Modular organization of spinal motor systems

Muscle synergies for multidirectional isometric force generation during maintenance of upright standing posture

Muscle synergies are defined as coordinated recruitment of groups of muscles with specific activation balances and time profiles aimed at generating task-specific motor commands. While muscle synergies in postural control have been investigated primarily in reactive balance conditions, the neuromechanical contribution of muscle synergies during voluntary control of upright standing is still unclear. In this study, muscle synergies were investigated during the generation of isometric force at the trunk during the maintenance of standing posture. Participants were asked to maintain the steady-state upright standing posture while pulling forces of different magnitudes were applied at the level at the waist in eight horizontal directions. Muscle synergies were extracted by nonnegative matrix factorization from sixteen lower limb and trunk muscles. An average of 5-6 muscle synergies were sufficient to account for a wide variety of EMG waveforms associated with changes in the magnitude and direction of pulling forces. A cluster analysis partitioned the muscle synergies of the participants into a large group of clusters according to their similarity, indicating the use of a subjective combination of muscles to generate a multidirectional force vector in standing. Furthermore, we found a participant-specific distribution in the values of cosine directional tuning parameters of synergy amplitude coefficients, suggesting the existence of individual neuromechanical strategies to stabilize the whole-body posture. Our findings provide a starting point for the development of novel diagnostic tools to assess muscle coordination in postural control and lay the foundation for potential applications of muscle synergies in rehabilitation.

Persistent changes in motor adaptation strategies after perturbations that require exploration of novel muscle activation patterns

Motor skill learning requires the acquisition of novel muscle patterns and a new control policy-a process that requires time. In contrast, motor adaptation often requires only the adjustment of existing muscle patterns-a fast process. By altering the mapping of muscle activations onto cursor movements in a myoelectrically controlled virtual environment, we are able to create perturbations that require either the recombination of existing muscle synergies (compatible virtual surgery) or the learning of novel muscle patterns (incompatible virtual surgery). We investigated whether adaptation to a compatible surgery is affected by prior exposure to an incompatible surgery, i.e., a motor skill learning task. We found that adaptation to a compatible surgery was characterized by a decrease in the quality of muscle pattern reconstructions using the original synergies and an increase in reaction times only after exposure to an incompatible surgery. In contrast, prior exposure to a compatible surgery did not affect the learning process required to overcome an incompatible surgery. The fact that exposure to an incompatible surgery had a profound effect on the muscle patterns during the adaptation to a subsequent compatible surgery and not vice versa suggests that null space exploration, possibly combined with an explicit exploration strategy, is engaged during exposure to an incompatible surgery and remains enhanced during a new adaptation episode. We conclude that motor skill learning, requiring novel muscle activation patterns, leads to changes in the exploration strategy employed during a subsequent perturbation.NEW & NOTEWORTHY Motor skill learning requires the acquisition of novel muscle patterns, whereas motor adaptation requires adjusting existing ones. We wondered whether training a new motor skill affects motor adaptation strategies. We show that learning an incompatible perturbation, a complex skill requiring new muscle synergies, affects the muscle patterns observed during adaption to a compatible perturbation, which requires adjusting the existing synergies. Our results suggest that motor skill learning results in persistent changes in the exploration strategy.

Developing new intermuscular coordination patterns through an electromyographic signal-guided training in the upper extremity

BACKGROUND

Muscle synergies, computationally identified intermuscular coordination patterns, have been utilized to characterize neuromuscular control and learning in humans. However, it is unclear whether it is possible to alter the existing muscle synergies or develop new ones in an intended way through a relatively short-term motor exercise in adulthood. This study aimed to test the feasibility of expanding the repertoire of intermuscular coordination patterns through an isometric, electromyographic (EMG) signal-guided exercise in the upper extremity (UE) of neurologically intact individuals.

METHODS

10 participants were trained for six weeks to induce independent control of activating a pair of elbow flexor muscles that tended to be naturally co-activated in force generation. An untrained isometric force generation task was performed to assess the effect of the training on the intermuscular coordination of the trained UE. We applied a non-negative matrix factorization on the EMG signals recorded from 12 major UE muscles during the assessment to identify the muscle synergies. In addition, the performance of training tasks and the characteristics of individual muscles' activity in both time and frequency domains were quantified as the training outcomes.

RESULTS

Typically, in two weeks of the training, participants could use newly developed muscle synergies when requested to perform new, untrained motor tasks by activating their UE muscles in the trained way. Meanwhile, their habitually expressed muscle synergies, the synergistic muscle activation groups that were used before the training, were conserved throughout the entire training period. The number of muscle synergies activated for the task performance remained the same. As the new muscle synergies were developed, the neuromotor control of the trained muscles reflected in the metrics, such as the ratio between the targeted muscles, number of matched targets, and task completion time, was improved.

CONCLUSION

These findings suggest that our protocol can increase the repertoire of readily available muscle synergies and improve motor control by developing the activation of new muscle coordination patterns in healthy adults within a relatively short period. Furthermore, the study shows the potential of the isometric EMG-guided protocol as a neurorehabilitation tool for aiming motor deficits induced by abnormal intermuscular coordination after neurological disorders.

TRIAL REGISTRATION

This study was registered at the Clinical Research Information Service (CRiS) of the Korea National Institute of Health (KCT0005803) on 1/22/2021.

Advances in EMG measurement techniques, analysis procedures, and the impact of muscle mechanics on future requirements for the methodology

Muscular coordination enables locomotion and interaction with the environment. For more than 50 years electromyography (EMG) has provided insights into the central nervous system control of individual muscles or muscle groups, enabling both fine and gross motor functions. This information is available either at individual motor units (Mus) level or on a more global level from the coordination of different muscles or muscle groups. In particular, non-invasive EMG methods such as surface EMG (sEMG) or, more recently, spatial mapping methods (High-Density EMG - HDsEMG) have found their place in research into biomechanics, sport and exercise, ergonomics, rehabilitation, diagnostics, and increasingly for the control of technical devices. With further technical advances and a growing understanding of the relationship between EMG and movement task execution, it is expected that with time, especially non-invasive EMG methods will become increasingly important in movement sciences. However, while the total number of publications per year on non-invasive EMG methods is growing exponentially, the number of publications on this topic in journals with a scope in movement sciences has stagnated in the last decade. This review paper contextualizes non-invasive EMG development over the last 50 years, highlighting methodological progress. Changes in research topics related to non-invasive EMG were identified. Today non-invasive EMG procedures are increasingly used to control technical devices, where muscle mechanics have a minor influence. In movement science, however, the effect of muscle mechanics on the EMG signal cannot be neglected. This explains why non-invasive EMG's relevance in movement sciences has not developed as expected.

Spatial and Temporal Muscle Synergies Provide a Dual Characterization of Low-dimensional and Intermittent Control of Upper-limb Movements

Muscle synergy analysis investigates the neurophysiological mechanisms that the central nervous system employs to coordinate muscles. Several models have been developed to decompose electromyographic (EMG) signals into spatial and temporal synergies. However, using multiple approaches can complicate the interpretation of results. Spatial synergies represent invariant muscle weights modulated with variant temporal coefficients; temporal synergies are invariant temporal profiles that coordinate variant muscle weights. While non-negative matrix factorization allows to extract both spatial and temporal synergies, the comparison between the two approaches was rarely investigated targeting a large set of multi-joint upper-limb movements. Spatial and temporal synergies were extracted from two datasets with proximal (16 subjects, 10M, 6F) and distal upper-limb movements (30 subjects, 21M, 9F), focusing on their differences in reconstruction accuracy and inter-individual variability. We showed the existence of both spatial and temporal structure in the EMG data, comparing synergies with those from a surrogate dataset in which the phases were shuffled preserving the frequency content of the original data. The two models provide a compact characterization of motor coordination at the spatial or temporal level, respectively. However, a lower number of temporal synergies are needed to achieve the same reconstruction R²: spatial and temporal synergies may capture different hierarchical levels of motor control and are dual approaches to the characterization of low-dimensional coordination of the upper-limb. Last, a detailed characterization of the structure of the temporal synergies suggested that they can be related to intermittent control of the movement, allowing high flexibility and dexterity. These results improve neurophysiology understanding in several fields such as motor control, rehabilitation, and prosthetics.

The Number and Structure of Muscle Synergies Depend on the Number of Recorded Muscles: A Pilot Simulation Study with OpenSim

The muscle synergy approach is used to evaluate motor control and to quantitatively determine the number and structure of the modules underlying movement. In experimental studies regarding the upper limb, typically 8 to 16 EMG probes are used depending on the application, although the number of muscles involved in motor generation is higher. Therefore, the number of motor modules may be underestimated and the structure altered with the standard spatial synergy model based on the non-negative matrix factorization (NMF). In this study, we compared the number and structure of muscle synergies when considering 12 muscles (an "average" condition that represents previous studies) and 32 muscles of the upper limb, also including multiple muscle heads and deep muscles. First, we estimated the muscle activations with an upper-limb model in OpenSim using data from multi-directional reaching movements acquired in experimental sessions; then, spatial synergies were extracted from EMG activations from 12 muscles and from 32 muscles and their structures were compared. Finally, we compared muscle synergies obtained from OpenSim and from real experimental EMG signals to assess the reliability of the results. Interestingly, we found that on average, an additional synergy is needed to reconstruct the same R² level with 32 muscles with respect to 12 muscles; synergies have a very similar structure, although muscles with comparable physiological functions were added to the synergies extracted with 12 muscles. The additional synergies, instead, captured patterns that could not be identified with only 12 muscles. We concluded that current studies may slightly underestimate the number of controlled synergies, even though the main structure of synergies is not modified when adding more muscles. We also show that EMG activations estimated with OpenSim are in partial (but not complete) agreement with experimental recordings. These findings may have significative implications for motor control and clinical studies.

Mixed Neuropathologies, Neural Motor Resilience and Target Discovery for Therapies of Late-Life Motor Impairment

By age 85, most adults manifest some degree of motor impairment. However, in most individuals a specific etiology for motor decline and treatment to modify its inexorable progression cannot be identified. Recent clinical-pathologic studies provide evidence that mixed-brain pathologies are commonly associated with late-life motor impairment. Yet, while nearly all older adults show some degree of accumulation of Alzheimer's disease and related dementias (ADRD) pathologies, the extent to which these pathologies contribute to motor decline varies widely from person to person. Slower or faster than expected motor decline in the presence of brain injury and/or pathology has been conceptualized as more or less "resilience" relative to the average person This suggests that other factors, such as lifestyles or other neurobiologic indices may offset or exacerbate the negative effects of pathologies via other molecular pathways. The mechanisms underlying neural motor resilience are just beginning to be illuminated. Unlike its cousin, cognitive resilience which is restricted to neural mechanisms above the neck, the motor system extends the total length of the CNS and beyond the CNS to reach muscle and musculoskeletal structures, all of which are crucial for motor function. Building on prior work, we propose that by isolating motor decline unrelated to neuropathologies and degeneration, investigators can identify genes and proteins that may provide neural motor resilience. Elucidating these molecular mechanisms will advance our understanding of the heterogeneity of late-life motor impairment. This approach will also provide high value therapeutic targets for drug discovery of therapies that may offset the negative motor consequences of CNS pathologies that are currently untreatable.

Task space exploration improves adaptation after incompatible virtual surgeries

Humans have a remarkable capacity to learn new motor skills, a process that requires novel muscle activity patterns. Muscle synergies may simplify the generation of muscle patterns through the selection of a small number of synergy combinations. Learning new motor skills may then be achieved by acquiring novel muscle synergies. In a previous study, we used myoelectric control to construct virtual surgeries that altered the mapping from muscle activity to cursor movements. After compatible virtual surgeries, which could be compensated by recombining subject-specific muscle synergies, participants adapted quickly. In contrast, after incompatible virtual surgeries, which could not be compensated by recombining existing synergies, participants explored new muscle patterns, but failed to adapt. Here, we tested whether task space exploration can promote learning of novel muscle synergies, required to overcome an incompatible surgery. Participants performed the same reaching task as in our previous study, but with more time to complete each trial, thus allowing for exploration. We found an improvement in trial success after incompatible virtual surgeries. Remarkably, improvements in movement direction accuracy after incompatible surgeries occurred faster for corrective movements than for the initial movement, suggesting that learning of new synergies is more effective when used for feedback control. Moreover, reaction time was significantly higher after incompatible than after compatible virtual surgeries, suggesting an increased use of an explicit adaptive strategy to overcome incompatible surgeries. Taken together, these results indicate that exploration is important for skill learning and suggest that human participants, with sufficient time, can learn new muscle synergies.

Neural Network Models for Spinal Implementation of Muscle Synergies

Muscle synergies have been proposed as functional modules to simplify the complexity of body motor control; however, their neural implementation is still unclear. Converging evidence suggests that output projections of the spinal premotor interneurons (PreM-INs) underlie the formation of muscle synergies, but they exhibit a substantial variation across neurons and exclude standard models assuming a small number of unitary “modules” in the spinal cord. Here we compared neural network models for muscle synergies to seek a biologically plausible model that reconciles previous clinical and electrophysiological findings. We examined three neural network models: one with random connections (non-synergy model), one with a small number of spinal synergies (simple synergy model), and one with a large number of spinal neurons representing muscle synergies with a certain variation (population synergy model). We found that the simple and population synergy models emulate the robustness of muscle synergies against cortical stroke observed in human stroke patients. Furthermore, the size of the spinal variation of the population synergy matched well with the variation in spinal PreM-INs recorded in monkeys. These results suggest that a spinal population with moderate variation is a biologically plausible model for the neural implementation of muscle synergies.

Modular reorganization of gait in chronic but not in artificial knee joint constraint

It is currently unknown if modular reorganization does occur if not the central nervous system, but the musculoskeletal system is affected. The aims of this study were to investigate 1) the effects of an artificial knee joint constraint on the modular organization of gait in healthy subjects; and 2) the differences in modular organization between healthy subjects with an artificial knee joint constraint and people with a similar but chronic knee joint constraint. Eleven healthy subjects and eight people with a chronic knee joint constraint walked overground at 1 m/s. The healthy subjects also walked with a constraint limiting knee joint movement to 20°. The total variance accounted (tVAF) for one to four synergies and modular organization were assessed using surface electromyography from 11 leg muscles. The distribution of number of synergies were not significantly different between groups. The tVAF and the motor modules were not significantly affected by the artificial knee constraint. A higher tVAF for one and two synergies, as well as merging of motor modules were observed in the chronic knee constraint group. We conclude that in the short-term a knee constraint does not affect the modular organization of gait, but in the long-term a knee constraint results in modular reorganization. These results indicate that merging of motor modules may also occur when changes in the mechanics of the musculoskeletal system is the primary cause of the motor impairment.NEW & NOTEWORTHY It is currently unknown if modular reorganization does occur if not the central nervous system, but the musculoskeletal system is affected. This study showed that in the short-term a knee constraint does not affect the modular organization of gait, but in the long-term a knee constraint results in modular reorganization. These results indicate that modular reorganization may also occur when changes in the mechanics of the musculoskeletal system is the primary cause of the motor impairment.

Clinical Relevance of State-of-the-Art Analysis of Surface Electromyography in Cerebral Palsy

Surface electromyography (sEMG) can be used to assess the integrity of the neuromuscular system and its impairment in neurological disorders. Here we will consider several issues related to the current clinical applications, difficulties and limited usage of sEMG for the assessment and rehabilitation of children with cerebral palsy. The uniqueness of this methodology is that it can determine hyperactivity or inactivity of selected muscles, which cannot be assessed by other methods. In addition, it can assist for intervention or muscle/tendon surgery acts, and it can evaluate integrated functioning of the nervous system based on multi-muscle sEMG recordings and assess motor pool activation. The latter aspect is especially important for understanding impairments of the mechanisms of neural controllers rather than malfunction of individual muscles. Although sEMG study is an important tool in both clinical research and neurorehabilitation, the results of a survey on the clinical relevance of sEMG in a typical department of pediatric rehabilitation highlighted its limited clinical usage. We believe that this is due to limited knowledge of the sEMG and its neuromuscular underpinnings by many physiotherapists, as a result of lack of emphasis on this important methodology in the courses taught in physical therapy schools. The lack of reference databases or benchmarking software for sEMG analysis may also contribute to the limited clinical usage. Despite the existence of educational and technical barriers to a widespread use of, sEMG does provide important tools for planning and assessment of rehabilitation treatments for children with cerebral palsy.

Forelimb force direction and magnitude independently controlled by spinal modules in the macaque

Studies in frogs and rodents have shown that to deal with the complexity of controlling all the muscles in the body the brain can activate sets of neurons in the spinal cord with a single signal. Here, we provide confirmation of a similar system of “modular” output in nonhuman primates. Costimulation at two spinal sites resulted in force field directionality that was the linear sum of the fields from each site. However, unlike the frog and rodent, the magnitude of the force vectors was greater than the simple sum (supralinear). Thus, while force direction in primates is controlled by the linear sum of modular output, force amplitude might be adjusted by additional sources shared by those modules.

Modular organization of the spinal motor system is thought to reduce the cognitive complexity of simultaneously controlling the large number of muscles and joints in the human body. Although modular organization has been confirmed in the hindlimb control system of several animal species, it has yet to be established in the forelimb motor system or in primates. Expanding upon experiments originally performed in the frog lumbar spinal cord, we examined whether costimulation of two sites in the macaque monkey cervical spinal cord results in motor activity that is a simple linear sum of the responses evoked by stimulating each site individually. Similar to previous observations in the frog and rodent hindlimb, our analysis revealed that in most cases (77% of all pairs) the directions of the force fields elicited by costimulation were highly similar to those predicted by the simple linear sum of those elicited by stimulating each site individually. A comparable simple summation of electromyography (EMG) output, especially in the proximal muscles, suggested that this linear summation of force field direction was produced by a spinal neural mechanism whereby the forelimb motor output recruited by costimulation was also summed linearly. We further found that the force field magnitudes exhibited supralinear (amplified) summation, which was also observed in the EMG output of distal forelimb muscles, implying a novel feature of primate forelimb control. Overall, our observations support the idea that complex movements in the primate forelimb control system are made possible by flexibly combined spinal motor modules.

Surface EMG in Clinical Assessment and Neurorehabilitation: Barriers Limiting Its Use

This article addresses the potential clinical value of techniques based on surface electromyography (sEMG) in rehabilitation medicine with specific focus on neurorehabilitation. Applications in exercise and sport pathophysiology, in movement analysis, in ergonomics and occupational medicine, and in a number of related fields are also considered. The contrast between the extensive scientific literature in these fields and the limited clinical applications is discussed. The "barriers" between research findings and their application are very broad, and are longstanding, cultural, educational, and technical. Cultural barriers relate to the general acceptance and use of the concept of objective measurement in a clinical setting and its role in promoting Evidence Based Medicine. Wide differences between countries exist in appropriate training in the use of such quantitative measurements in general, and in electrical measurements in particular. These differences are manifest in training programs, in degrees granted, and in academic/research career opportunities. Educational barriers are related to the background in mathematics and physics for rehabilitation clinicians, leading to insufficient basic concepts of signal interpretation, as well as to the lack of a common language with rehabilitation engineers. Technical barriers are being overcome progressively, but progress is still impacted by the lack of user-friendly equipment, insufficient market demand, gadget-like devices, relatively high equipment price and a pervasive lack of interest by manufacturers. Despite the recommendations provided by the 20-year old EU project on "Surface EMG for Non-Invasive Assessment of Muscles (SENIAM)," real international standards are still missing and there is minimal international pressure for developing and applying such standards. The need for change in training and teaching is increasingly felt in the academic world, but is much less perceived in the health delivery system and clinical environments. The rapid technological progress in the fields of sensor and measurement technology (including sEMG), assistive devices, and robotic rehabilitation, has not been driven by clinical demands. Our assertion is that the most important and urgent interventions concern enhanced education, more effective technology transfer, and increased academic opportunities for physiotherapists, occupational therapists, and kinesiologists.

3D human arm reaching movement planning with principal patterns in successive phases

There are observations indicating that the central nervous system (CNS) decomposes a movement into several successive sub-movements as an effective strategy to control the motor task. In this study, we propose an algorithm in which, Arm Reaching Movement (ARM) in 3D space is decomposed into several successive phases using zero joint angle jerk features of the arm kinematic data. The presented decomposition algorithm for 3D motions is, in fact, an improved and generalized version of the decomposition method proposed earlier by Emadi and Bahrami in 2012 for 2D movements. They assumed that the motion is coordinated by minimum jerk characteristics in joint angles space in each phase. However, at the first glance, it seems that in 3D ARM joint angles are not coordinated based on the minimum jerk features. Therefore, we defined a resultant variable in the joint space and showed that one can use its jerk properties together with those of the elbow joint in movement decomposition. We showed that phase borders determined with the proposed algorithm in 3D ARM, are defined with jerk characteristics of ARM's performance variable. We observed the same results in the Sit-to-Stand (STS) movement, too. Thus, based on our results, we suggested that any 3D motion can be decomposed into several phases, such that in each phase a set of principal patterns (PPs) extracted by Principal Component Analysis (PCA) method are linearly recruited to regenerate angle trajectories of each joint. Our results also suggest that the CNS, as the primary policy, may simplify the control of the ARMs by reducing the dimension of the control space. This dimension reduction might be accomplished by decomposing the movement into successive phases in which the movement satisfies the minimum joint angle jerk constraint. Then, in each phase, a set of PPs are recruited in the joint space to regenerate angle trajectory of each joint. Then, the dimension of the control space will be the number of the recruitment coefficients.

Motor modules account for active perception of force

Despite longstanding evidence suggesting a relation between action and perception, the mechanisms underlying their integration are still unclear. It has been proposed that to simplify the sensorimotor integration processes underlying active perception, the central nervous system (CNS) selects patterns of movements aimed at maximizing sampling of task-related sensory input. While previous studies investigated the action-perception loop focusing on the role of higher-level features of motor behavior (e.g., kinematic invariants, effort), the present study explored and quantified the contribution of lower-level organization of motor control. We tested the hypothesis that the coordinated recruitment of group of muscles (i.e., motor modules) engaged to counteract an external force contributes to participants’ perception of the same force. We found that: 1) a model describing the modulation of a subset of motor modules involved in the motor task accounted for about 70% of participants’ perceptual variance; 2) an alternative model, incompatible with the motor modules hypothesis, accounted for significantly lower variance of participants’ detection performance. Our results provide empirical evidence of the potential role played by muscle activation patterns in active perception of force. They also suggest that a modular organization of motor control may mediate not only coordination of multiple muscles, but also perceptual inference.

Fixed muscle synergies and their potential to improve the intuitive control of myoelectric assistive technology for upper extremities

BACKGROUND

Users of myoelectric controlled assistive technology (AT) for upper extremities experience difficulties in controlling this technology in daily life, partly because the control is non-intuitive. Making the control of myoelectric AT intuitive may resolve the experienced difficulties. The present paper was inspired by the suggestion that intuitive control may be achieved if the control of myoelectric AT is based on neuromotor control principles. A significant approach within neurocomputational motor control suggests that myosignals are produced via a limited number of fixed muscle synergies. To effectively employ this approach in myoelectric AT, it is required that a limited number of muscle synergies is systematically exploited, also when muscles are used differently as required in controlling myoelectric AT. Therefore, the present study examined the systematic exploitation of muscle synergies when muscles were used differently to complete point-to-point movements with and without a rod.

METHODS

Healthy participants made multidirectional point-to-point movements with different end-effectors, i.e. with the index finger and with rods of different lengths. Myosignals were collected from 22 muscles in the arm, trunk, and back, and subsequently partitioned into muscle synergies per end-effector and for a pooled dataset including all end-effectors. The exploitation of these muscle synergies was assessed by evaluating the similarity of structure and explanatory ability of myosignals of per end-effector muscle synergies and the contribution of pooled muscle synergies across end-effectors.

RESULTS

Per end-effector, 3-5 muscle synergies could explain 73.8-81.1% of myosignal variation, whereas 6-8 muscle synergies from the pooled dataset also captured this amount of myosignal variation. Subsequent analyses showed that gradually different muscle synergies-extracted from separate end-effectors-were exploited across end-effectors. In line with this result, the order of contribution of muscle synergies extracted from the pooled dataset gradually reversed across end-effectors.

CONCLUSION

A limited number of muscle synergies was systematically exploited in the examined set of movements, indicating a potential for the fixed muscle synergy approach to improve the intuitive control of myoelectric AT. Given the gradual change in muscle synergy exploitation across end-effectors, future research should examine whether this potential can be extended to a larger range of movements and tasks.

Block-based robust control of stepping using intraspinal microstimulation

OBJECTIVE

The problem of motor control using intraspinal microstimulation (ISMS) can be approached at two levels of the motor system: individual muscles (motor pools) and motor primitives. The major challenges of direct ISMS at the level of individual muscle are the number of electrodes that are required to be implanted in order to recruit all muscles involving the motion and muscle selectivity. One solution to cope with these problems is the control of movement generated by appropriate combination of the movement primitives. In this paper, we proposed a robust control framework using primitives for fully automatic block-based control of the motion through ISMS.

APPROACH

The control framework is based on an adaptive fuzzy terminal sliding mode control. The biggest advantage of the controller is the fast convergence compared to the conventional sliding mode control.

MAIN RESULTS

The experiments were conducted on spinally-intact anesthetized cats. Based on electromyography activity of the hindlimbs muscles, different movement blocks were defined. The results of block-based air-stepping control show that the proposed control framework could generate the gait cycle with good tracking performance. The averages of tracking error, over five cats, were 9.3%, 11.2%, and 16.1%, for the ankle, knee, and hip joints, respectively. The results of walking control on the moving treadmill demonstrated that the gait cycle can be generated only with two movement blocks for each leg.

SIGNIFICANCE

The results of the current study demonstrated that the normal gait pattern can be achieved by tracking control of the movement blocks using ISMS, while the controller requires no offline learning phase and no pre-adjustment of the stimulation level. The controller is able to automatically regulate the interactions between movement blocks without any preprogrammed block activities.

Motor deficits are independent of axonopathy in an Alzheimer's disease mouse model of TgCRND8 mice

There have been an increasing number of reports of non-cognitive symptoms in Alzheimer's disease (AD). Some symptoms are associated with the loss of motor functions, e.g. gait disturbances, disturbed activity level and balance. Consistent with clinical findings, several AD mouse models harboring amyloid pathology develop motor impairment. Although the factors that contribute to the motor deficits have not yet been determined, it has been suggested that axonopathy is one of the key factors that may contribute to this particular feature of the disease. Our previous study found that TgCRND8 mice exhibited profound motor deficits as early as 3 months old. In this study, we explored the possible factors that may be related to motor deficits in TgCRND8 mice. Results from silver, neurofilament and amyloid precursor protein (APP) staining revealed no axonopathy occurred in the brain and spinal cord of TgCRND8 mice at the age of 3 months. Anterograde labeling of corticospinal tract of spinal cord and electronic microscopy (EM) analysis showed that no axonopathy occurred in TgCRND8 mice at the age of 3 months. According to these results, it could be concluded that no axonal alterations were evident in the TgCRND8 mice when motor deficits was overt. Thus, axonopathy may play a less prominent role in motor deficits in AD. These results suggest that mechanisms by which motor function undergo impairment in AD need to be further studied.

Muscle synergy extraction during arm reaching movements at different speeds

OBJECTIVE

Muscle synergy is the activation of a group of muscles that contribute to a particular movement. The goal of the present study is to examine the hypothesis that human reaching movements at different speeds share similar muscle synergies and to investigate the kinesiology basis and innervation of muscles.

METHODS

Electromyographic activity from six muscles of the upper limb and shoulder girdle were recorded during three movements at different speeds, i.e. slow, moderate and fast. The effect of window length on the RMS signal of the EMG was analyzed and then EMG envelope signals were decomposed using non-negative matrix factorization. For each of the ten subjects, three synergies were extracted which accounted for at least 99% of the VAF. For each movement, the muscle synergies and muscle activation coefficients of all participants were clustered in to three partitions. Investigation showed a high similarity and dependency of cluster members due to the cosine similarity and mutual information in muscle synergy clustering. For further verification, the EMG envelope signals for all subjects were reconstructed.

RESULTS

The results indicated a lower reconstruction error using the center of the muscle synergy clusters in comparison with the average of the activation coefficients, which confirms the current research's hypothesis.

Muscle synergies are similar when typically developing children walk on a treadmill at different speeds and slopes

BACKGROUND

The aim of this study was to determine whether changes in synergies relate to changes in gait while walking on a treadmill at multiple speeds and slopes. The hypothesis was that significant changes in movement pattern would not be accompanied by significant changes in synergies, suggesting that synergies are not dependent on the mechanical constraints but are instead neurological in origin.

METHODS

Sixteen typically developing children walked on a treadmill for nine combinations (stages) of different speeds and slopes while simultaneously collecting kinematics, kinetics, and surface electromyography (EMG) data. The kinematics for each stride were summarized using a modified version of the Gait Deviation Index that only includes the sagittal plane. The kinetics for each stride were summarized using a modified version of the Gait Deviation Index - Kinetic which includes sagittal plane moments and powers. Within each synergy group, the correlations of the synergies were calculated between the treadmill stages.

RESULTS

While kinematics and kinetics were significantly altered at the highest slope compared to level ground when walking on a treadmill, synergies were similar across stages.

CONCLUSIONS

The high correlations between synergies across stages indicate that neuromuscular control strategies do not change as children walk at different speeds and slopes on a treadmill. However, the multiple significant differences in kinematics and kinetics between stages indicate real differences in movement pattern. This supports the theory that synergies are neurological in origin and not simply a response to the biomechanical task constraints.

Kinematics in the brain: unmasking motor control strategies?

In rhythmical movement performance, our brain has to sustain movement while correcting for biological noise-induced variability. Here, we explored the functional anatomy of brain networks during voluntary rhythmical elbow flexion/extension using kinematic movement regressors in fMRI analysis to verify the interest of method to address motor control in a neurological population. We found the expected systematic activation of the primary sensorimotor network that is suggested to generate the rhythmical movement. By adding the kinematic regressors to the model, we demonstrated the potential involvement of cerebellar–frontal circuits as a function of the irregularity of the variability of the movement and the primary sensory cortex in relation to the trajectory length during task execution. We suggested that different functional brain networks were related to two different aspects of rhythmical performance: rhythmicity and error control. Concerning the latter, the partitioning between more automatic control involving cerebellar–frontal circuits versus less automatic control involving the sensory cortex seemed thereby crucial for optimal performance. Our results highlight the potential of using co-registered fine-grained kinematics and fMRI measures to interpret functional MRI activations and to potentially unmask the organisation of neural correlates during motor control.

Modularity for Motor Control and Motor Learning

How the central nervous system (CNS) overcomes the complexity of multi-joint and multi-muscle control and how it acquires or adapts motor skills are fundamental and open questions in neuroscience. A modular architecture may simplify control by embedding features of both the dynamic behavior of the musculoskeletal system and of the task into a small number of modules and by directly mapping task goals into module combination parameters. Several studies of the electromyographic (EMG) activity recorded from many muscles during the performance of different tasks have shown that motor commands are generated by the combination of a small number of muscle synergies, coordinated recruitment of groups of muscles with specific amplitude balances or activation waveforms, thus supporting a modular organization of motor control. Modularity may also help understanding motor learning. In a modular architecture, acquisition of a new motor skill or adaptation of an existing skill after a perturbation may occur at the level of modules or at the level of module combinations. As learning or adapting an existing skill through recombination of modules is likely faster than learning or adapting a skill by acquiring new modules, compatibility with the modules predicts learning difficulty. A recent study in which human subjects used myoelectric control to move a mass in a virtual environment has tested this prediction. By altering the mapping between recorded muscle activity and simulated force applied on the mass, as in a complex surgical rearrangement of the tendons, it has been possible to show that it is easier to adapt to a perturbation that is compatible with the muscle synergies used to generate hand force than to a similar but incompatible perturbation. This result provides direct support for a modular organization of motor control and motor learning.

Rostro-caudal inhibition of hindlimb movements in the spinal cord of mice

Inhibitory neurons in the adult mammalian spinal cord are known to locally modulate afferent feedback - from muscle proprioceptors and from skin receptors - to pattern motor activity for locomotion and postural control. Here, using optogenetic tools, we explored how the same population of inhibitory interneurons globally affects hindlimb movements in the spinal cord of both anesthetized and freely moving mice. Activation of inhibitory interneurons up to the middle/lower spinal cord i.e. T8–T9, were able to completely and globally suppress all ipsilateral hindlimb movements. Furthermore, the same population of interneurons - which inhibited movements - did not significantly change the sensory and proprioceptive information from the affected limbs to the cortex. These results suggest a rostro-caudal organization of inhibition in the spinal cord motor output without modulation of ascending sensory pathways.

Plasticity and alterations of trunk motor cortex following spinal cord injury and non-stepping robot and treadmill training

Spinal cord injury (SCI) induces significant reorganization in the sensorimotor cortex. Trunk motor control is crucial for postural stability and propulsion after low thoracic SCI and several rehabilitative strategies are aimed at trunk stability and control. However little is known about the effect of SCI and rehabilitation training on trunk motor representations and their plasticity in the cortex. Here, we used intracortical microstimulation to examine the motor cortex representations of the trunk in relation to other representations in three groups of chronic adult complete low thoracic SCI rats: chronic untrained, treadmill trained (but 'non-stepping') and robot assisted treadmill trained (but 'non-stepping') and compared with a group of normal rats. Our results demonstrate extensive and significant reorganization of the trunk motor cortex after chronic adult SCI which includes (1) expansion and rostral displacement of trunk motor representations in the cortex, with the greatest significant increase observed for rostral (to injury) trunk, and slight but significant increase of motor representation for caudal (to injury) trunk at low thoracic levels in all spinalized rats; (2) significant changes in coactivation and the synergy representation (or map overlap) between different trunk muscles and between trunk and forelimb. No significant differences were observed between the groups of transected rats for the majority of the comparisons. However, (3) the treadmill and robot-treadmill trained groups of rats showed a further small but significant rostral migration of the trunk representations, beyond the shift caused by transection alone. We conclude that SCI induces a significant reorganization of the trunk motor cortex, which is not qualitatively altered by non-stepping treadmill training or non-stepping robot assisted treadmill training, but is shifted further from normal topography by the training. This shift may potentially make subsequent rehabilitation with stepping longer or less successful.

Effective force control by muscle synergies

Muscle synergies have been proposed as a way for the central nervous system (CNS) to simplify the generation of motor commands and they have been shown to explain a large fraction of the variation in the muscle patterns across a variety of conditions. However, whether human subjects are able to control forces and movements effectively with a small set of synergies has not been tested directly. Here we show that muscle synergies can be used to generate target forces in multiple directions with the same accuracy achieved using individual muscles. We recorded electromyographic (EMG) activity from 13 arm muscles and isometric hand forces during a force reaching task in a virtual environment. From these data we estimated the force associated to each muscle by linear regression and we identified muscle synergies by non-negative matrix factorization. We compared trajectories of a virtual mass displaced by the force estimated using the entire set of recorded EMGs to trajectories obtained using 4–5 muscle synergies. While trajectories were similar, when feedback was provided according to force estimated from recorded EMGs (EMG-control) on average trajectories generated with the synergies were less accurate. However, when feedback was provided according to recorded force (force-control) we did not find significant differences in initial angle error and endpoint error. We then tested whether synergies could be used as effectively as individual muscles to control cursor movement in the force reaching task by providing feedback according to force estimated from the projection of the recorded EMGs into synergy space (synergy-control). Human subjects were able to perform the task immediately after switching from force-control to EMG-control and synergy-control and we found no differences between initial movement direction errors and endpoint errors in all control modes. These results indicate that muscle synergies provide an effective strategy for motor coordination.

Bihemispheric transcranial direct current stimulation enhances effector-independent representations of motor synergy and sequence learning

Complex manual tasks-everything from buttoning up a shirt to playing the piano-fundamentally involve two components: (1) generating specific patterns of muscle activity (here, termed "synergies"); and (2) stringing these into purposeful sequences. Although transcranial direct current stimulation (tDCS) of the primary motor cortex (M1) has been found to increase the learning of motor sequences, it is unknown whether it can similarly facilitate motor synergy learning. Here, we determined the effects of tDCS on the learning of motor synergies using a novel hand configuration task that required the production of difficult muscular activation patterns. Bihemispheric tDCS was applied to M1 of healthy, right-handed human participants during 4 d of repetitive left-hand configuration training in a double-blind design. tDCS augmented synergy learning, leading subsequently to faster and more synchronized execution. This effect persisted for at least 4 weeks after training. Qualitatively similar tDCS-associated improvements occurred during training of finger sequences in a separate subject cohort. We additionally determined whether tDCS only improved the acquisition of motor memories for specific synergies/sequences or whether it also facilitated more general parts of the motor representations, which could be transferred to novel movements. Critically, we observed that tDCS effects generalized to untrained hand configurations and untrained finger sequences (i.e., were nonspecific), as well as to the untrained hand (i.e., were effector-independent). Hence, bihemispheric tDCS may be a promising adjunct to neurorehabilitative training regimes, in which broad transfer to everyday tasks is highly desirable.

Muscle synergies evoked by microstimulation are preferentially encoded during behavior

Electrical microstimulation studies provide some of the most direct evidence for the neural representation of muscle synergies. These synergies, i.e., coordinated activations of groups of muscles, have been proposed as building blocks for the construction of motor behaviors by the nervous system. Intraspinal or intracortical microstimulation (ICMS) has been shown to evoke muscle patterns that can be resolved into a small set of synergies similar to those seen in natural behavior. However, questions remain about the validity of microstimulation as a probe of neural function, particularly given the relatively long trains of supratheshold stimuli used in these studies. Here, we examined whether muscle synergies evoked during ICMS in two rhesus macaques were similarly encoded by nearby motor cortical units during a purely voluntary behavior involving object reach, grasp, and carry movements. At each microstimulation site we identified the synergy most strongly evoked among those extracted from muscle patterns evoked over all microstimulation sites. For each cortical unit recorded at the same microstimulation site, we then identified the synergy most strongly encoded among those extracted from muscle patterns recorded during the voluntary behavior. We found that the synergy most strongly evoked at an ICMS site matched the synergy most strongly encoded by proximal units more often than expected by chance. These results suggest a common neural substrate for microstimulation-evoked motor responses and for the generation of muscle patterns during natural behaviors.

Synaptic and functional linkages between spinal premotor interneurons and hand-muscle activity during precision grip

Grasping is a highly complex movement that requires the coordination of a number of hand joints and muscles. Previous studies showed that spinal premotor interneurons (PreM-INs) in the primate cervical spinal cord have divergent synaptic effects on hand motoneurons and that they might contribute to hand-muscle synergies. However, the extent to which these PreM-IN synaptic connections functionally contribute to modulating hand-muscle activity is not clear. In this paper, we explored the contribution of spinal PreM-INs to hand-muscle activation by quantifying the synaptic linkage (SL) and functional linkage (FL) of the PreM-INs with hand-muscle activities. The activity of 23 PreM-INs was recorded from the cervical spinal cord (C6–T1), with EMG signals measured simultaneously from hand and arm muscles in two macaque monkeys performing a precision grip task. Spike-triggered averages (STAs) of rectified EMGs were compiled for 456 neuron–muscle pairs; 63 pairs showed significant post-spike effects (PSEs; i.e., SL). Conversely, 231 of 456 pairs showed significant cross-correlations between the IN firing rate and rectified EMG (i.e., FL). Importantly, a greater proportion of the neuron–muscle pairs with SL showed FL (43/63 pairs, 68%) compared with the pairs without SL (203/393, 52%), and the presence of SL was significantly associated with that of FL. However, a significant number of pairs had SL without FL (SL∩!FL, n = 20) or FL without SL (!SL∩FL, n = 203), and the proportions of these incongruities exceeded the number expected by chance. These results suggested that spinal PreM-INs function to significantly modulate hand-muscle activity during precision grip, but the contribution of other neural structures is also needed to recruit an adequate combination of hand-muscle motoneurons.

Control of reaching movements by muscle synergy combinations

Controlling the movement of the arm to achieve a goal, such as reaching for an object, is challenging because it requires coordinating many muscles acting on many joints. The central nervous system (CNS) might simplify the control of reaching by directly mapping initial states and goals into muscle activations through the combination of muscle synergies, coordinated recruitment of groups of muscles with specific activation profiles. Here we review recent results from the analysis of reaching muscle patterns supporting such a control strategy. Muscle patterns for point-to-point movements can be reconstructed by the combination of a small number of time-varying muscle synergies, modulated in amplitude and timing according to movement directions and speeds. Moreover, the modulation and superposition of the synergies identified from point-to-point movements captures the muscle patterns underlying multi-phasic movements, such as reaching through a via-point or to a target whose location changes after movement initiation. Thus, the sequencing of time-varying muscle synergies might implement an intermittent controller which would allow the construction of complex movements from simple building blocks.

Quantitative evaluation of muscle synergy models: a single-trial task decoding approach

Muscle synergies, i.e., invariant coordinated activations of groups of muscles, have been proposed as building blocks that the central nervous system (CNS) uses to construct the patterns of muscle activity utilized for executing movements. Several efficient dimensionality reduction algorithms that extract putative synergies from electromyographic (EMG) signals have been developed. Typically, the quality of synergy decompositions is assessed by computing the Variance Accounted For (VAF). Yet, little is known about the extent to which the combination of those synergies encodes task-discriminating variations of muscle activity in individual trials. To address this question, here we conceive and develop a novel computational framework to evaluate muscle synergy decompositions in task space. Unlike previous methods considering the total variance of muscle patterns (VAF based metrics), our approach focuses on variance discriminating execution of different tasks. The procedure is based on single-trial task decoding from muscle synergy activation features. The task decoding based metric evaluates quantitatively the mapping between synergy recruitment and task identification and automatically determines the minimal number of synergies that captures all the task-discriminating variability in the synergy activations. In this paper, we first validate the method on plausibly simulated EMG datasets. We then show that it can be applied to different types of muscle synergy decomposition and illustrate its applicability to real data by using it for the analysis of EMG recordings during an arm pointing task. We find that time-varying and synchronous synergies with similar number of parameters are equally efficient in task decoding, suggesting that in this experimental paradigm they are equally valid representations of muscle synergies. Overall, these findings stress the effectiveness of the decoding metric in systematically assessing muscle synergy decompositions in task space.

Towards a circuit mechanism for movement tuning in motor cortex

The firing rates of neurons in primate motor cortex have been related to multiple parameters of voluntary movement. This finding has been corroborated by stimulation-based studies that have mapped complex movements in rodent and primate motor cortex. However, it has been difficult to link the movement tuning of a neuron with its role within the cortical microcircuit. In sensory cortex, neuronal tuning is largely established by afferents delivering information from tuned receptors in the periphery. Motor cortex, which lacks the granular input layer, may be better understood by analyzing its efferent projections. As a primary source of cortical output, layer 5 neurons represent an ideal starting point for this line of experimentation. It is in these deep output layers that movements can most effectively be evoked by intracortical microstimulation and recordings can obtain the most useful signals for the control of motor prostheses. Studies focused on layer 5 output neurons have revealed that projection identity is a fundamental property related to the laminar position, receptive field and ion channel complement of these cells. Given the variety of brain areas targeted by layer 5 output neurons, knowledge of a neuron's downstream connectivity may provide insight into its movement tuning. Future experiments that relate motor behavior to the activity of neurons with a known projection identity will yield a more detailed understanding of the function of cortical microcircuits.

Extraction of muscle synergies using temporal segmentation of the record: a preliminary analysis

Muscle synergies are considered as a potential strategy to reduce the computational workload undergoing the estimation of muscle activity during different motor tasks. They are usually extracted by means of algebraic factorization algorithms able to capture the greatest communality of a set of electromyographic (EMG) signals. Usually EMG signals are pooled across different sub-movements (e.g., going forward and backward during reaching) in order to increase the complexity of the data set and, consequently, capture the maximum communality. Despite of these, this preliminary study was designed to investigate how the communality of EMG signals can be explained looking at narrow subset of recorded signals. Results corroborate the hypothesis that using a suitable subset of the whole dataset can significantly modify the values of weight coefficients. In this regard, further methodological investigations of algorithms adopted for synergy extraction are still required.

Calcium imaging in the zebrafish

The zebrafish (Danio rerio) has emerged as a new model system during the last three decades. The fact that the zebrafish larva is transparent enables sophisticated in vivo imaging. While being the vertebrate, the reduced complexity of its nervous system and small size make it possible to follow large-scale activity in the whole brain. Its genome is sequenced and many genetic and molecular tools have been developed that simplify the study of gene function. Since the mid 1990s, the embryonic development and neuronal function of the larval, and later, adult zebrafish have been studied using calcium imaging methods. The choice of calcium indicator depends on the desired number of cells to study and cell accessibility. Dextran indicators have been used to label cells in the developing embryo from dye injection into the one-cell stage. Dextrans have also been useful for retrograde labeling of spinal cord neurons and cells in the olfactory system. Acetoxymethyl (AM) esters permit labeling of larger areas of tissue such as the tectum, a region responsible for visual processing. Genetically encoded calcium indicators have been expressed in various tissues by the use of cell-specific promoters. These studies have contributed greatly to our understanding of basic biological principles during development and adulthood, and of the function of disease-related genes in a vertebrate system.

Motoneuronal and muscle synergies involved in cat hindlimb control during fictive and real locomotion: a comparison study

We compared the activity profiles and synergies of spinal motoneurons recorded during fictive locomotion evoked in immobilized decerebrate cat preparations by midbrain stimulation to the activity profiles and synergies of the corresponding hindlimb muscles obtained during forward level walking in cats. The fictive locomotion data were collected in the Spinal Cord Research Centre, University of Manitoba, and provided by Dr. David McCrea; the real locomotion data were obtained in the laboratories of M. A. Lemay and B. I. Prilutsky. Scatterplot representation and minimum spanning tree clustering algorithm were used to identify the possible motoneuronal and muscle synergies operating during both fictive and real locomotion. We found a close similarity between the activity profiles and synergies of motoneurons innervating one-joint muscles during fictive locomotion and the profiles and synergies of the corresponding muscles during real locomotion. However, the activity patterns of proximal nerves controlling two-joint muscles, such as posterior biceps and semitendinosus (PBSt) and rectus femoris (RF), were not uniform in fictive locomotion preparations and differed from the activity profiles of the corresponding two-joint muscles recorded during forward level walking. Moreover, the activity profiles of these nerves and the corresponding muscles were unique and could not be included in the synergies identified in fictive and real locomotion. We suggest that afferent feedback is involved in the regulation of locomotion via motoneuronal synergies controlled by the spinal central pattern generator (CPG) but may also directly affect the activity of motoneuronal pools serving two-joint muscles (e.g., PBSt and RF). These findings provide important insights into the organization of the spinal CPG in mammals, the motoneuronal and muscle synergies engaged during locomotion, and their afferent control.

Loss of motor function in preclinical Alzheimer's disease

Accumulating evidence suggests that Alzheimer's disease (AD) has a long preclinical phase, during which time its characteristic pathology accumulates and patient function declines, but symptoms are insufficient to warrant a clinical diagnosis of dementia. There have been increasing reports of noncognitive symptoms, including loss of motor function, reported to be associated with incident AD. To understand the link between motor function and preclinical AD, this article examines: our understanding of motor function and its clinical assessment in cohort studies; the relationship of motor function and loss of cognition in older persons; risk factors for cognitive and motor decline; and the relation of post-mortem indices of AD and motor function prior to death. Together, these data suggest that age-related cognitive and motor decline may share a common causation. Furthermore, individuals with a clinical diagnosis of AD may represent the 'tip of the iceberg', since AD pathology may also account for a substantial proportion of cognitive and motor dysfunction currently considered 'normal aging' in older persons without dementia. Thus, AD may have a much larger impact on the health and wellbeing of our aging population.

Impulses of activation but not motor modules are preserved in the locomotion of subacute stroke patients

It has been hypothesized that the coordinated activation of muscles is controlled by the central nervous system by means of a small alphabet of control signals (also referred to as activation signals) and motor modules (synergies). We analyzed the locomotion of 10 patients recently affected by stroke (maximum of 20 wk) and compared it with that of healthy controls. The aim was to assess whether the walking of subacute stroke patients is based on the same motor modules and/or activation signals as healthy subjects. The activity of muscles of the lower and upper limb and the trunk was measured and used for extracting motor modules. Four modules were sufficient to explain the majority of variance in muscle activation in both controls and patients. Modules from the affected side of stroke patients were different from those of healthy controls and from the unaffected side of stroke patients. However, the activation signals were similar between groups and between the affected and unaffected side of stroke patients, and were characterized by impulses at specific time instants within the gait cycle, underlying an impulsive controller of gait. In conclusion, motor modules observed in healthy subjects during locomotion are different from those used by subacute stroke patients, despite similar impulsive activation signals. We suggest that this pattern is consistent with a neuronal network in which the timing of activity generated by central pattern generators is directed to the motoneurons via a premotor network that distributes the activity in a task-dependent manner determined by sensory and descending control information.

Synergy matrices to estimate fluid wrist movements by surface electromyography

Although many efforts have been undertaken to develop an interface using surface electromyography (sEMG) to connect the gap between a human and a wrist prosthesis, most of these efforts have offered only static positioning (ON/OFF) of the prosthesis. This study introduced synergy matrices to extract fluid wrist movement intents by sEMG to allow individuals with wrist amputations to use wrist prostheses. A non-negative muscle synergy matrix was used to map muscle activities in the forearm into four predefined wrist movement intents (flexion/extension and radial/ulnar deviation). The directions of the predefined intents were constrained to two perpendicular axes, so each movement spanned only a one-dimensional space. A joint synergy matrix was used to span the whole two-dimensional space by combining the four wrist movement intents. Ten healthy subjects volunteered for a validation experiment, which was built as a virtual environment in which people with wrist amputation could receive myoelectric control training. The results showed that proportional two-degree-of-freedom (DOF) movements could be estimated by sEMG. This work could be useful not only for wrist prostheses but also for alternative computer interfaces and studies to examine motor adaptation by sEMG.

Spinal interneurons facilitate coactivation of hand muscles during a precision grip task in monkeys

Grasping is a highly complex movement requiring coordination of a number of hand joints and muscles. In contrast to cortical descending systems, the contribution of the subcortical system for coordinating this higher degree of freedom is largely unknown. Here we explore how spinal interneurons (INs) contribute to the coordination of hand muscles by recording their activity from the cervical spinal cord (C5-T1) simultaneously with electromyographic (EMG) activity from hand and arm muscles in three monkeys performing a precision grip task. Spike-triggered averages of the rectified EMGs were compiled for 255 neurons (4821 neuron-muscle pairs). Twenty-six neurons produced 68 significant postspike effects in hand and arm muscles and were identified as premotor interneurons (PreM-INs), which presumably have relatively direct synaptic effects on spinal motoneurons. The majority of the PreM-INs (22/26 neurons) produced postspike effects in finger muscles (intrinsic and extrinsic hand muscles) compared with wrist (9/26 neurons) and elbow muscles (1/26 neurons). The effects in finger muscles were mostly facilitative [postspike facilitations (PSFs), 19/22 neurons], and few had suppressive effects (postspike suppressions, 3/22 neurons). Moreover, PreM-INs produced more divergent PSFs in intrinsic hand muscles (2.5 ± 1.9 muscles/neuron) than in wrist muscles (1.2 ± 0.4 muscles/neurons). We conclude that spinal PreM-INs produce divergent facilitations preferentially in intrinsic hand muscles. These results suggest that spinal interneurons contribute to the control of hand grasping in primates by combining and coordinating multiple finger muscles.

Specificity of intramuscular activation during rhythms produced by spinal patterning systems in the in vitro neonatal rat with hindlimb attached preparation

In intact adult vertebrates, muscles can be activated with a high degree of specificity, so that even within a single traditionally defined muscle, groups of motor units can be differentially activated. Such differential activation might reflect detailed control by descending systems, potentially resulting from postnatal experience such that activation of motor units is precisely tailored to their mechanical actions. Here we examine the degree to which such specific activation can be seen in the rhythmic patterns produced by isolated spinal motor systems in neonates. We examined motor output produced by the in vitro neonatal rat spinal cord with hindlimb attached. We recorded the activity of different regions within the posterior portion of biceps femoris (BFp; i.e., excluding the anterior/vertebral head). We found that in the rhythms evoked by bath application of serotonin/N-methyl-d-aspartate (5-HT/NMDA), all regions of BFp were active during extension. However, the regions of BFp were activated in a specific sequence, with the activation of rostral regions consistently preceding those of more caudal regions in both afferented and deafferented preparations. In the rhythms evoked by cauda equina (CE) stimulation, rostral and middle regions of BFp remained active in extension, but the caudal region of BFp was usually active in flexion. Stimulation of L5 and S2 dorsal roots typically evoked rhythms with all regions of BFp active during extension; although the same rostral to caudal sequence of activation observed in 5-HT/NMDA evoked rhythms could also be observed in these rhythms, we also observed cases with reversed sequences, with activity proceeding from caudal to rostral. S2 dorsal root stimulation occasionally evoked rhythms with flexor activity in caudal BFp, similar to CE-evoked rhythms. Taken together, these results suggest a high degree of individuated control of muscles by spinal pattern generating networks, even at birth.

Identifying representative synergy matrices for describing muscular activation patterns during multidirectional reaching in the horizontal plane

Muscle synergies have been proposed as a simplifying principle of generation of movements based on a low-dimensional control by the CNS. This principle may be useful for movement restoration by, e.g., functional electrical stimulation (FES), if a limited set of synergies can describe several functional tasks. This study investigates the possibility of describing a multijoint reaching task of the upper limb by a linear combination of one set of muscle synergies common to multiple directions. Surface electromyographic (EMG) signals were recorded from 12 muscles of the dominant upper limb of eight healthy men during single-joint movements and a multijoint reaching task in 12 directions in the horizontal plane. The movement kinematics was recorded by a motion analysis system. Muscle synergies were extracted with nonnegative matrix factorization of the EMG envelopes. Synergies were computed either from the single-joint movements to describe the two degrees of freedom independently or from the multijoint movements. On average, the multijoint reaching task could be accurately described in all the directions (coefficient of determination >0.85) by a linear combination of either four synergies extracted from the individual degrees of freedom or three synergies extracted from multijoint movements in at least three reaching directions. These results indicate that a large set of multijoint movements can be generated by a synergy matrix of limited dimensionality and common to all directions if the synergies are extracted from a representative number of directions. The linear combination of synergies may thus be used in strategies for restoring functions, such as FES.

Preliminary trial of symmetry-based resistance in individuals with post-stroke hemiparesis

We tested a novel control strategy for robotic rehabilitation devices used by individuals with post-stroke hemiparesis. Symmetry-based resistance increases resistance when limb forces become more asymmetric during bilateral exercise. The underlying rationales for the control mode are that it will guide patients to increase paretic limb activation while teaching them to accurately gauge paretic limb force production relative to the non-paretic limb. During a one day training session, seven subjects post-stroke performed lower limb extensions in symmetry-based resistance mode on a robotic exercise machine. Subjects improved lower limb symmetry from 28.6%+/-3.9% to 36.2%+/-4.3% while under symmetry-based resistance training (ANOVA, P = 0.03), but did not maintain the improved lower limb symmetry during a constant resistance post-test. Two subjects that showed the large improvements in symmetry during the one day session performed additional days of training. Those results suggest that some patients demonstrate long lasting benefits with symmetry-based resistance training.

Motor outputs in a multitasking network: relative contributions of inputs and experience-dependent network states

Network outputs elicited by a specific stimulus may differ radically depending on the momentary network state. One class of networks states-experience-dependent states-is known to operate in numerous networks, yet the fundamental question concerning the relative role that inputs and states play in determining the network outputs remains to be investigated in a behaviorally relevant manner. Because previous work indicated that in the isolated nervous system the motor outputs of the Aplysia feeding network are affected by experience-dependent states, we sought to establish the behavioral relevance of these outputs. We analyzed the phasing of firing of radula opening motoneurons (B44 and B48) relative to other previously characterized motoneurons. We found that the overall pattern of motoneuronal firing corresponds to the phasing of movements during feeding behavior, thus indicating a behavioral relevance of network outputs. Previous studies suggested that network inputs act to trigger a response rather than to shape its characteristics, with the latter function being fulfilled by network states. We show this is an oversimplification. In a rested state, different inputs elicited distinct responses, indicating that inputs not only trigger but also shape the responses. However, depending on the combination of inputs and states, responses were either dramatically altered by the network state or were indistinguishable from those observed in the rested state. We suggest that the relative contributions of inputs and states are dynamically regulated and, rather than being fixed, depend on the specifics of states and inputs.

The case for and against muscle synergies

A long standing goal in motor control is to determine the fundamental output controlled by the CNS: does the CNS control the activation of individual motor units, individual muscles, groups of muscles, kinematic or dynamic features of movement, or does it simply care about accomplishing a task? Of course, the output controlled by the CNS might not be exclusive but instead multiple outputs might be controlled in parallel or hierarchically. In this review we examine one particular hypothesized level of control: that the CNS produces movement through the flexible combination of groups of muscles, or muscle synergies. Several recent studies have examined this hypothesis, providing evidence both in support and in opposition to it. We discuss these results and the current state of the muscle synergy hypothesis.

Hindlimb endpoint forces predict movement direction evoked by intraspinal microstimulation in cats

We measured the forces produced at the cat's hindpaw by microstimulation of the lumbar spinal cord and the movements resulting from those forces. We also measured the forces and movements produced by co- and sequential activation of two intraspinal sites. Isometric force responses were measured at nine limb configurations with the paw attached to a force transducer. The active forces elicited at different limb configurations were summarized as patterns representing the sagittal plane component of the forces produced at the paw throughout the workspace. The force patterns divided into the same distinct types found with the femur fixed. The responses during simultaneous activation of two spinal sites always resembled the response for activation of one of the two sites, i.e., winner-take-all, and we did not observe vectorial summation of the forces produced by activation of each site individually as reported in chronic spinal animals. The movements produced by activation of each of the sites were consistent with the force orientations, and different movements could be created by varying the sequence of activation of individual sites. Our results highlight the absence of a vectorial summation phenomenon during intraspinal microstimulation in decerebrate animals, and the preservation during movement of the orientation of isometric forces.

Muscle synergies as a predictive framework for the EMG patterns of new hand postures

Synchronous muscle synergies have been suggested as a framework for dimensionality reduction in muscle coordination. Many studies have shown that synergies form a descriptive framework for a wide variety of tasks. We examined if a muscle synergy framework could accurately predict the EMG patterns associated with untrained static hand postures, in essence, if they formed a predictive framework. Hand and forearm muscle activities were recorded while subjects statically mimed 33 postures of the American Sign Language alphabet. Synergies were extracted from a subset of training postures using non-negative matrix factorization and used to predict the EMG patterns of the remaining postures. Across the subject population, as few as 11 postures could form an eight-dimensional synergy framework that allowed for at least 90% prediction of the EMG patterns of all 33 postures, including trial-to-trial variations. Synergies were quite robust despite using different postures in the training set, and also despite using a varied number of postures. Estimated synergies were categorized into those which were subject-specific and those which were general to the population. Population synergies were sparser than the subject-specific synergies, typically being dominated by a single muscle. Subject-specific synergies were more balanced in the coactivation of multiple muscles. We suggest as a result that global muscle coordination may be a combination of higher order control of robust subject-specific muscle synergies and lower order control of individuated muscles, and that this control paradigm may be useful in the control of EMG-based technologies, such as artificial limbs and functional electrical stimulation systems.

Modularity of endpoint force patterns evoked using intraspinal microstimulation in treadmill trained and/or neurotrophin-treated chronic spinal cats

Chronic spinal cats with neurotrophin-secreting fibroblasts (NTF) transplants recover locomotor function. To ascertain possible mechanisms, intraspinal microstimulation was used to examine the lumbar spinal cord motor output of four groups of chronic spinal cats: untrained cats with unmodified-fibroblasts graft (Op-control) or NTF graft and locomotor-trained cats with unmodified-fibroblasts graft (Trained) or NTF graft (Combination). Forces generated via intraspinal microstimulation at different hindlimb positions were recorded and interpolated, generating representations of force patterns at the paw. Electromyographs (EMGs) of hindlimb muscles, medial gastrocnemius, tibialis anterior, vastus lateralis, and biceps femoris posterior, were also collected to examine relationships between activated muscles and force pattern types. The same four force pattern types obtained in spinal-intact cats were found in chronic spinal cats. Proportions of force patterns in spinal cats differed significantly from those in intact cats, but no significant differences in proportions were observed among individual spinal groups (Op-control, NTF, Trained, and Combination). However, the proportions of force patterns differed significantly between trained (Trained and Combination) and untrained groups (Op-control and NTF). Thus the frequency of expression of some response types was modified by injury and to a lesser extent by training. Force pattern laminar distribution differed in spinal cats compared with intact, with more responses obtained dorsally (0-1,000 microm) and fewer ventrally (3,200-5,200 microm). EMG analysis demonstrated that muscle activity highly predicted some force pattern types and was independent of hindlimb position. We conclude that spinal motor output modularity is preserved after injury.

Multifunctional pattern-generating circuits

The ability of distinct anatomical circuits to generate multiple behavioral patterns is widespread among vertebrate and invertebrate species. These multifunctional neuronal circuits are the result of multistable neural dynamics and modular organization. The evidence suggests multifunctional circuits can be classified by distinct architectures, yet the activity patterns of individual neurons involved in more than one behavior can vary dramatically. Several mechanisms, including sensory input, the parallel activity of projection neurons, neuromodulation, and biomechanics, are responsible for the switching between patterns. Recent advances in both analytical and experimental tools have aided the study of these complex circuits.