On the origin of finger enslaving: control with referent coordinates and effects of visual feedback

Three Levels of Neural Control Contributing to Performance-stabilizing Synergies in Multi-finger Tasks

We tested a hypothesis on force-stabilizing synergies during four-finger accurate force production at three levels: (1) The level of the reciprocal and coactivation commands, estimated as the referent coordinate and apparent stiffness of all four fingers combined; (2) The level of individual finger forces; and (3) The level of firing of individual motor units (MU). Young, healthy participants performed accurate four-finger force production at a comfortable, non-fatiguing level under visual feedback on the total force magnitude. Mechanical reflections of the reciprocal and coactivation commands were estimated using small, smooth finger perturbations applied by the "inverse piano" device. Firing frequencies of motor units in the flexor digitorum superficialis (FDS) and extensor digitorum communis (EDC) were estimated using surface recording. Principal component analysis was used to identify robust MU groups (MU-modes) with parallel changes in the firing frequency. The framework of the uncontrolled manifold hypothesis was used to compute synergy indices in the spaces of referent coordinate and apparent stiffness, finger forces, and MU-mode magnitudes. Force-stabilizing synergies were seen at all three levels. They were present in the MU-mode spaces defined for MUs in FDS, in EDC, and pooled over both muscles. No effects of hand dominance were seen. The synergy indices defined at different levels of analysis showed no correlations across the participants. The findings are interpreted within the theory of control with spatial referent coordinates for the effectors. We conclude that force stabilization gets contributions from three levels of neural control, likely associated with cortical, subcortical, and spinal circuitry.

Two aspects of feed-forward control of action stability: effects of action speed and unexpected events

We explored two types of anticipatory synergy adjustments (ASA) during accurate four-finger total force production task. The first type is a change in the index of force-stabilizing synergy during a steady state when a person is expecting a signal to produce a quick force change, which is seen even when the signal does not come (steady-state ASA). The other type is the drop in in the synergy index prior to a planned force change starting at a known time (transient ASA). The subjects performed a task of steady force production at 10% of maximal voluntary contraction (MVC) followed by a ramp to 20% MVC over 1 s, 3 s, and as a step function (0 s). In another task, in 50% of the trials during the steady-state phase, an unexpected signal could come requiring a quick force pulse to 20% MVC (0-surprise). Inter-trial variance in the finger force space was used to quantify the index of force-stabilizing synergy within the uncontrolled manifold hypothesis. We observed significantly lower synergy index values during the steady state in the 0-ramp trials compared to the 1-ramp and 3-ramp trials. There was also larger transient ASA during the 0-ramp trials. In the 0-surprise condition, the synergy index was significantly higher compared to the 0-ramp condition whereas the transient ASA was significantly larger. The finding of transient ASA scaling is of importance for clinical studies, which commonly involve populations with slower actions, which can by itself be associated with smaller ASAs. The participants varied the sharing pattern of total force across the fingers more in the task with "surprises". This was coupled to more attention to precision of performance, i.e., inter-trial deviations from the target as reflected in smaller variance affecting total force, possibly reflecting higher concentration on the task, which the participants perceived as more challenging compared to a similar task without surprise targets.

Age-related differences in finger interdependence during complex hand movements

The well-known decrease in finger dexterity during healthy aging leads to a significant reduction in quality of life. Still, the exact patterns of altered finger kinematics of older adults in daily life are fairly unexplored. Finger interdependence is the unintentional comovement of fingers that are not intended to move, and it is known to vary across the lifespan. Nevertheless, the magnitude and direction of age-related differences in finger interdependence are ambiguous across studies and tasks and have not been explored in the context of daily life finger movements. We investigated five different free and daily-life-inspired finger movements of the right, dominant hand as well as a sequential finger tapping task of the thumb against the other fingers, in 17 younger (22-37 yr) and 17 older (62-80 yr) adults using an exoskeleton data glove for data recording. Using inferential statistics, we found that the unintentional comovement of fingers generally decreases with age in all performed daily-life-inspired movements. Finger tapping, however, showed a trend towards higher finger interdependence for older compared with younger adults. Using machine learning, we predicted the age group of a person from finger interdependence features of single movement trials significantly better than chance level for the daily-life-inspired movements, but not for finger tapping. Taken together, we show that for specific tasks, decreased finger interdependence (i.e., less comovement) could potentially act as a marker of human aging that specifically characterizes older adults' complex finger movements in daily life.NEW & NOTEWORTHY Kinematic finger movement data were analyzed with regard to age-related differences. Extensive analyses of complex and daily-life-inspired movements reveal that the direction of age effects is not uniform but task-dependent: Although older adults generally show more finger interdependence than younger adults in a simple finger tapping task, this effect is reversed for daily-life-inspired movement tasks. For these tasks, finger interdependence indices offer potential new markers to predict the age group of an individual using machine learning approaches.

Force matching: motor effects that are not reported by the actor

We explored unintentional drifts of finger forces during force production and matching task. Based on earlier studies, we predicted that force matching with the other hand would reduce or stop the force drift in instructed fingers while uninstructed (enslaved) fingers remain unaffected. Twelve young, healthy, right-handed participants performed two types of tasks with both hands (task hand and match hand). The task hand produced constant force at 20% of MVC level with the Index and Ring fingers pressing in parallel on strain gauge force sensors. The Middle finger force wasn't instructed, and its enslaved force was recorded. Visual feedback on the total force by the instructed fingers was either present throughout the trial or only during the first 5 s (no-feedback condition). The other hand matched the perceived force level of the task hand starting at either 4, 8, or 15 s from the trial initiation. No feedback was ever provided for the match hand force. After the visual feedback was removed, the task hand showed a consistent drift to lower magnitudes of total force. Contrary to our prediction, over all conditions, force matching caused a brief acceleration of force drift in the task hand, which then reached a plateau. There was no effect of matching on drifts in enslaved finger force. We interpret the force drifts within the theory of control with spatial referent coordinates as consequences of drifts in the command (referent coordinate) to the antagonist muscles. This command is not adequately incorporated into force perception.

Unintentional drifts in performance during one-hand and two-hand finger force production

We explored the phenomena of force drifts and unintentional finger force production (enslaving), and their dependence on visual feedback. Predictions have been drawn based on the theory of control with spatial referent coordinates for condition with feedback on instructed (master) finger force, enslaved finger force, and total force for one-hand and two-hand tasks. Subjects produced force under the different feedback conditions without their knowledge. No feedback condition was also used for the one-hand tasks. Overall, feedback of master finger force led to an increase in the enslaved force, feedback on the slave finger force led to a drop in the master force, feedback on the total force led to balanced drifts in the master force down and enslaved force up, and under the no-feedback condition, master and total force drifted down with large variability in the enslaved force drifts. The patterns were the same in both hands in the two-hand tasks when feedback was provided on the forces of one hand only (without subject's knowledge). The index of enslaving always drifted toward higher values. We interpret the findings as reflecting three main factors: drifts in the referent coordinates toward actual finger coordinates, spread of cortical excitation over representations of the fingers, and robust sharing of referent coordinates between the two hands in bimanual tasks. The large consistent drifts in enslaving toward higher values have to be considered in studies of multi-finger synergies.

Optimality, Stability, and Agility of Human Movement: New Optimality Criterion and Trade-Offs

This review of movement stability, optimality, and agility is based on the theory of motor control with changes in spatial referent coordinates for the effectors, the principle of abundance, and the uncontrolled manifold hypothesis. A new optimality principle is suggested based on the concept of optimal sharing corresponding to a vector in the space of elemental variables locally orthogonal to the uncontrolled manifold. Motion along this direction is associated with minimal components along the relatively unstable directions within the uncontrolled manifold leading to a minimal motor equivalent motion. For well-practiced actions, this task-specific criterion is followed in spaces of referent coordinates. Consequences of the suggested framework include trade-offs among stability, optimality, and agility, unintentional changes in performance, hand dominance, finger specialization, individual traits in performance, and movement disorders in neurological patients.

Unintentional force drifts across the human fingers: implications for the neural control of finger tasks

We explored the unintentional force drift across the four fingers of the dominant hand during accurate force production in isometric conditions caused by turning the visual feedback on force off. Our hypotheses were that the Index finger would show smallest drifts and best ability to eliminate the drifts with knowledge of performance in previous trials. Young healthy subjects produced force at 20% of the maximal force level by one finger at a time. There was no significant difference among the fingers in the root mean square error of force during performance with visual feedback. Turning visual feedback off caused force drift to lower magnitudes. The magnitude of force drift was the largest during tasks performed by the Index finger. After each block of twelve trials, the subjects were given feedback on the drift magnitude in that block and used it to correct performance in future trials. There was a total of six blocks. The magnitude of drift correction between consecutive blocks correlated with the magnitude of drift in the earlier block only after the second and fourth blocks. The Index finger failed to improve its performance more than other fingers and demonstrated significant residual drifts to lower force magnitudes in the sixth block of trials. These findings falsified both our hypotheses. Taken together with earlier studies showing advantage of the Index finger across a variety of tasks that require quick and accurate changes in performance, our results suggest that effector specialization along the stability-agility continuum is not limited to the phenomenon of cortical arm/hand dominance but can also be seen across fingers of a hand controlled by the same hemisphere, possibly reflecting the differences in the finger role in prehensile tasks.

Inverse Saxophone—A Device to Study the Role of Individual Finger Perturbations on Grasp Stability

The efficient coordination of fingertip forces to maintain static equilibrium while grasping an object continues to intrigue scientists. While many studies have explored this coordination, most of these studies assumed that interactions of hands primarily occur with rigid inanimate objects. Instead, our daily interactions with living and nonliving entities involve many dynamic, compliant, or fragile bodies. This paper investigates the fingertip force coordination on a manipulandum that changes its shape while grasping it. We designed a five-finger perturbation system with linear actuators at positions corresponding to each finger that would protrude outward from the center of the handle or retract toward the center of the handle as programmed. The behavior of the perturbed fingers and the other fingers while grasping this device was studied. Based on previous experiments on expanding and contracting handles, we hypothesized that each finger would exhibit a comparable response to similar horizontal perturbations. However, the response of the little finger was significantly different from the other fingers. We speculate that the central nervous system demonstrates preferential recruitment of some fingers over others while performing a task.

Role of Post-Trial Visual Feedback on Unintentional Force Drift During Isometric Finger Force Production Tasks

A reduction in fingertip forces during a visually occluded isometric task is called unintentional drift. In this study, unintentional drift was studied for two conditions, with and without "epilogue." We define epilogue as the posttrial visual feedback in which the outcome of the just-concluded trial is shown before the start of the next trial. For this study, 14 healthy participants were recruited and were instructed to produce fingertip forces to match a target line at 15% maximum voluntary contraction. The results showed a significant reduction in unintentional drift in the epilogue condition. This reduction is probably due to the difference in the shift in λ, the threshold of the tonic stretch reflex, the hypothetical control variable that the central controller can set.

Unintentional Force Drifts as Consequences of Indirect Force Control with Spatial Referent Coordinates

We explored the phenomenon of unintentional force drifts in the absence of visual feedback. Based on the idea of direct force control with internal models and on the idea of indirect force control with referent coordinates to the involved muscle groups, contrasting predictions were drawn for changes in the drift magnitude when acting against external spring loads. Fifteen young subjects performed typical accurate force production tasks by pressing with the Index finger at 20% of maximal voluntary contraction (MVC) in isometric conditions and while acting against one of the three external springs with different stiffness. The visual feedback on the force was turned off after 5 s. At the end of each 20-s trial, the subjects relaxed and then tried to reproduce the final force level. The force drifts were significantly smaller in the spring conditions, particularly when acting against more compliant springs. The subjects were unaware of the force drifts and, during force matching, produced forces close to the initial force magnitude, which were not different across the conditions. There was a trend toward larger drifts during performance by the dominant hand. We view these observations as strong arguments in favor of the theory of control with spatial referent coordinates. In particular, force drifts were likely consequences of drifts of referent coordinates to both agonist and antagonist muscles. The lack of drift effects on both perception-to-report and perception-to-act fit the scheme of kinesthetic perception based on the interaction of efferent (referent coordinate) and afferent processes.

Interpersonal motor synergy: coworking strategy depends on task constraints

We investigated the role of task constraints on interpersonal interactions. Twenty-one pairs of coworkers performed a finger force production task on force sensors placed at two ends of a seesaw-like apparatus and matched a combined target force of 20 N for 23 s over 10 trials. There were two experimental conditions: 1) FIXED: the seesaw apparatus was mechanically held in place so that the only task constraint was to match the 20 N resultant force, and 2) MOVING: the lever in the apparatus was allowed to rotate freely around its fulcrum, acting like a seesaw, so an additional task constraint to (implicitly) balance the resultant moment was added. We hypothesized that the additional task constraint of moment stabilization imposed on the MOVING condition would deteriorate task performance compared with the FIXED condition; however, this was rejected, as the performance of the force matching task was similar between two conditions. We also hypothesized that the central nervous systems (CNSs) would employ distinct coworking strategies or interpersonal motor synergy (IPMS) between conditions to satisfy different task constraints, which was supported by our results. Negative covariance between coworker's forces in the FIXED condition suggested a force stabilization strategy, whereas positive covariance in the MOVING condition suggested a moment stabilization strategy, implying that independent CNSs adopt distinct IPMSs depending on task constraints. We speculate that in the absence of a central neural controller, shared visual and mechanical connections between coworkers may suffice to trigger modulations in the cerebellum of each CNS to satisfy competing task constraints.NEW & NOTEWORTHY To the best of our knowledge, this is the first study to investigate the coworking behavior or IPMS when an additional task constraint is imposed. Our proposed analytical framework quantifies IPMS and allows for investigating variability in offline (i.e., across multiple repetitions) and online (i.e., across time) control, which is novel in coworking research. Understanding variability while performing a task is essential, as repeating a task is not always possible, as in therapeutic contexts.

The Nature of Finger Enslaving: New Results and Their Implications

We present a review on the phenomenon of unintentional finger action seen when other fingers of the hand act intentionally. This phenomenon (enslaving) has been viewed as a consequence of both peripheral (e.g., connective tissue links and multifinger muscles) and neural (e.g., projections of corticospinal pathways) factors. Recent studies have shown relatively large and fast drifts in enslaving toward higher magnitudes, which are not perceived by subjects. These and other results emphasize the defining role of neural factors in enslaving. We analyze enslaving within the framework of the theory of motor control with spatial referent coordinates. This analysis suggests that unintentional finger force changes result from drifts of referent coordinates, possibly reflecting the spread of cortical excitation.

Distortions of the Efferent Copy during Force Perception: A Study of Force Drifts and Effects of Muscle Vibration

We used a finger force matching task to explore the role of efferent signals in force perception. Healthy, young participants performed accurate force production tasks at different force levels with the index and middle fingers of one hand (task-hand). They received visual feedback during an early part of each trial only. After the feedback was turned off, the force drifted toward lower magnitudes. After 5 s of the drift, the participants matched the force with the same finger pair of the other hand (match-hand). The match-hand consistently overshot the task-hand force by a magnitude invariant over the initial force levels. During force matching, both hands were lifted and lowered smoothly to estimate their referent coordinate (RC) and apparent stiffness values. These trials were performed without muscle vibration and under vibration applied to the finger/hand flexors or extensors of the task-hand or match-hand. Effects of vibration were seen in the match-hand only; they were the same during vibration of flexors and extensors. We interpret the vibration-induced effects as consequences of using distorted copies of the central commands to the task-hand during force matching. In particular, using distorted copies of the RC for the antagonist muscle group could account for the differences between the task-hand and match-hand. We conclude that efferent signals may be distorted before their participation in the perceptual process. Such distortions emerge spontaneously and may be amplified by the response of sensory endings to muscle vibration combined over both agonist and antagonist muscle groups.

Perturbation-induced fast drifts in finger enslaving

We explored changes in finger forces and in an index of unintentional finger force production (enslaving) under a variety of visual feedback conditions and positional finger perturbations. In particular, we tested a hypothesis that enslaving would show a consistent increase with time at characteristic times of about 1-2 s. Young healthy subjects performed accurate force production tasks under visual feedback on the total force of the instructed fingers (index and ring) or enslaved fingers (middle and little). Finger feedback was covertly alternated between master and enslaved fingers in a random fashion. The feedback could be presented over the first 5 s of the trial only or over the whole trial duration (21 s). After 5 s, the fingers were lifted by 1 cm, and after 15 s, the fingers were lowered to the initial position. The force of the instructed fingers drifted toward lower magnitudes in all conditions except the one with continuous feedback on that force. The force of enslaved fingers showed variable behavior across conditions. In all conditions, the index of enslaving showed a consistent increase with the time constant varying between 1 and 3 s. We interpret the results as pointing at the spread of excitation to enslaved fingers (possibly, in the cortical M1 areas). The relatively fast changes in enslaving under positional finger perturbations suggest that quick changes of the input into M1 from pre-M1 areas can accelerate the hypothesized spread of cortical excitation.