Representation of wrist joint kinematics by the ensemble of muscle spindles from synergistic muscles

Grip force makes wrist joint position sense worse

Background

The purpose of this study was to investigate how grip force affects wrist joint position sense.

Methods

Twenty-two healthy participants (11 men and 11 women) underwent an ipsilateral wrist joint reposition test at 2 distinct grip forces [0 and 15% of maximal voluntary isometric contraction (MVIC)] and 6 different wrist positions (pronation 24°, supination 24°, radial deviation 16°, ulnar deviation 16°, extension 32°, and flexion 32°).

Results

The findings demonstrated significantly elevated absolute error values at 15% MVIC (3.8 ± 0.3°) than at 0% MVIC grip force [3.1 ± 0.2°, t(20) = 2.303, P = 0.032].

Conclusion

These findings demonstrated that there was significantly worse proprioceptive accuracy at 15% MVIC than at 0% MVIC grip force. These results may contribute to a better comprehension of the mechanisms underlying wrist joint injuries, the development of preventative measures to lower the risk of injuries, and the best possible design of engineering or rehabilitation devices.

Interjoint coupling of position sense reflects sensory contributions of biarticular muscles

Perception of limb position and motion combines sensory information from spindles in muscles that span one joint (monoarticulars) and two joints (biarticulars). This anatomical organization should create interactions in estimating limb position. We developed two models, one with only monoarticulars and one with both monoarticulars and biarticulars, to explore how biarticulars influence estimates of arm position in hand (x, y) and joint (shoulder, elbow) coordinates. In hand coordinates, both models predicted larger medial-lateral than proximal-distal errors, although the model with both muscle groups predicted that biarticulars would reduce this bias. In contrast, the two models made significantly different predictions in joint coordinates. The model with only monoarticulars predicted that errors would be uniformly distributed because estimates of angles at each joint would be independent. In contrast, the model that included biarticulars predicted that errors would be coupled between the two joints, resulting in smaller errors for combinations of flexion or extension at both joints and larger errors for combinations of flexion at one joint and extension at the other joint. We also carried out two experiments to examine errors made by human subjects during an arm position matching task in which a robot passively moved one arm to different positions and the subjects moved their other arm to mirror-match each position. Errors in hand coordinates were similar to those predicted by both models. Critically, however, errors in joint coordinates were only similar to those predicted by the model with monoarticulars and biarticulars. These results highlight how biarticulars influence perceptual estimates of limb position by helping to minimize medial-lateral errors.NEW & NOTEWORTHY It is unclear how sensory information from muscle spindles located within muscles spanning multiple joints influences perception of body position and motion. We address this issue by comparing errors in estimating limb position made by human subjects with predicted errors made by two musculoskeletal models, one with only monoarticulars and one with both monoarticulars and biarticulars. We provide evidence that biarticulars produce coupling of errors between joints, which help to reduce errors.

Biarticular muscles in light of template models, experiments and robotics: a review

Leg morphology is an important outcome of evolution. A remarkable morphological leg feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from different fields of research suggest a less coherent understanding of the muscles' functionality in cyclic, sagittal plane locomotion. We structured this review of biarticular muscle function by reflecting biomechanical template models, human experiments and robotic system designs. Within these approaches, we surveyed the contribution of biarticular muscles to the locomotor subfunctions (stance, balance and swing). While mono- and biarticular muscles do not show physiological differences, the reviewed studies provide evidence for complementary and locomotor subfunction-specific contributions of mono- and biarticular muscles. In stance, biarticular muscles coordinate joint movements, improve economy (e.g. by transferring energy) and secure the zig-zag configuration of the leg against joint overextension. These commonly known functions are extended by an explicit role of biarticular muscles in controlling the angular momentum for balance and swing. Human-like leg arrangement and intrinsic (compliant) properties of biarticular structures improve the controllability and energy efficiency of legged robots and assistive devices. Future interdisciplinary research on biarticular muscles should address their role for sensing and control as well as non-cyclic and/or non-sagittal motions, and non-static moment arms.

Auditory Proprioceptive Integration: Effects of Real-Time Kinematic Auditory Feedback on Knee Proprioception

The purpose of the study was to assess the influence of real-time auditory feedback on knee proprioception. Thirty healthy participants were randomly allocated to control (n = 15), and experimental group I (15). The participants performed an active knee-repositioning task using their dominant leg, with/without additional real-time auditory feedback where the frequency was mapped in a convergent manner to two different target angles (40 and 75°). Statistical analysis revealed significant enhancement in knee re-positioning accuracy for the constant and absolute error with real-time auditory feedback, within and across the groups. Besides this convergent condition, we established a second divergent condition. Here, a step-wise transposition of frequency was performed to explore whether a systematic tuning between auditory-proprioceptive repositioning exists. No significant effects were identified in this divergent auditory feedback condition. An additional experimental group II (n = 20) was further included. Here, we investigated the influence of a larger magnitude and directional change of step-wise transposition of the frequency. In a first step, results confirm the findings of experiment I. Moreover, significant effects on knee auditory-proprioception repositioning were evident when divergent auditory feedback was applied. During the step-wise transposition participants showed systematic modulation of knee movements in the opposite direction of transposition. We confirm that knee re-positioning accuracy can be enhanced with concurrent application of real-time auditory feedback and that knee re-positioning can modulated in a goal-directed manner with step-wise transposition of frequency. Clinical implications are discussed with respect to joint position sense in rehabilitation settings.

Effects of wrist tendon vibration and eye movements on manual aiming

In the present study, we investigated whether visual information mediates a proprioceptive illusion effect induced by muscle tendon vibration in manual aiming. Visual information was gradually degraded from a situation in which the targets were present and participants (n = 20; 22.3 ± 2.7 years) were permitted to make saccadic eye movements to designated target positions, to a condition in which the targets were not visible and participants were required to perform cyclical aiming while fixating a point between the two target positions. Local tendon vibration applied to the right wrist extensor muscles induced an illusory reduction of 15% in hand movement amplitude. This effect was greater in the fixation than in the saccade condition. Both anticipatory control and proprioceptive feedback are proposed to contribute to the observed effects. The primary saccade amplitude was also reduced by almost 4% when muscle tendon vibration was locally applied to the wrist. These results confirm a tight link between eye movements and manual perception and action. Moreover, the impact of the proprioceptive illusion on the ocular system indicates that the interaction between systems is bidirectional.

A novel pneumatic stimulator for the investigation of noise-enhanced proprioception

Executing coordinated movements requires that motor and sensory systems cooperate to achieve a motor goal. Impairment of either system may lead to unstable and/or inaccurate movements. In rehabilitation training, however, most approaches have focused on the motor aspects of the control loop. We are examining mechanisms that may enhance the sensory system to improve motor control. More precisely, the effects of stochastic subliminal vibratory tactile stimulation on wrist proprioception. We developed a device - based on a novel soft pneumatic actuator skin technology - to stimulate multiple sites simultaneously and independently. This device applies vibratory stimulation (amplitude < 0.50 mm, bandwidth 20-120 Hz) to the skin overlaying the tendons of a joint to target the receptors in charge of position and movement encoding. It achieves high spatial resolution (< 1 mm²), uses a soft and flexible interface, and has the potential to be used in combination with additional rehabilitation interventions. We conducted a feasibility study with 16 healthy subjects (11 younger - 6 females; 5 older - 2 females) in which a robotic manipulandum moved the subject's wrist to defined positions that had to be matched with a gauge. Comparing trials with and without stimulation we found that stochastic stimulation influenced joint position sense. The device we developed can be readily used in psycho-physical experiments, and subsequently benefit physiotherapy and rehabilitation treatments.

Jaw-opening accuracy is not affected by masseter muscle vibration in healthy men

There is a functional integration between the jaw and neck regions with head extension-flexion movements during jaw-opening/closing tasks. We recently reported that trigeminal nociceptive input by injection of hypertonic saline into the masseter muscle altered this integrated jaw-neck function during jaw-opening/closing tasks. Thus, in jaw-opening to a predefined position, the head-neck component increased during pain. Previous studies have indicated that muscle spindle stimulation by vibration of the masseter muscle may influence jaw movement amplitudes, but the possible effect on the integrated jaw-neck function is unknown. The aim of this study was to investigate the effect of masseter muscle vibration on jaw-head movements during a continuous jaw-opening/closing task to a target position. Sixteen healthy men performed two trials without vibration (Control) and two trials with bilateral masseter muscle vibration (Vibration). Movements of the mandible and the head were registered with a wireless three-dimensional optoelectronic recording system. Differences in jaw-opening and head movement amplitudes between Control and Vibration, as well as achievement of the predefined jaw-opening target position, were analysed with Wilcoxon's matched pairs test. No significant group effects from vibration were found for jaw or head movement amplitudes, or in the achievement of the target jaw-opening position. A covariation between the jaw and head movement amplitudes was observed. The results imply a high stability for the jaw motor system in a target jaw-opening task and that this task was achieved with the head-neck and jaw working as an integrated system.

Alterations in endogenous pain modulation in endurance athletes: an experimental study using quantitative sensory testing and the cold-pressor task

There is evidence for long-term alterations in pain tolerance among athletes compared with normally active controls. However, scientific data on pain thresholds in this population are inconsistent, and the underlying mechanisms for the differences remain unclear. Therefore, we assessed differences and similarities in pain perception and conditioned pain modulation (CPM) at rest in endurance athletes and normally active controls. The standardised quantitative sensory testing protocol (QST) of the 'German-Research-Network-on-Neuropathic-Pain' was used to obtain comprehensive profiles on somatosensory functions. The protocol consisted of thermal and mechanical detection as well as pain thresholds, vibration thresholds, and pain sensitivity to sharp and blunt mechanical stimuli. CPM (the diffuse-noxious-inhibitory-control-like effect) was measured using 2 tonic heat pain test stimuli (at the temperature exceeding a subjective pain rating of 50/100) separated by a 2-min cold-pressor task (CPM-TASK; conditioning stimulus). Pain ratings were measured with a numerical rating scale. Endurance capacity was validated by assessment of maximum oxygen uptake (VO2max). Participants included 25 pain-free male endurance athletes (VO2max>60mL/min∗kg) and 26 pain-free normally active controls (VO2max<45mL/min∗kg) matched based on age and body mass index. Athletes were significantly less sensitive to mechanical pain but showed higher sensitivity to vibration (P<0.05). In athletes, CPM was significantly less activated by the conditioning stimuli (P<0.05) when compared with normally active controls. Our data show that somatosensory processing in athletes differs in comparison with controls, and suggest that the endogenous pain inhibitory system may be less responsive. This finding may explain the paradoxical propensity of athletes to develop chronic widespread pain.

Effect of afferent feedback and central motor commands on soleus H-reflex suppression during arm cycling

Suppression of soleus H-reflex amplitude in stationary legs is seen during rhythmic arm cycling. We examined the influence of various arm-cycling parameters on this interlimb reflex modulation to determine the origin of the effect. We previously showed the suppression to be graded with the frequency of arm cycling but not largely influenced by changes in peripheral input associated with crank length. Here, we more explicitly explored the contribution of afferent feedback related to arm movement on the soleus H-reflex suppression. We explored the influence of load and rate of muscle stretch by manipulating crank-load and arm-muscle vibration during arm cycling. Furthermore, internally driven ("Active") and externally driven ("Passive") arm cycling was compared. Soleus H-reflexes were evoked with tibial nerve stimulation during stationary control and rhythmic arm-cycling conditions, including: 1) six different loads; 2) with and without vibration to arm muscles; and 3) Active and Passive conditions. No significant differences were seen in the level of suppression between the different crank loads or between conditions with and without arm-muscle vibration. Furthermore, in contrast to the clear effect seen during active cycling, passive arm cycling did not significantly suppress the soleus H-reflex amplitude. Current results, in conjunction with previous findings, suggest that the afferent feedback examined in these studies is not the primary source responsible for soleus H-reflex suppression. Instead, it appears that central motor commands (supraspinal or spinal in origin) associated with frequency of arm cycling are relatively more dominant sources.

Contributions of skin and muscle afferent input to movement sense in the human hand

In the stationary hand, static joint-position sense originates from multimodal somatosensory input (e.g., joint, skin, and muscle). In the moving hand, however, it is uncertain how movement sense arises from these different submodalities of proprioceptors. In contrast to static-position sense, movement sense includes multiple parameters such as motion detection, direction, joint angle, and velocity. Because movement sense is both multimodal and multiparametric, it is not known how different movement parameters are represented by different afferent submodalities. In theory, each submodality could redundantly represent all movement parameters, or, alternatively, different afferent submodalities could be tuned to distinctly different movement parameters. The study described in this paper investigated how skin input and muscle input each contributes to movement sense of the hand, in particular, to the movement parameters dynamic position and velocity. Healthy adult subjects were instructed to indicate with the left hand when they sensed the unseen fingers of the right hand being passively flexed at the metacarpophalangeal (MCP) joint through a previously learned target angle. The experimental approach was to suppress input from skin and/or muscle: skin input by anesthetizing the hand, and muscle input by unexpectedly extending the wrist to prevent MCP flexion from stretching the finger extensor muscle. Input from joint afferents was assumed not to play a significant role because the task was carried out with the MCP joints near their neutral positions. We found that, during passive finger movement near the neutral position in healthy adult humans, both skin and muscle receptors contribute to movement sense but qualitatively differently. Whereas skin input contributes to both dynamic position and velocity sense, muscle input may contribute only to velocity sense.

Predicting Any Arm Movement Feedback to Induce Three-Dimensional Illusory Movements in Humans

Our sense of body posture and movement is mainly mediated by densely packed populations of tiny mechanoreceptors present in the muscles. Signals triggered in muscle spindles by our own actions contribute crucially to our consciousness of positions and movements by continuously feeding and updating dynamic sensorimotor maps. Deciphering the coding rules whereby the nervous system integrates this proprioceptive information perceptually could help to elucidate the mechanisms underlying kinesthesia. The aim of the present study was to test the validity of a “propriomimetic method” of predicting the proprioceptive streams emitted by each of the muscles involved in two- (2D) and three-dimensional (3D) arm movements. This method was based on the functional properties of muscle spindle populations previously recorded microneurographically in behaving humans. Ia afferent patterns mimicking those evoked when the “arm–forearm” ensemble is drawing straight lines, graphic symbols, and complex 3D figures were calculated. These simulated patterns were then delivered to the main elbow and shoulder muscle tendons of motionless volunteers via a set of vibrators. Results show that the simulated proprioceptive patterns applied induced, in passive subjects, illusory 2D and 3D arm movements, the trajectories of which were very similar to the expected ones. These simulated patterns can therefore be said to be a substitute for the Ia proprioceptive feedback evoked by any human arm movement and this method can certainly be extended to other musculoskeletal ensembles. The illusory movements induced when these proprioceptive patterns are applied to muscle groups via sets of vibrators may provide useful tools for sensorimotor rehabilitation purposes.

New method of measuring wrist joint position sense avoiding cutaneous and visual inputs

BACKGROUND

Aspects of afferent inputs, generally termed proprioception, are being increasingly studied. Extraneous factors such as cutaneous inputs can dramatically interfere while trying to design studies in order to determine the participation of the different structures involved in proprioception in the wrist position sense. We tried to determine validity and repeatability of a new wrist joint position measurement device using methodology designed to minimize extraneous factors and isolate muscle and joint inputs.

METHODS

In order to test the reliability of the system, eighty young-adult subjects without musculoskeletal or neurologic impairments affecting the right upper extremity were tested using a custom made motion tracking system. Testing consisted of two conditions: active reproduction of active placement and passive reproduction of passive placement. Subjects performed two repetitions of each target position (10, 20, and 30 degrees of flexion and extension) presented in a random order. Test- retest reliability was then tested.

RESULTS

The average constant error in the passive condition was -0.7 degrees +/- 4.7 degrees as compared to the active condition at 3.7 degrees +/- 5.1 degrees. Average absolute error in the passive condition was 4.9 degrees +/- 2.9 degrees compared to the active condition in which absolute error was 5.9 degrees +/- 3.5 degrees.

DISCUSSION

Test-retest repeatability in both conditions was less than the 5 degrees magnitude typical of clinical goniometry. Errors in the active condition (less than 2 degrees ) were slightly smaller than the passive condition, and the passive condition was also associated with poorer consistency between apparatus sensors and skin sensors.

CONCLUSIONS

The current system for measurement of wrist joint proprioception allows the researcher to decrease extraneous influences that may affect joint position sense awareness, and will help in future study aiming to determine precisely the role of the different structure involved in proprioception.

Discharges in human muscle spindle afferents during a key-pressing task

Most manual tasks demand a delicate control of the wrist. Sensory information for this control, e.g. about the position and movement velocity of the hand, is assumed to be primarily provided by muscle spindle afferents. It is known that human muscle spindles in relaxed muscles behave as stretch receptors but it is unclear how they discharge during 'natural' hand movements, since their discharges can also be affected by extrafusal contractions and fusimotor activity. We therefore let subjects perform a centre-out-centre key-pressing task on buttons laid out in a 3 x 3 pattern, a task that allowed unconstrained hand and finger movements and required precise control of the wrist. Microneurography recordings from muscle spindle afferents of the wrist extensor muscles were obtained along with wrist kinematics and electromyographic signals. The discharge rates of afferents were more phase advanced than expected on the length of the radial wrist extensor, which acted as an anti-gravity muscle in the key-pressing task. As such, both acceleration and velocity had significant impacts on the discharge rate of primary afferents, velocity on that of secondary afferents, and length had no impact on either afferent type. The response patterns were different for the two types of muscle spindle afferents from the predominantly eccentrically contracting ulnar wrist extensor: muscle length and velocity had significant impacts on the ensemble response of secondary afferents whereas the primary afferents showed highly variable responses. Accordingly, good predictions of the radial ulnar angular velocity were possible from spindle ensemble responses (R(2) = 0.85) whereas length could be predicted only for phases with lengthening of the ulnar wrist extensor. There are several possible explanations for the unexpectedly large phase advance of spindle afferents in the radial wrist extensor. Given the compliance of tendons, for instance, the phase relationship between the muscle fascicle length and the whole muscle length is conjectured to depend on the load. While additional phase advances are advantageous in motor control, it is concluded that if the central nervous system estimates length or velocity of a muscle from its muscle spindle discharges, this would require additional information about not only the concomitant extrafusal and fusimotor drive but also about the mechanical properties of the load on which the muscle acts.

Detection of simultaneous movement at two human arm joints

To detect joint movement, the brain relies on sensory signals from muscle spindles that sense the lengthening and shortening of the muscles. For single-joint muscles, the unique relationship between joint angle and muscle length makes this relatively straightforward. However, many muscles cross more than one joint, making their spindle signals potentially ambiguous, particularly when these joints move in opposite directions. We show here that simultaneous movement at adjacent joints sharing biarticular muscles affects the threshold for detecting movements at either joint whereas it has no effect for non-adjacent joints. The angular displacements required for 70% correct detection were determined in 12 subjects for movements imposed on the shoulder, elbow and wrist at angular velocities of 0.25-2 deg s(-1). When moved in isolation, detection thresholds at each joint were similar to those reported previously. When movements were imposed on the shoulder and wrist simultaneously, there were no changes in the thresholds for detecting movement at either joint. In contrast, when movements in opposite directions at velocities greater than 0.5 deg s(-1) were imposed on the elbow and wrist simultaneously, thresholds increased. At 2 deg s(-1), the displacement threshold was approximately doubled. Thresholds decreased when these adjacent joints moved in the same direction. When these joints moved in opposite directions, subjects more frequently perceived incorrect movements in the opposite direction to the actual. We conclude that the brain uses potentially ambiguous signals from biarticular muscles for kinaesthesia and that this limits acuity for detecting joint movement when adjacent joints are moved simultaneously.

Phantom reflexes: Muscle contractions at a frequency not physically present in the input stimuli

In the motor system, the periodic stimulation of one Ia-afferent input produces reflex muscle contractions at the input frequency. However, we observed that when two Ia monosynaptic reflex-afferent inputs are involved the periodic muscle contractions may occur at a frequency physically not present in the afferent inputs even when these inputs are sub-threshold. How can the muscles respond with such phantom reflex contractions at a frequency physically absent in the sub-threshold Ia-afferent input stimuli? Here we provide an explanation for this phenomenon in the cat spinal cord, that we termed "ghost motor response". We recorded monosynaptic reflexes in the L7 ventral root, intracellular potentials in the motoneurons, and the associated muscular contractions elicited by stimulation of the lateral and medial gastrocnemius nerves. By stimulating with periodic pulses of sub-threshold intensities and distinct frequencies of 2 and 3 Hz the lateral and medial gastrocnemius nerves, respectively, we observed monosynaptic responses and phantom reflex muscle contractions occurring at the fundamental frequency (1 Hz), which was absent in the input stimuli. Thus we observed a reflex ghost motor response at a frequency not physically present in the inputs. We additionally studied the inharmonic case for sub-threshold stimuli and observed muscular contractions occurring at much lower frequencies, which were also conspicuously absent in the inputs. This is the first experimental evidence of a phantom reflex response in the nervous system. The observed behavior was modeled by numerical simulations of a pool of neurons subjected to two different input pulses.

Sensory-specific balance training in older adults: effect on position, movement, and velocity sense at the ankle

BACKGROUND AND PURPOSE

Age-related changes in proprioception contribute to impairments in postural control and increased fall risk in older adults. The purpose of this randomized controlled trial was to examine the effects of balance exercises on proprioception.

SUBJECTS

The participants were 36 older people and 24 younger people who were healthy.

METHODS

Older participants were randomly assigned to a balance exercise group (n=17) or a falls prevention education group (n=19). Baseline, postintervention, and 8-week follow-up measurements of 3 proprioceptive measures (threshold to perception of passive movement, passive joint position sense, and velocity discrimination) were obtained at the ankle. For comparative purposes, younger participants underwent a one-time assessment of the 3 proprioceptive measures.

RESULTS

Postintervention improvements in velocity discrimination were found in the balance exercise group when compared with values at baseline and in the falls prevention education group. Age-related differences found at baseline were reduced in the balance exercise group after intervention. Improvements were not maintained at the 8-week follow-up. Threshold to perception of passive movement and passive joint position sense did not change as a function of the exercise intervention.

DISCUSSION AND CONCLUSION

The results suggest that short-term improvements in velocity sense, but not movement and position sense, may be achieved following a balance exercise intervention.

Online movement control in multiple sclerosis patients with tremor: effects of tendon vibration

Patients with intention tremor due to multiple sclerosis (MS) exhibit an increased reliance on visual feedback in the sensorimotor control of slow goal-directed movements. In the present study, the use of proprioceptive information was investigated in MS patients with intention tremor compared to MS patients without tremor and healthy controls. Tendon vibration was applied to the wrist extensor muscles during a memory-guided slow wrist step-tracking task to investigate the use of muscle spindle afferent information in online movement control. A significant reduction of movement amplitude was induced by tendon vibration in all three groups, but the effect was found to be smaller in MS patients with tremor (28%) than in subjects without tremor (50%). Vibration also induced an increase of overall tremor amplitude in the MS tremor group; however, its effect on movement amplitude was not directly related to (changes in) tremor severity. The results suggest that the decreased online use of proprioceptive information in MS patients with tremor reflects an adaptation over time to cope with a tremor-related noisy background. Abnormalities in proprioceptive processing may explain why MS patients with tremor show an increased reliance on visual feedback for online motor control.

Sensorimotor adaptation in response to proprioceptive bias

Studies investigating visuo-motor adaptation typically introduce sensory conflicts by manipulating visual information (prisms, cursor gains). The purpose of the present study was to determine whether similar adaptation would be observed when a conflict is created through distortion of the proprioceptive sense, rather than through visual distortion. We used a coordinated movement task that required participants to release thumb and index finger at a specific elbow angle during passive elbow extension. Participants could not see their arm, but were shown a cursor representing the forearm on a video screen. In the proprioceptive group, a sensory conflict was introduced by vibrating the biceps brachii muscle, introducing a discrepancy of approximately 7.5 degrees between the proprioceptively perceived and visually perceived elbow angle. In the visual group, a conflict of similar magnitude was obtained by introducing a gain of 7.5 degrees to the cursor with respect to forearm position. Adaptation was assessed by the presence of plastic changes in release elbow angles following a period of exposure to the sensory conflict (i.e., aftereffects). Both groups showed high accuracy during exposure despite the sensory conflicts. More importantly, the visual group presented large and persistent aftereffects, while the proprioceptive group presented none. We suggest that the proprioceptive group's lack of adaptation was due to the artificial muscle spindle activity resulting from vibration, which prevented visual and proprioceptive signals to be merged into a common frame of reference.

The Ia afferent feedback of a given movement evokes the illusion of the same movement when returned to the subject via muscle tendon vibration

The aim of the present study was to further investigate the contribution of primary muscle spindle feedback to proprioception and higher brain functions, such as movement trajectory recognition. For this purpose, complex illusory movements were evoked in subjects by applying patterns of muscle tendon vibration mimicking the natural Ia afferent pattern. Ia afferent messages were previously recorded using microneurographic method from the six main muscle groups acting on the ankle joint during imposed "writing like" movements. The mean Ia afferent pattern was calculated for each muscle group and used as a template to pilot each vibrator. Eleven different vibratory patterns were applied to ten volunteers. Subjects were asked both to copy the perceived illusory movements by hand on a digitizing tablet and to recognize and name the corresponding graphic symbol. The results show that the Ia afferent feedback of a given movement evokes the illusion of the same movement when it is applied to the subject via the appropriate pattern of muscle tendon vibration. The geometry and the kinematic parameters of the imposed and illusory movements are very similar and the so-called "two-thirds power law" is present in the reproduction of the vibration-induced illusory movements. Vibrations within the "natural" frequency range of Ia fibres firing (around 30 Hz) produce clear illusions of movements in all the tested subjects. In addition, increasing the mean frequency of the vibration patterns resulted in a linear increase in the size of the illusory movements. Lastly, the subjects were able to recognize and name the symbols evoked by the vibration-induced primary muscle spindle afferent patterns in 83% of the trials. These findings suggest that the "proprioceptive signature" of a given movement is associated with the corresponding "perceptual signature". The neural mechanisms possibly underlying the sensory to perceptual transformation are discussed in the general framework of "the neuronal population vector model".

Cutaneous Receptors Contribute to Kinesthesia at the Index Finger, Elbow, and Knee

The neural mechanisms underlying the sense of joint position and movement remain controversial. While cutaneous receptors are known to contribute to kinesthesia for the fingers, the present experiments test the hypothesis that they contribute at other major joints. Illusory movements were evoked at the interphalangeal (IP) joints of the index finger, the elbow, and the knee by stimulation of populations of cutaneous and muscle spindle receptors, both separately and together. Subjects matched perceived movements with voluntary movements of homologous joints on the contralateral side. Cutaneous receptors were activated by stretch of the skin (using 2 intensities of stretch) and vibration activated muscle spindle receptors. Stimuli were designed to activate receptors that discharge during joint flexion. For the index finger, vibration was applied over the extensor tendons on the dorsum of the hand, to evoke illusory metacarpophalangeal (MCP) joint flexion, and skin stretch was delivered around the IP joints. The strong skin stretch evoked the illusion of flexion of the proximal IP joint in 6/8 subjects (12 ± 5°, mean ± SE). For the group, strong skin stretch delivered during vibration increased the perceived flexion of the proximal IP joint by eight times with a concomitant decrease in perceived flexion of the MCP joint compared with vibration alone ( P < 0.05). For the elbow, vibration was applied over the distal tendon of triceps brachii and skin stretch over the dorsal forearm. When delivered alone, strong skin stretch evoked illusory elbow flexion in 5/10 subjects (9 ± 4°). Simultaneous strong skin stretch and vibration increased the illusory elbow flexion for the group by 1.5 times compared with vibration ( P < 0.05). For the knee, vibration was applied over the patellar tendon and skin stretch over the thigh. Skin stretch alone evoked illusory knee flexion in 3/10 subjects (8 ± 4°) and when delivered during vibration, perceived knee flexion increased for the group by 1.4 times compared with vibration ( P < 0.05). Hence inputs from cutaneous receptors, muscle receptors, and combined inputs from both receptors likely subserve kinesthesia at joints throughout the body.

Dynamic estimation of hand position is abnormal in Parkinson's disease

Parkinson's disease (PD) is widely viewed as a disorder of central motor control. However, recent studies suggest that disordered kinesthetic processing may also contribute to bradykinesia and hypometria in PD. To examine the hypothesis that abnormal kinesthesia in PD would result in impaired hand motion estimation used for motor control, we tested PD patients, elderly people, and young adults in an active, multi-joint kinesthetic-to-visual matching task. To minimize initial localization errors, visual information about the starting position was always available. The participants performed center-out drawing movements to visual targets in the absence of visual feedback of hand/pen motion at their preferred speed. Movement time (MT), end-point position error (EPE), and initial directional error (IDE) were measured. No detrimental effects of aging were observed; however, the PD group showed prolonged MTs and higher EPE scores as compared to the elderly and young groups. Principal component analysis of the end-point error distributions showed that the PD patients had larger variability in both the extent and direction axes. These results suggest that PD patients have abnormal proprioception and deficits in the central processing and integration of kinesthetic signals, resulting in the incorrect assembly of multiple sensorimotor inputs into a motor plan. It is hypothesized that altered kinesthesia in PD causes improper estimation of hand motion used for motor control due to the degraded maintenance of a dynamic internal hand representation.

"Proprioceptive signature" of cursive writing in humans: a multi-population coding

The goal of the present study was to investigate the firing behavior of populations of muscle spindle afferents in all the muscles acting on the ankle while this joint was being subjected to "writing-like" movements. First it was proposed to determine whether the ensemble of muscle spindles give rise to a unique, specific, and reproducible feedback information characterizing each letter, number or short word. Secondly, we analyzed how the proprioceptive feedback on the whole encodes the spatial and temporal characteristics of writing movements using the "vector population model". The unitary activity of 51 primary and secondary muscle spindle afferents was recorded in the tibial and common peroneal nerves at the level of the popliteal fossea, using the microneurographic method. The units recorded from belonged to the tibialis anterior, the extensor digitorum longus, the extensor hallucis longus, the peroneus lateralis, the gastrocnemius-soleus and the tibialis posterior muscles. The "writing-like" movements were randomly imposed at a "natural" velocity via a computer-controlled machine in a two-dimensional space. In general, muscle spindle afferents from any of the six muscles responded according to the tuning properties of the parent muscle, i.e. increasing their discharge rate during the phases where the direction of movement was within the preferred sensory sector of the parent muscle. The whole trajectory of the writing movements was coded in turn by the activity of Ia afferents arising from all the muscles acting on the joint. Both single afferent responses and population responses were found to be highly specific and reproducible with each graphic sign. The complex multi-muscle afferent pattern involved, with its timing and distribution in the muscle space, seems to constitute a true "proprioceptive signature" for each graphic symbol. The ensemble of muscle spindle afferents were therefore found to encode the instantaneous direction and velocity of writing movements remarkably accurately. It was concluded that the proprioceptive feedback from all the muscles with which the moving joint is equipped provides the CNS with highly specific information that might contribute to a graphic sign identification process.

Proprioceptive population coding of limb position in humans

The present study investigates the coding of positions reached in a two-dimensional space by populations of muscle spindle afferents. The unitary activity of 35 primary muscle spindle afferents originating from the tibialis anterior, extensor digitorum longus, extensor hallucis longus, and peroneus lateralis muscles were recorded from the common peroneal nerve by the microneurographic technique. The steady mean frequency of discharge was analyzed during 16 passively maintained positions of the tip of the foot. These positions were equally distant from and circularly arranged around the "neutral" position of the ankle. The results showed that a same position of the foot was differently coded depending on whether it was maintained for several seconds or whether it was attained after a movement. Muscle spindle activity was increased or decreased, respectively, when the previous movement lengthened or shortened the parent muscle; the magnitude of change in activity depended on the amount of lengthening or shortening in relation to movement direction. Each muscle surrounding the ankle joint was shown to encode the different spatial positions following a directional tuning curve. Data were analyzed by using the "neuronal population vector model". This model consists of calculating population vectors representing the mean contribution of each muscle population of afferents to the coding of a particular position, and by finally calculating a sum vector. The direction of the sum vector was shown to accurately describe the direction of a given maintained position compared to the initial position. We conclude that muscle spindle position coding is based on afferent information coming from the whole set of muscles crossing a given joint. A given spatial position is associated with a stable muscle afferent inflow where each muscle makes an oriented and weighted contribution to its coding.

The effect of aging on dynamic position sense at the ankle

The present study addressed whether dynamic position sense at the ankle--or sense of position and velocity during movement--shows a similar decline as a result of aging as previously described for static position sense and movement detection threshold. Additionally, the involvement of muscle spindle afferents in the possible age-related decline was studied. To assess dynamic position sense, blindfolded subjects had to open the hand briskly when the right ankle was rotating passively through a prescribed target angle. To assess the involvement of muscle spindles, the effect of tibialis anterior vibration was studied. The results showed that aging lead to a significant increase in deviation from the target angle at hand opening as well as in variability of performance. Vibration resulted in larger undershoot errors in the elderly compared to the young adults, suggesting that the age-related decline in performance on the dynamic position sense task is not (solely) due to muscle spindle function changes. Alternatively, this degeneration might be due to altered input from other sources of proprioceptive input, such as skin receptors. The elderly subjects did show a beneficial effect of practice with the task, which may provide solid fundaments for rehabilitation.

Position sensitivity of human muscle spindles: single afferent and population representations

The representation of joint position at rest and during movement was investigated in 44 muscle spindle primary afferents originating from the extensor carpi radialis brevis (ECRb) and extensor digitorum (ED) of normal human subjects. Position sensitivity was estimated for each afferent, and 43 of 44 were position sensitive. In each trial, six sequential ramp-and-hold movements (2-6 degrees, 2 degrees/s, total 24 degrees) flexed the relaxed wrist, beginning from the angle at which the afferent was just recruited. Joint position was represented by three specific features of afferent firing patterns: the steady-state firing rate during the 4-s hold period between ramps, the initial burst at the beginning of each ramp, and the ramp increase in firing rate later in the movement. The position sensitivity of the initial burst (1.27 +/- 0.90 pps/degree, mean +/- SD) was several times higher than that of the hold period (0.40 +/- 0.30 pps/degree) and not different from that of the ramp increase in firing rate (1.36 +/- 0.68 pps/degree). The wrist position sensitivities of ECRb and ED afferents were equivalent, as were their recruitment angles and angular ranges of position sensitivity. Muscle spindle afferents, both individually and as a population, were shown to represent static joint position via the hold rate and the initial burst. Afferents were recruited over the entire 110 degree range of wrist positions investigated; however, the angular range over which each feature represented joint position was extremely limited (approximately 15 degrees). The population response, based on the summed activity of the 43 afferents, was monotonically related to joint position, and it was strongly influenced by the afferent recruitment pattern, but less so by the position sensitivities of the individual afferents.

Directional tuning of human forearm muscle afferents during voluntary wrist movements

1. Single unit activity was recorded with the microneurography technique from sixteen spindle afferents and one Golgi tendon organ afferent originating from the forearm extensor muscles. Impulse rates were studied while subjects performed unobstructed aiming movements at the wrist in eight different directions 45 deg apart. In addition, similar imposed movements were performed while the subject was instructed to remain relaxed. Movement amplitudes were about 5 deg and the speed 10-30 deg x s(-1). Joint movements were translated to movements of a cursor on a monitor to provide visual feedback. 2. Individual spindle afferents modulated their activity over a number of targets, i.e. were broadly tuned, during these aiming movements. The preferred direction for a spindle afferent was the same during both passive and active movements, indicating that the fusimotor effects associated with active contractions had little or no effect on the direction of tuning. 3. The direction of tuning of individual spindle afferents could be predicted from the biomechanically inferred length changes of the parent muscle. Thus spindle afferents responded as stretch receptors, i.e. impulse rates increased with lengthening and decreased with shortening, in active as well as passive movements. 4. Spindles from muscles, which continuously counteracted gravity exhibited a stretch response and directional tuning during the phase of movement alone whereas their position sensitivity was poor. In contrast, spindle afferents from the muscles that had no or minimal antigravity role were directionally tuned during both the dynamic and the static phase of the aiming task and their position sensitivity was substantially higher. 5. In spite of the limited data base from three extensor muscles it could be demonstrated that wrist joint position was remarkably well encoded in the ensemble muscle spindle data. In some cases the ensemble muscle spindle data encoded the instantaneous trajectory of movement as well.

The effects of masseter tendon vibration on nonspeech oral movements and vowel gestures

The role of proprioception in speech and oral motor control was investigated by applying tendon vibration to the masseter during vowel production and nonspeech oral movements. Measures were made of peak jaw-opening amplitude, jaw-opening velocity, and movement time in both vibration and nonvibration conditions. Generally, the tendon vibration caused a consistent and marked reduction in the amplitude and velocity of jaw-opening movements for each subject in both tasks. Movement time remained consistent across the vibration conditions for both tasks. These results indicate that masseter tendon vibration causes significant changes in jaw kinematics during simple speech gestures and nonspeech movements. These findings are consistent with the documented effects of tendon vibration on limb movements. The study demonstrates that tendon vibration is a potent tool for investigating proprioception in speech and oral motor control.

Sensory integration in the perception of movements at the human metacarpophalangeal joint

These experiments were designed to investigate illusions of movements of the fingers produced by combined feedback from muscle spindle receptors and receptors located in different regions of the skin of the hand. Vibration (100 Hz) applied in cyclic bursts (4 s 'on', 4 s 'off') over the tendons of the finger extensors of the right wrist produced illusions of flexion-extension of the fingers. Cutaneous receptors were activated by local skin stretch and electrical stimulation. Illusory movements at the metacarpophalangeal (MCP) joints were measured from voluntary matching movements made with the left hand. Localised stretch of the dorsal skin over specific MCP joints altered vibration-induced illusions in 8/10 subjects. For the group, this combined stimulation produced movement illusions at MCP joints under, adjacent to, and two joints away from the stretched region of skin that were 176 +/- 33, 122 +/- 9 and 67 +/- 11 % of the size of those from vibration alone, respectively. Innocuous electrical stimulation over the same skin regions, but not at the digit tips, also 'focused' the sensation of movement to the stimulated digit. Stretch of the dorsal skin and compression of the ventral skin around one MCP joint altered the vibration-induced illusions in all subjects. The illusions became more focused, being 295 +/- 57, 116 +/- 18 and 65 +/- 7 % of the corresponding vibration-induced illusions at MCP joints that were under, adjacent to, and two joints away from the stimulated regions of skin, respectively. These results show that feedback from cutaneous and muscle spindle receptors is continuously integrated for the perception of finger movements. The contribution from the skin was not simply a general facilitation of sensations produced by muscle receptors but, when the appropriate regions of skin were stimulated, movement illusions were focused to the joint under the stimulated skin. One role for cutaneous feedback from the hand may be to help identify which finger joint is moving.

The role of muscle receptors in the detection of movements

This review discusses the role of muscle receptors, in particular, that of muscle spindles, in the detection of movements, both passive and active. Emphasis is placed on the importance of conditioning the muscles acting at a joint before making measurements of thresholds to passive movements, to take into account muscle's thixotropic property. The detection threshold:movement velocity relation is discussed and described for a number of different joints. Implications for muscle spindles are considered from the generalisation that, when expressed in terms of proportion of muscle fascicle length change, detection thresholds are about the same at different joints. It is concluded that the available data supports the view that muscle spindles lie in parallel with only a portion of a muscle fascicle and not the whole fascicle. At the elbow joint, where it has been tested, movement detection threshold is lower during passive movements than during contraction of elbow muscles. Both peripheral mechanisms and mechanisms operating within the central nervous system may be responsible for the rise in threshold. The signalling of movements by spindles during a contraction raises the question of how the central nervous system is able to extract the length signal under such circumstances, given that there is likely to be co-activation of alpha and gamma motoneurones. The evidence for a central subtraction of fusimotor-evoked impulses and some recent experiments relevant to this idea are described. In conclusion, a number of points of uncertainly have been revealed in this area and these should be the subject of future experiments.