand movements remains largely unexplored. To determine to what extent eye movements contribute to visuomotor adaptation of hand tracking, participants were asked to track a visual target that followed an unpredictable trajectory with a cursor using a joystick. During blocks of trials, participants were either allowed to look wherever they liked or required to fixate a cross at the center of the screen. Eye movements were tracked to ensure gaze fixation as well as to examine free gaze behavior. The cursor initially responded normally to the joystick, but after several trials, the direction in which it responded was rotated by 90°. Although fixating the eyes had a detrimental influence on hand tracking performance, participants exhibited a rather similar time course of adaptation to rotated visual feedback in the gaze-fixed and gaze-free conditions. More importantly, there was extensive transfer of adaptation between the gaze-fixed and gaze-free conditions. We conclude that although eye movements are relevant for the online control of hand tracking, they do not play an important role in the visuomotor adaptation of such tracking. These results suggest that participants do not adapt by changing the mapping between eye and hand movements, but rather by changing the mapping between hand movements and the cursor’s motion independently of eye movements.

NEW & NOTEWORTHY Eye movements assist hand movements in everyday activities, but their contribution to visuomotor adaptation remains largely unknown. We compared adaptation of hand tracking under free gaze and fixed gaze. Although our results confirm that following the target with the eyes increases the accuracy of hand movements, they unexpectedly demonstrate that gaze fixation does not hinder adaptation. These results suggest that eye movements have distinct contributions for online control and visuomotor adaptation of hand movements.

Generalization via superposition: combined effects of mixed reference frame representations for explicit and implicit learning in a visuomotor adaptation task

Studies on generalization of learned visuomotor perturbations have generally focused on whether learning is coded in extrinsic or intrinsic reference frames. This dichotomy, however, is challenged by recent findings showing that learning is represented in a mixed reference frame. Overlooked in this framework is how learning appears to consist of multiple processes, such as explicit reaiming and implicit motor adaptation. Therefore, the proposed mixed representation may simply reflect the superposition of explicit and implicit generalization functions, each represented in different reference frames. Here we characterized the individual generalization functions of explicit and implicit learning in relative isolation to determine whether their combination could predict the overall generalization function when both processes are in operation. We modified the form of feedback in a visuomotor rotation task in an attempt to isolate explicit and implicit learning and tested generalization across new limb postures to dissociate the extrinsic/intrinsic representations. We found that the amplitude of explicit generalization was reduced with postural change and was only marginally shifted, resembling an extrinsic representation. In contrast, implicit generalization maintained its amplitude but was significantly shifted, resembling a mixed representation. A linear combination of individual explicit and implicit generalization functions accounted for nearly 85% of the variance associated with the generalization function in a typical visuomotor rotation task, where both processes are in operation. This suggests that each form of learning results from a mixed representation with distinct extrinsic and intrinsic contributions and the combination of these features shapes the generalization pattern observed at novel limb postures. NEW & NOTEWORTHY Generalization following learning in visuomotor adaptation tasks can reflect how the brain represents what it learns. In this study, we isolated explicit and implicit forms of learning and showed that they are derived from a mixed reference frame representation with distinct extrinsic and intrinsic contributions. Furthermore, we showed that the overall generalization pattern at novel workspaces is due to the superposition of independent generalization effects developed by explicit and implicit learning processes.

Neglect-Like Effects on Drawing Symmetry Induced by Adaptation to a Laterally Asymmetric Visuomotor Delay

In daily interactions, our sensorimotor system accounts for spatial and temporal discrepancies between the senses. Functional lateralization between hemispheres causes differences in attention and in the control of action across the left and right workspaces. In addition, differences in transmission delays between modalities affect movement control and internal representations. Studies on motor impairments such as hemispatial neglect syndrome suggested a link between lateral spatial biases and temporal processing. To understand this link, we computationally modeled and experimentally validated the effect of laterally asymmetric delay in visual feedback on motor learning and its transfer to the control of drawing movements without visual feedback. In the behavioral experiments, we asked healthy participants to perform lateral reaching movements while adapting to delayed visual feedback in either left, right, or both workspaces. We found that the adaptation transferred to blind drawing and caused movement elongation, which is consistent with a state representation of the delay. However, the pattern of the spatial effect varied between conditions: whereas adaptation to delay in only the left workspace or in the whole workspace caused selective leftward elongation, adaptation to delay in only the right workspace caused drawing elongation in both directions. We simulated arm movements according to different models of perceptual and motor spatial asymmetry in the representation of delay and found that the best model that accounts for our results combines both perceptual and motor asymmetry between the hemispheres. These results provide direct evidence for an asymmetrical processing of delayed visual feedback that is associated with both perceptual and motor biases that are similar to those observed in hemispatial neglect syndrome.

Proprioceptive identification of joint position versus kinaesthetic movement reproduction

Regarding our voluntary control of movement, if identification of joint position, that is independent of the starting condition, is stronger than kinaesthetic movement reproduction, that implies knowledge of the starting position and movement's length for accuracy, is still a matter of debate in motor control theories and neuroscience. In the present study, we examined the mechanisms that individuals seem to prefer/adopt when they locate spatial positions and code the amplitude of movements. We implemented a joint position matching task on a wrist robotic device: this task consists in replicating (i.e. matching) a reference joint angle in the absence of vision and the proprioceptive acuity is given by the goodness of such matching. Two experiments were carried out by implementing two different versions of the task and performed by two groups of 15 healthy participants. In the first experiment, blindfolded subjects were asked to perform matching movements towards a fixed target position, experienced with passive movements that started from different positions and had different lengths. In the second experiment, blindfolded subjects were requested to accurately match target positions that had a different location in space but were passively shown through movements of the same length. We found a clear evidence for higher performances in terms of accuracy (0.42±0.011/°) and precision (0.43±0.011/°) in the first experiment, therefore in case of matching positions, rather than in the second where accuracy and precision were lower (0.36±0.011/° and 0.35±0.011/° respectively). These results suggested a preference for proprioceptive identification of joint position rather than kinaesthetic movement reproduction.

Effects of Preview on Human Control Behavior in Tracking Tasks With Various Controlled Elements

This paper investigates how humans use a previewed target trajectory for control in tracking tasks with various controlled element dynamics. The human's hypothesized "near" and "far" control mechanisms are first analyzed offline in simulations with a quasi-linear model. Second, human control behavior is quantified by fitting the same model to measurements from a human-in-the-loop experiment, where subjects tracked identical target trajectories with a pursuit and a preview display, each with gain, single-, and double-integrator controlled element dynamics. Results show that target-tracking performance improves with preview, primarily due to the far-viewpoint response, which allows humans to cancel their own and the controlled element's lags, without additional control activity. The near-viewpoint response yields better target tracking at higher frequencies, but requires substantially more control activity. The control-theoretic approach adopted in this paper provides unique quantitative insights into human use of preview, which can help to explain human behavior observed in other preview control tasks, like driving.

Control of wrist movement in deafferented man: evidence for a mixed strategy of position and amplitude control

There is a continuing debate about control of voluntary movement, with conflicted evidence about the balance between control of movement vectors (amplitude control) that implies knowledge of the starting position for accuracy, and equilibrium point or final position control, that is independent of the starting conditions. We tested wrist flexion and extension movements in a man with a chronic peripheral neuronopathy that deprived him of proprioceptive knowledge of his wrist angles. In a series of experiments, we demonstrate that he could scale the amplitude of his wrist movements in flexion/extension, even without visual feedback, and appeared to adopt a strategy of moving via a central wrist position when asked to reach target angles from unknown start locations. When examining the relationship between positional error at the start and end of each movement in long sequences of movements, we report that he appears to have three canonical positions that he can reach relatively successfully, in flexion, in extension and in the centre. These are consistent with end-point or position control. Other positions were reached with errors that suggest amplitude control. Recording wrist flexor and extensor EMG confirmed that the flexion and extension canonical positions were reached by strong flexor and extensor activity, without antagonist activity, and other positions were reached with graded muscle activation levels. The central canonical position does not appear to be reached by either maximal co-contraction or by complete relaxation, but may have been reached by matched low-level co-contraction.

Limb position drift results from misalignment of proprioceptive and visual maps

Previous work (Brown et al., 2003a,b) has shown that limb position drifts when individuals make repetitive movements in the absence of visual feedback. The purpose of this study was to examine whether limb position drift might reflect a misalignment in visual and proprioceptive maps by examining the nature of information used to specify new movements from a drifted limb position. In a virtual reality (VR) environment, participants made continuous movements with their dominant right hand between two targets positioned 15cm apart, paced by a 0.625-Hz metronome. After 5 cycles, cursor feedback of the hand was removed for the next 44 cycles, which induced an average drift in hand position of roughly 5cm. On the 50th cycle, participants were required to move to one of 6 new targets from the drifted hand position. Kinematic analysis indicated that movement direction was unambiguously determined by the visual input marked by the original start position, or the last-seen hand position. Forward dynamics analysis revealed that current limb configuration was used to inform joint torques to produce this parallel direction. For new movement specification, accurate proprioceptive information about the drifted limb position was used, even though it was apparently not available for detecting drift in the first place. Movement distance varied directly with the extent of limb drift, although the differentiation of visual and proprioceptive control of distance could not be analyzed, as our control conditions were not significantly different for this measure. We suggest that movement drift, in the absence of visual feedback during cyclic repetitive movements, reflects a misalignment between largely accurate visual and proprioceptive maps, rather than a weighted fusion of the two modalities.

Distinct neural circuits for control of movement vs. holding still

In generating a point-to-point movement, the brain does more than produce the transient commands needed to move the body part; it also produces the sustained commands that are needed to hold the body part at its destination. In the oculomotor system, these functions are mapped onto two distinct circuits: a premotor circuit that specializes in generating the transient activity that displaces the eyes and a "neural integrator" that transforms that transient input into sustained activity that holds the eyes. Different parts of the cerebellum adaptively control the motor commands during these two phases: the oculomotor vermis participates in fine tuning the transient neural signals that move the eyes, monitoring the activity of the premotor circuit via efference copy, whereas the flocculus participates in controlling the sustained neural signals that hold the eyes, monitoring the activity of the neural integrator. Here, I review the oculomotor literature and then ask whether this separation of control between moving and holding is a design principle that may be shared with other modalities of movement. To answer this question, I consider neurophysiological and psychophysical data in various species during control of head movements, arm movements, and locomotion, focusing on the brain stem, motor cortex, and hippocampus, respectively. The review of the data raises the possibility that across modalities of motor control, circuits that are responsible for producing commands that change the sensory state of a body part are distinct from those that produce commands that maintain that sensory state.

Vector and position coding in goal-directed movements

Two different ways to code a goal-directed movement have been proposed in the literature: vector coding and position coding. Assuming that the code is fine-tuned if a movement is immediately repeated, one can predict that repeating movements to the same endpoint will increase precision if movements are coded in terms of the position of the endpoint. Repeating the same movement vector at slightly different positions will increase precision if movements are coded in terms of vectors. Following this reasoning, Hudson and Landy (J Neurophys 108(10):2708–2716, 2012) found evidence for both types of coding when participants moved their hand over a table while the target and feedback were provided on a vertical screen. Do we also see evidence for both types of coding if participants repeat movements within a more natural visuo-motor mapping? To find out, we repeated the study of Hudson and Landy (J Neurophys 108(10):2708–2716, 2012), but our participants made movements directly to the targets. We compared the same movements embedded in blocks of repetitions of endpoints and blocks of repetitions of movement vectors. Within blocks, the movements were presented in a random order. We found no benefit of repeating either a position or a vector. We subsequently repeated the experiment with a similar mapping between movements and images to those used by Hudson and Landy and found that participants only clearly benefit from repeating a position. We conclude that repeating a position is particularly useful when dealing with unusual visuo-motor mappings.

Eye-Hand Coordination during Visuomotor Adaptation with Different Rotation Angles: Effects of Terminal Visual Feedback

This study examined adaptive changes of eye-hand coordination during a visuomotor rotation task under the use of terminal visual feedback. Young adults made reaching movements to targets on a digitizer while looking at targets on a monitor where the rotated feedback (a cursor) of hand movements appeared after each movement. Three rotation angles (30°, 75° and 150°) were examined in three groups in order to vary the task difficulty. The results showed that the 30° group gradually reduced direction errors of reaching with practice and adapted well to the visuomotor rotation. The 75° group made large direction errors of reaching, and the 150° group applied a 180° reversal shift from early practice. The 75°and 150° groups, however, overcompensated the respective rotations at the end of practice. Despite these group differences in adaptive changes of reaching, all groups gradually adapted gaze directions prior to reaching from the target area to the areas related to the final positions of reaching during the course of practice. The adaptive changes of both hand and eye movements in all groups mainly reflected adjustments of movement directions based on explicit knowledge of the applied rotation acquired through practice. Only the 30° group showed small implicit adaptation in both effectors. The results suggest that by adapting gaze directions from the target to the final position of reaching based on explicit knowledge of the visuomotor rotation, the oculomotor system supports the limb-motor system to make precise preplanned adjustments of reaching directions during learning of visuomotor rotation under terminal visual feedback.

Biomechanics as a window into the neural control of movement

Biomechanics and motor control are discussed as parts of a more general science, physics of living systems. Major problems of biomechanics deal with exact definition of variables and their experimental measurement. In motor control, major problems are associated with formulating currently unknown laws of nature specific for movements by biological objects. Mechanics-based hypotheses in motor control, such as those originating from notions of a generalized motor program and internal models, are non-physical. The famous problem of motor redundancy is wrongly formulated; it has to be replaced by the principle of abundance, which does not pose computational problems for the central nervous system. Biomechanical methods play a central role in motor control studies. This is illustrated with studies with the reconstruction of hypothetical control variables and those exploring motor synergies within the framework of the uncontrolled manifold hypothesis. Biomechanics and motor control have to merge into physics of living systems, and the earlier this process starts the better.

Temporally stable adaptation is robust, incomplete and specific

Sensorimotor adaptation, the process that reduces movement errors by learning from sensory feedback, is often studied within a session of about half an hour. Within such a single session, adaptation generally reaches plateau before errors are completely removed. However, adaptation may complete on longer timescales: the slow components of error‐based adaptation are associated with good retention. In this study, we tested how adaptation evolves over time by asking participants to perform six adaptation sessions on different days. In these sessions, participants performed a three‐dimensional reaching task while visual feedback about endpoint errors was rotated around the cyclopean eye. In addition, context specificity of the adaptation was addressed by measuring inter‐limb transfer and transfer to visual and proprioceptive perceptual tasks. We show that from the second session on, the adaptation was retained almost completely across sessions. However, after six learning sessions, adaptation still reached plateau before errors were completely removed. The adaptation was specific: the adaptation did neither transfer to the other hand, nor to the visual, and only marginally to the proprioceptive perceptual estimates. We conclude that motor adaptation is robust, specific and incomplete.

Sinusoidal error perturbation reveals multiple coordinate systems for sensorymotor adaptation

A coordinate system is composed of an encoding, defining the dimensions of the space, and an origin. We examine the coordinate encoding used to update motor plans during sensory-motor adaptation to center-out reaches. Adaptation is induced using a novel paradigm in which feedback of reach endpoints is perturbed following a sinewave pattern over trials; the perturbed dimensions of the feedback were the axes of a Cartesian coordinate system in one session and a polar coordinate system in another session. For center-out reaches to randomly chosen target locations, reach errors observed at one target will require different corrections at other targets within Cartesian- and polar-coded systems. The sinewave adaptation technique allowed us to simultaneously adapt both dimensions of each coordinate system (x-y, or reach gain and angle), and identify the contributions of each perturbed dimension by adapting each at a distinct temporal frequency. The efficiency of this technique further allowed us to employ perturbations that were a fraction the size normally used, which avoids confounding automatic adaptive processes with deliberate adjustments made in response to obvious experimental manipulations. Subjects independently corrected errors in each coordinate in both sessions, suggesting that the nervous system encodes both a Cartesian- and polar-coordinate-based internal representation for motor adaptation. The gains and phase lags of the adaptive responses are not readily explained by current theories of sensory-motor adaptation.

Brain-state classification and a dual-state decoder dramatically improve the control of cursor movement through a brain-machine interface

OBJECTIVE

It is quite remarkable that brain machine interfaces (BMIs) can be used to control complex movements with fewer than 100 neurons. Success may be due in part to the limited range of dynamical conditions under which most BMIs are tested. Achieving high-quality control that spans these conditions with a single linear mapping will be more challenging. Even for simple reaching movements, existing BMIs must reduce the stochastic noise of neurons by averaging the control signals over time, instead of over the many neurons that normally control movement. This forces a compromise between a decoder with dynamics allowing rapid movement and one that allows postures to be maintained with little jitter. Our current work presents a method for addressing this compromise, which may also generalize to more highly varied dynamical situations, including movements with more greatly varying speed.

APPROACH

We have developed a system that uses two independent Wiener filters as individual components in a single decoder, one optimized for movement, and the other for postural control. We computed an LDA classifier using the same neural inputs. The decoder combined the outputs of the two filters in proportion to the likelihood assigned by the classifier to each state.

MAIN RESULTS

We have performed online experiments with two monkeys using this neural-classifier, dual-state decoder, comparing it to a standard, single-state decoder as well as to a dual-state decoder that switched states automatically based on the cursor's proximity to a target. The performance of both monkeys using the classifier decoder was markedly better than that of the single-state decoder and comparable to the proximity decoder.

SIGNIFICANCE

We have demonstrated a novel strategy for dealing with the need to make rapid movements while also maintaining precise cursor control when approaching and stabilizing within targets. Further gains can undoubtedly be realized by optimizing the performance of the individual movement and posture decoders.

Effect of Tendon Vibration on Hemiparetic Arm Stability in Unstable Workspaces

Sensory stimulation of wrist musculature can enhance stability in the proximal arm and may be a useful therapy aimed at improving arm control post-stroke. Specifically, our prior research indicates tendon vibration can enhance stability during point-to-point arm movements and in tracking tasks. The goal of the present study was to investigate the influence of forearm tendon vibration on endpoint stability, measured at the hand, immediately following forward arm movements in an unstable environment. Both proximal and distal workspaces were tested. Ten hemiparetic stroke subjects and 5 healthy controls made forward arm movements while grasping the handle of a two-joint robotic arm. At the end of each movement, the robot applied destabilizing forces. During some trials, 70 Hz vibration was applied to the forearm flexor muscle tendons. 70 Hz was used as the stimulus frequency as it lies within the range of optimal frequencies that activate the muscle spindles at the highest response rate. Endpoint position, velocity, muscle activity and grip force data were compared before, during and after vibration. Stability at the endpoint was quantified as the magnitude of oscillation about the target position, calculated from the power of the tangential velocity data. Prior to vibration, subjects produced unstable, oscillating hand movements about the target location due to the applied force field. Stability increased during vibration, as evidenced by decreased oscillation in hand tangential velocity.

Coordinated alpha and gamma control of muscles and spindles in movement and posture

Mounting evidence suggests that both α and γ motoneurons are active during movement and posture, but how does the central motor system coordinate the α-γ controls in these tasks remains sketchy due to lack of in vivo data. Here a computational model of α-γ control of muscles and spindles was used to investigate α-γ integration and coordination for movement and posture. The model comprised physiologically realistic spinal circuitry, muscles, proprioceptors, and skeletal biomechanics. In the model, we divided the cortical descending commands into static and dynamic sets, where static commands (α_s and γ_s) were for posture maintenance and dynamic commands (α_d and γ_d) were responsible for movement. We matched our model to human reaching movement data by straightforward adjustments of descending commands derived from either minimal-jerk trajectories or human EMGs. The matched movement showed smooth reach-to-hold trajectories qualitatively close to human behaviors, and the reproduced EMGs showed the classic tri-phasic patterns. In particular, the function of γ_d was to gate the α_d command at the propriospinal neurons (PN) such that antagonistic muscles can accelerate or decelerate the limb with proper timing. Independent control of joint position and stiffness could be achieved by adjusting static commands. Deefferentation in the model indicated that accurate static commands of α_s and γ_s are essential to achieve stable terminal posture precisely, and that the γ_d command is as important as the α_d command in controlling antagonistic muscles for desired movements. Deafferentation in the model showed that losing proprioceptive afferents mainly affected the terminal position of movement, similar to the abnormal behaviors observed in human and animals. Our results illustrated that tuning the simple forms of α-γ commands can reproduce a range of human reach-to-hold movements, and it is necessary to coordinate the set of α-γ descending commands for accurate and stable control of movement and posture.

The effect of a robot-assisted surgical system on the kinematics of user movements

Teleoperated robot-assisted surgery (RAS) offers many advantages over traditional minimally invasive surgery. However, RAS has not yet realized its full potential, and it is not clear how to optimally train surgeons to use these systems. We hypothesize that the dynamics of the master manipulator impact the ability of users to make desired movements with the robot. We compared freehand and teleoperated movements of novices and experienced surgeons. To isolate the effects of dynamics from procedural knowledge, we chose simple movements rather than surgical tasks. We found statistically significant effects of teleoperation and user expertise in several aspects of motion, including target acquisition error, movement speed, and movement smoothness. Such quantitative assessment of human motor performance in RAS can impact the design of surgical robots, their control, and surgeon training methods, and eventually, improve patient outcomes.

Robot-assisted surgery: an emerging platform for human neuroscience research

Classic studies in human sensorimotor control use simplified tasks to uncover fundamental control strategies employed by the nervous system. Such simple tasks are critical for isolating specific features of motor, sensory, or cognitive processes, and for inferring causality between these features and observed behavioral changes. However, it remains unclear how these theories translate to complex sensorimotor tasks or to natural behaviors. Part of the difficulty in performing such experiments has been the lack of appropriate tools for measuring complex motor skills in real-world contexts. Robot-assisted surgery (RAS) provides an opportunity to overcome these challenges by enabling unobtrusive measurements of user behavior. In addition, a continuum of tasks with varying complexity-from simple tasks such as those in classic studies to highly complex tasks such as a surgical procedure-can be studied using RAS platforms. Finally, RAS includes a diverse participant population of inexperienced users all the way to expert surgeons. In this perspective, we illustrate how the characteristics of RAS systems make them compelling platforms to extend many theories in human neuroscience, as well as, to develop new theories altogether.

Increased long-latency reflex activity as a sufficient explanation for childhood hypertonic dystonia: a neuromorphic emulation study

OBJECTIVE

Childhood dystonia is a movement disorder that interferes with daily movements and can have a devastating effect on quality of life for children and their families. Although injury to basal ganglia is associated with dystonia, the neurophysiological mechanisms leading to the clinical manifestations of dystonia are not understood. Previous work suggested that long-latency stretch reflex (LLSR) is hyperactive in children with hypertonia due to secondary dystonia. We hypothesize that abnormal activity in motor cortices may cause an increase in the LLSR leading to hypertonia.

APPROACH

We modeled two possibilities of hyperactive LLSR by either creating a tonic involuntary drive to cortex, or increasing the synaptic gain in cortical neurons. Both models are emulated using programmable very-large-scale-integrated-circuit hardware to test their sufficiency for producing dystonic symptoms. The emulation includes a joint with two Hill-type muscles, realistic muscle spindles, and 2,304 Izhikevich-type spiking neurons. The muscles are regulated by a monosynaptic spinal pathway with 32 ms delay and a long-latency pathway with 64 ms loop-delay representing transcortical/supra-spinal connections.

MAIN RESULTS

When the limb is passively stretched, both models produce involuntary resistance with increased antagonist EMG responses similar to human data; also the muscle relaxation is delayed similar to human data. Both models predict reduced range of motion in voluntary movements.

SIGNIFICANCE

Although our model is a highly simplified and limited representation of reflex pathways, it shows that increased activity of the LLSR is by itself sufficient to cause many of the features of hypertonic dystonia.

Visuomotor adaptation: how forgetting keeps us conservative

Even when provided with feedback after every movement, adaptation levels off before biases are completely removed. Incomplete adaptation has recently been attributed to forgetting: the adaptation is already partially forgotten by the time the next movement is made. Here we test whether this idea is correct. If so, the final level of adaptation is determined by a balance between learning and forgetting. Because we learn from perceived errors, scaling these errors by a magnification factor has the same effect as subjects increasing the amount by which they learn from each error. In contrast, there is no reason to expect scaling the errors to affect forgetting. The magnification factor should therefore influence the balance between learning and forgetting, and thereby the final level of adaptation. We found that adaptation was indeed more complete for larger magnification factors. This supports the idea that incomplete adaptation is caused by part of what has been learnt quickly being forgotten.