Timing of transcranial direct current stimulation at M1 does not affect motor sequence learning

Administering anodal transcranial direct current stimulation (tDCS) at the primary motor cortex (M1) at various temporal loci relative to motor training is reported to affect subsequent performance gains. Stimulation administered in conjunction with motor training appears to offer the most robust benefit that emerges during offline epochs. This conclusion is made, however, based on between-experiment comparisons that involved varied methodologies. The present experiment addressed this shortcoming by administering the same 15-minute dose of anodal tDCS at M1 before, during, or after practice of a serial reaction time task (SRTT). It was anticipated that exogenous stimulation during practice with a novel SRTT would facilitate offline gains. Ninety participants were randomly assigned to one of four groups: tDCS before practice, tDCS during practice, tDCS after practice, or no tDCS. Each participant was exposed to 15 min of 2 mA of tDCS and motor training of an eight-element SRTT. The anode was placed at the right M1 with the cathode at the left M1, and the left hand was used to execute the SRTT. Test blocks were administered 1 and 24 h after practice concluded. The results revealed significant offline gain for all conditions at the 1-hour and 24-hour test blocks. Importantly, exposure to anodal tDCS at M1 at any point before, during, or after motor training failed to change the trajectory of skill development as compared to the no-stimulation control condition. These data add to the growing body of evidence questioning the efficacy of a single bout of exogenous stimulation as an adjunct to motor training for fostering skill learning.

Spontaneity competes with intention to influence the coordination dynamics of interpersonal performance tendencies

Research has shown that spontaneous visual coupling supports frequency entrainment, phase attraction, and intermittent interpersonal coordination when co-actors are switched from a no-vision (NV) to vision (V) context. In two experiments, co-actors started in a NV context while producing the same or different amplitude movements. The same amplitude resulted in similar self-paced frequencies, while different amplitudes resulted in disparate frequencies. In experiment 1, co-actors were instructed to maintain amplitude while receiving no instructions to coordinate their actions. Frequency and phase entrainment was limited in the V context even when co-actors started the NV context with the same amplitude. In experiment 2, co-actors were instructed to maintain amplitude and intentionally coordinate together, but not at a specific pattern. Significant frequency modulations occurred to maintain amplitude as the co-actors sought to coordinate their actions. With the open-ended instructions, co-actors produced in-phase and anti-phase coordination along with intermittent performance exhibited by shifts between a variety of stable relative phase patterns. The proposed hypotheses and findings are discussed within the context of a shared manifold representation for joint action contexts, with the coordination dynamics expressed by the HKB model of relative phase serving to conceptualization the representations in the shared manifold.

Memory consolidation of sequence learning and dynamic adaptation during wakefulness

Motor learning involves acquiring new movement sequences and adapting motor commands to novel conditions. Labile motor memories, acquired through sequence learning and dynamic adaptation, undergo a consolidation process during wakefulness after initial training. This process stabilizes the new memories, leading to long-term memory formation. However, it remains unclear if the consolidation processes underlying sequence learning and dynamic adaptation are independent and if distinct neural regions underpin memory consolidation associated with sequence learning and dynamic adaptation. Here, we first demonstrated that the initially labile memories formed during sequence learning and dynamic adaptation were stabilized against interference through time-dependent consolidation processes occurring during wakefulness. Furthermore, we found that sequence learning memory was not disrupted when immediately followed by dynamic adaptation and vice versa, indicating distinct mechanisms for sequence learning and dynamic adaptation consolidation. Finally, by applying patterned transcranial magnetic stimulation to selectively disrupt the activity in the primary motor (M1) or sensory (S1) cortices immediately after sequence learning or dynamic adaptation, we found that sequence learning consolidation depended on M1 but not S1, while dynamic adaptation consolidation relied on S1 but not M1. For the first time in a single experimental framework, this study revealed distinct neural underpinnings for sequence learning and dynamic adaptation consolidation during wakefulness, with significant implications for motor skill enhancement and rehabilitation.

Effects of transcranial direct current stimulation over human motor cortex on cognitive-motor and sensory-motor functions

The primary motor cortex (M1) is broadly acknowledged for its crucial role in executing voluntary movements. Yet, its contributions to cognitive and sensory functions remain largely unexplored. Transcranial direct current stimulation (tDCS) is a noninvasive neurostimulation method that can modify brain activity, thereby enabling the establishment of a causal link between M1 activity and behavior. This study aimed to investigate the online effects of tDCS over M1 on cognitive-motor and sensory-motor functions. Sixty-four healthy participants underwent either anodal or sham tDCS while concurrently performing a set of standardized robotic tasks. These tasks provided sensitive and objective assessments of brain functions, including action selection, inhibitory control, cognitive control of visuomotor skills, proprioceptive sense, and bimanual coordination. Our results revealed that anodal tDCS applied to M1 enhances decision-making capacity in selecting appropriate motor actions and avoiding distractors compared to sham stimulation, suggesting improved action selection and inhibitory control capabilities. Furthermore, anodal tDCS reduces the movement time required to accomplish bimanual movements, suggesting enhanced bimanual performance. However, we found no impact of anodal tDCS on cognitive control of visuomotor skills and proprioceptive sense. This study suggests that augmenting M1 activity via anodal tDCS influences cognitive-motor and sensory-motor functions in a task-dependent manner.

The Interactions Between Primary Somatosensory and Motor Cortex during Human Grasping Behaviors

Afferent inputs to the primary somatosensory cortex (S1) are differentially processed during precision and power grip in humans. However, it remains unclear how S1 interacts with the primary motor cortex (M1) during these two grasping behaviors. To address this question, we measured short-latency afferent inhibition (SAI), reflecting S1-M1 interactions via thalamo-cortical pathways, using paired-pulse transcranial magnetic stimulation (TMS) during precision and power grip. The TMS coil over the hand representation of M1 was oriented in the posterior-anterior (PA) and anterior-posterior (AP) direction to activate distinct sets of corticospinal neurons. We found that SAI increased during precision compared with power grip when AP, but not PA, currents were applied. Notably, SAI tested in the AP direction were similar during two-digit than five-digit precision grip. The M1 receives movement information from S1 through direct cortico-cortical pathways, so intra-hemispheric S1-M1 interactions using dual-site TMS were also evaluated. Stimulation of S1 attenuated M1 excitability (S1-M1 inhibition) during precision and power grip, while the S1-M1 inhibition ratio remained similar across tasks. Taken together,our findings suggest that distinct neural mechanisms for S1-M1 interactions mediate precision and power grip, presumably by modulating neural activity along thalamo-cortical pathways.

Improving online and offline gain from repetitive practice using anodal tDCS at dorsal premotor cortex

Administering anodal transcranial direct current stimulation at the left dorsal premotor cortex (PMd) but not right PMd throughout the repetitive practice of three novel motor sequences resulted in improved offline performance usually only observed after interleaved practice. This gain only emerged following overnight sleep. These data are consistent with the proposed proprietary role of left PMd for motor sequence learning and the more recent claim that PMd is central to sleep-related consolidation of novel skill memory.

Off-line learning in a rhythmic bimanual task: early feedback dependency is reduced over wakefulness

Research has supported two distinct forms of motor skill consolidation that can occur between practice sessions: (1) off-line learning, and (2) memory stabilization. Off-line learning describes performance improvement between practice sessions that is above the gain observed at the end of practice, while memory stabilization describes a gain in performance that is maintained between practice sessions. This study used a Lissajous plot to provide concurrent feedback to train participants to produce a 90° relative phase between the index fingers (flexion/extension motion). Significant improvements in performance emerged after ten trials (5 min) of practice. At the end of training, participants were divided into two delay interval groups before retesting, 2-h and 6-h. The retesting session started with participants performing an interference task (10 trials, 5 min) that required training on a 45° relative phase between the fingers with concurrent feedback from the Lissajous plot. When training with the interference task was completed participants were retested with the 90° relative phase without the Lissajous plot feedback. In the retest of the 90° pattern, a performance loss was found in the 2-h delay group, whereas the 6-h delay group maintained the end of practice performance level. Maintenance of the same level of performance without the Lissajous plot represents memory stabilization of the initially trained 90° pattern. The findings are discussed within the context of current positions regarding procedural consolidation and the coordination dynamics framework wherein action and perception are linked through the informational nature of relative phase.

Expert monitoring and verbal feedback as sources of performance pressure

The influence of monitoring-pressure and verbal feedback on the performance of the intrinsically stable bimanual coordination patterns of in-phase and anti-phase was examined. The two bimanual patterns were produced under three conditions: 1) no-monitoring, 2) monitoring-pressure (viewed by experts), and 3) monitoring-pressure (viewed by experts) combined with verbal feedback emphasizing poor performance. The bimanual patterns were produced at self-paced movement frequencies. Anti-phase coordination was always less stable than in-phase coordination across all three conditions. When performed under conditions 2 and 3, both bimanual patterns were performed with less variability in relative phase across a wide range of self-paced movement frequencies compared to the no-monitoring condition. Thus, monitoring-pressure resulted in performance stabilization rather than degradation and the presence of verbal feedback had no impact on the influence of monitoring pressure. The current findings are inconsistent with the predictions of explicit monitoring theory; however, the findings are consistent with studies that have revealed increased stability for the system's intrinsic dynamics as a result of attentional focus and intentional control. The results are discussed within the contexts of the dynamic pattern theory of coordination, explicit monitoring theory, and action-focused theories as explanations for choking under pressure.

The Interaction of Tactile Information and Movement Amplitude in a Multijoint Bimanual Circle-Tracing Task: Phase Transitions and Loss of Stability

Adaptive behaviour in bimanual coordination was examined with the use of a bimanual circle-tracing task. Circle diameter and tactile information were manipulated to form four tracing conditions: tracing a pair of 3-cm diameter circles with the tips of the index fingers (3F) or hand-held styli (3S) and tracing a pair of 10-cm diameter circles with the tips of the index fingers (10F) or hand-held styli (10S). Movement frequency was increased in all conditions. In the 3F, 3S, and 10S tracing conditions, an abrupt transition from asymmetric to symmetric coordination was the main adaptive response, while in the 10F tracing condition, phase wandering was the main adaptive response. Enhancement of fluctuations in relative phase, a signature of loss of stability, occurred before the transition from asymmetric to symmetric coordination. Movement frequency and movement amplitude interact as control parameters in this task. The results are discussed with reference to tactile surface contact and joint motion as sources of sensory information that can be used to stabilize bimanual coordination patterns. The presence or absence of tactile information is directly linked to the specific form of adaptive behaviour (phase transition or phase wandering) that emerges as a function of required movement amplitude and required pacing frequency.

Motor Skill Learning and the Development of Visual Perception Processes Supporting Action Identification

This study examined physical training and observational training influences on motor learning and the development of visual discrimination processes. Participants were trained on a bimanual task (relative phase of +90°) defined by a visual training stimulus. There were 2 observational contexts: 1) model-only, watch a learning model, and 2) stimulus-only, watch the visual training stimulus. After 2 d of training, the learning models performed the +90° pattern with reduced error in 2 retention tests. Each observer group showed improvement in performance of the +90° pattern, with the stimulus-only group characterized by a more significant improvement. The learning models and observer groups were characterized by an improvement in visually discriminating 2 features of the trained pattern, relative phase and hand-lead. Overall, physical practice (learning models) established a stronger link between the action and visual discrimination processes compared with the observational contexts. The results show that the processes supporting action production and the visual discrimination of actions are modified in ways specific to the trained action following both physical and observational training.

Consistently modeling the same movement strategy is more important than model skill level in observational learning contexts

The experiment undertaken was designed to elucidate the impact of model skill level on observational learning processes. The task was bimanual circle tracing with a 90° relative phase lead of one hand over the other hand. Observer groups watched videos of either an instruction model, a discovery model, or a skilled model. The instruction and skilled model always performed the task with the same movement strategy, the right-arm traced clockwise and the left-arm counterclockwise around circle templates with the right-arm leading. The discovery model used several movement strategies (tracing-direction/hand-lead) during practice. Observation of the instruction and skilled model provided a significant benefit compared to the discovery model when performing the 90° relative phase pattern in a post-observation test. The observers of the discovery model had significant room for improvement and benefited from post-observation practice of the 90° pattern. The benefit of a model is found in the consistency with which that model uses the same movement strategy, and not within the skill level of the model. It is the consistency in strategy modeled that allows observers to develop an abstract perceptual representation of the task that can be implemented into a coordinated action. Theoretically, the results show that movement strategy information (relative motion direction, hand lead) and relative phase information can be detected through visual perception processes and be successfully mapped to outgoing motor commands within an observational learning context.

Accuracy, stability, and corrective behavior in a visuomotor tracking task: a preliminary study

Visuomotor tracking tasks have been used to elucidate the underlying mechanisms that allow for the coordination of a movement to an environmental event. The main purpose of the present study was to examine the relationship between accuracy and stability of tracking performance and the amount of corrective movements that emerge for various coordination patterns in a unimanual visuomotor tracking task. Participants (N = 6) produced rhythmic elbow flexion–extension motions and were required to track an external sinusoidal signal at five different relative phases, 0°, 45°, 90°, 135°, and 180°. Differential accuracy and stability were found among the five tracking patterns with the 0° relative phase pattern being the most accurate and stable pattern. Corrective movements were correlated with changes in accuracy only for the 0° relative phase pattern, with more corrections emerging for less accurate performance. The amount of corrective movements decreased as the stability of tracking performance increased for the 0°, 45°, and 135° patterns. For the 90° and 180° tracking patterns, the amount of corrective movements was not correlated with pattern accuracy or pattern stability. The results demonstrate that corrective behaviors are an important motor process in maintaining the stability of stable perception-action coordination patterns, while offering little benefit for unstable perception-action patterns.

Overcoming the guidance effect in motor skill learning: feedback all the time can be beneficial

Extensive research has shown that augmented feedback presented too often can create a dependency on the feedback and hinder long-term memory formation of a motor skill. This dependency has been labeled the guidance effect, and one way to overcome the guidance effect is to reduce how often augmented feedback is presented during training. In two experiments, participants were presented with visual augmented feedback during every trial in a 5-min training interval. Participants were provided visual augmented feedback in the form of a Lissajous template of a 1:2 multi-frequency pattern and a cursor representing the coordination between the limbs. Some participants were trained with the cursor superimposed (behind group) on the Lissajous template, and others were trained with the cursor presented in a separate window (side group) from the Lissajous template. In experiment 1, motion of the end-effectors was constrained to the medial-lateral direction in the horizontal plane. In experiment 2, end-effector motion was possible in both the medial-lateral and anterior-posterior directions in the horizontal plane. The location of the cursor did not influence performance during the 5-min training interval in either experiment. After a 15-min break, a retention test performed without the visual feedback provided by the cursor revealed that the behind groups' performance was guided by the visual feedback in both experiments, whereas the side groups were able to perform without visual feedback. In experiment two, the side group's performance without feedback was influenced when anterior-posterior motion was not constrained; however, the extent of the guidance effect was significantly less compared to the behind trained group in both experiments. The results show that the emergence of guided motor performance depends on the format of the display that provides visually based augmented feedback, and not just on how often the feedback is provided. In conclusion, visually based augmented feedback leads to the simultaneous development of a spatial and motor representation of the task. The behind format led to a dependence on the spatial representation developed during training, while the side format facilitated the development of the motor representation as a means to overcome guidance.

Experimental observations on the human arm motion planning under an elbow joint constraint

This paper seeks to define the governing strategies by which the human central nervous system (CNS) finds optimal solutions for an arm reaching motion, when an elbow joint is constrained. The compensated arm reaching motion under the joint kinematic constraint is observed by human experiments. We present an experimental protocol, where subjects perform point-to-point reaching tasks with a lightweight elbow brace to restrict the elbow kinematics with minimal effect on the arm dynamics. The human compensatory strategy is analyzed in terms of hand path kinematics (i.e. spatial and temporal characteristics) and the arm postural configuration. The spatial and temporal characteristics of hand path are approximated by the Euclidean geodesic curves and the well known bell-shaped smooth profile, respectively. Furthermore, the contribution of each joint degree-of-freedom (DOF) motion is discussed and its relation to the arm posture selection is elaborated.

Generalization of action knowledge following observational learning

Both observational and physical practices support the acquisition of motor skill knowledge in the form of spatiotemporal coordination patterns. The current experiment examined the extent that observation and physical practice can support the transfer of spatiotemporal knowledge and amplitude knowledge associated with motor skills. Evidence from a multijoint limb task revealed that knowledge about spatiotemporal patterns (relative phase) acquired by observers and models can be generalized exceptionally well within the trained arm (right) and across to the untrained arm (left). Transfer of relative phase occurred even when untrained combinations of joint amplitudes were required. This indicates that observation and physical practice both lead to the development of an effector-independent representation of the spatiotemporal knowledge in this task. Both observers and models showed some transfer of the relative amplitude knowledge, with observers demonstrating superior transfer for both a trained and untrained-arm transfer test, while the models were limited to positive transfer on an untrained-arm transfer test. The representation of movement amplitude knowledge is effector-independent in this task, but the use of that knowledge is constrained by the specific practice context and the linkage between the elbow and wrist.

Perceptual and attentional influences on continuous 2:1 and 3:2 multi-frequency bimanual coordination

Two experiments were conducted to determine if multi-frequency (2:1 and 3:2) coordination between the limbs is enhanced when integrated feedback is provided in the form of Lissajous plots, attention demands are reduced, and attempts to consciously coordinate the limbs are not encouraged. To determine the influence of vision of the limbs, covered and uncovered limb groups were provided online Lissajous feedback. To determine the impact of the Lissajous feedback, a control group that was not provided Lissajous feedback was also tested. The data indicated remarkably effective performances after 5 min of practice when limbs were covered and Lissajous feedback was provided. When Lissajous feedback was provided and vision of the limbs was permitted, performance deteriorated. Performance by the group not provided Lissajous feedback was quite poor. The findings suggest that some of the difficulty associated with producing difficult bimanual coordination patterns are due to the less than optimal perceptual information available in various testing situations and the attentional focus imposed by the participant.

Using scanning trials to assess intrinsic coordination dynamics

Bimanual 1:1 coordination patterns other than in-phase (0 degrees ) and anti-phase (180 degrees ) have proven difficult to perform even with extended practice. The difficulty has been attributed to phase attraction that draws the coordination between the limbs towards the bimanual patterns of in-phase and anti-phase and variability associated with the activation of non-homologous muscles via crossed and uncrossed cortical pathways. We found participants could very effectively produce a large range of supposedly unstable coordination patterns (between 0 degrees and 180 degrees in 30 degrees increments) after only 3 min of practice when integrated feedback (Lissajous plots) was provided and other perceptual and attentional distractions were minimized. These findings clearly indicate that the perception-action system is fully capable of producing a wide range of bimanual coordination patterns and that the reason for the failure to produce these patterns in previous experiments reside in the perceptual information and attentional requirements typically found in experimental testing environments.

Observational practice of relative but not absolute motion features in a single-limb multi-joint coordination task

The learning of relative and absolute motion features as a function of physical (actor group) and observational (observer group) practice was examined in a rhythmic single limb multi-joint coordination task. The task required the participants to learn a 90 degrees relative phase pattern between the elbow and wrist in combination with an absolute elbow joint angle of 80 degrees and a wrist joint angle of 48 degrees . Each actor practiced the required relative and absolute motion features for 2 days while being watched by an observer. Overall, the actor group was characterized by an improvement in performance on the relative phase component and showed a clear differentiation in joint amplitudes. In a 24-h retention test, the observer group more closely matched the performance of the actors on the relative phase component in comparison to a control group that was not exposed to physical or observational practice. However, the observer and control groups did not demonstrate a clear differentiation in required joint amplitudes. In agreement with Scully and Newell (1985), we conclude that relative phase may be classified as a relative motion feature that may be picked through observation and benefit initial physical performance, whereas the joint amplitudes may be classified as absolute motion features that require physical practice to achieve the appropriate scaling.

Perceptual influences on Fitts' law

The linear relationship between movement time (MT) and index of difficulty (ID) for Fitts' type tasks has proven ubiquitous over the last 50+ years. A reciprocal aiming task (IDs 3, 4.5, 6) was used to determine if an enlarged visual display (visual angle 5.1 degrees , 7.4 degrees , or 13.3 degrees) would alter this relationship. With ID = 6, a condition typically associated with discrete action control, the largest visual display (13.3 degrees) allowed the motor system to exploit features of cyclical action control, e.g., shorter dwell times, more harmonic motion, less time decelerating the limb. The large visual display resulted in a quadratic relationship between MT and ID. For the IDs of 3 and 4.5, the visual displays did not alter the underlying control processes. The results are discussed in terms of the preference of the motor system to assemble movements from harmonic basis functions when salient visual information is provided.

Compensatory postural adaptations during continuous, variable amplitude perturbations reveal generalized rather than sequence-specific learning

We examined changes in the motor organization of postural control in response to continuous, variable amplitude oscillations evoked by a translating platform and explored whether these changes reflected implicit sequence learning. The platform underwent random amplitude (maximum +/- 15 cm) and constant frequency (0.5 Hz) oscillations. Each trial was composed of three 15-s segments containing seemingly random oscillations. Unbeknownst to participants, the middle segment was repeated in each of 42 trials on the first day of testing and in an additional seven trials completed approximately 24 h later. Kinematic data were used to determine spatial and temporal components of total body centre of mass (COM) and joint segment coordination. Results showed that with repeated trials, participants reduced their magnitude of COM displacement, shifted from a COM phase lag to a phase lead relative to platform motion and increased correlations between ankle/platform motion and hip/platform motion as they shifted from an ankle strategy to a multi-segment control strategy involving the ankle and hip. Maintenance of these changes across days provided evidence for learning. Similar improvements for the random and repeated segments, indicated that participants did not exploit the sequence of perturbations to improve balance control. Rather, the central nervous system may have been tuning into more general features of platform motion. These findings provide important insight into the generalizabilty of improved compensatory balance control with training.

Learning and transfer of a relative phase pattern and a joint amplitude ratio in a rhythmic multijoint arm movement

According to the coordination dynamics perspective, one can characterize the learning of novel relative phase patterns as the formation of a stable attractor in the coordination landscape of the order parameter relative phase. The authors examined 18 participants' learning and transfer of a 90 degrees relative phase pattern and a 0.6-joint-amplitude ratio between the elbow and wrist. Variability in the relative phasing and the joint amplitude ratio between the elbow and wrist decreased with practice. Positive transfer of the 90 degrees relative phase pattern was not dependent on the learning arm (dominant or nondominant). Positive transfer of the joint amplitude ratio was dependent on the learning arm and the direction of transfer. The results demonstrated that relative phase is an order parameter that characterizes the coordination dynamics of learning and transferring multijoint arm movements, and they provide preliminary evidence that joint amplitude ratios act as order parameters in the learning and transfer of multijoint arm movements.

One-to-one and polyrhythmic temporal coordination in bimanual circle tracing

The authors manipulated movement amplitude in a bimanual circle-tracing task to alter the natural tracing frequency of the arms. Participants (N = 14) traced different-diameter circles simultaneously with the two arms in either in-phase (0 degrees) or antiphase (180 degrees) coordination, using the index fingers or plastic styli. Movement amplitude altered the natural tracing frequency of the arms, as demonstrated by the following 2 findings: (a) The larger the difference in circle diameter, the larger was the shift from the fixed-point values of 0 degrees and 180 degrees, and the shift increased as movement frequency increased. Those results are consistent with the manipulation of delta omega in the bimanual pendulum paradigm. (b) Increasing movement frequency induced transitions from 1:1 to non-1:1 coordination, contrary to findings in previous investigations of polyrhythmic coordination. Tactile feedback played a minimal role in stabilizing bimanual coordination in the current tasks.

Target width scaling in a repetitive aiming task: switching between cyclical and discrete units of action

An aiming task was used to identify the processes whereby the motor system adapted a repetitive aiming action to systematic changes in ID (ID = log(2 )(2A/W), Fitts in J Exp Psychol 47:381-391, 1954) within a single trial. Task ID was scaled in a trial by moving the outside edge of two stationary targets to produce nine different target IDs in a trail. The ID within a trial was scaled in one of two directions: (1) an increasing ID condition, starting with an ID = 3.07 and ending with an ID = 5.91; and (2) a decreasing ID condition, starting with an ID = 5.91 and ending with an ID = 3.07. An index of movement harmonicity (Guiard in Acta Psychol 82:139-159, 1993) revealed that the repetitive aiming action was harmonic in nature when task ID was 3.07, and consisted of a series of discrete segments when task ID was 5.91. This finding provides evidence for the existence of discrete and cyclical units of action that are irreducible and that may be employed independently to assemble longer continuous actions. The scaling of ID within a trial promoted a transition in repetitive aiming motions assembled from discrete and cyclical units of action. A variety of kinematic measures (e.g., movement harmonicity, time spent accelerating the limb) revealed a critical ID (ID(c)) region (4.01-4.91) separating aiming motions governed by the different units of action. Enhancement of fluctuations before the transition were found in the movement harmonicity data and in the distance traveled to peak velocity data, with variability in these measures highest in the ID(c) region. The enhancement of fluctuations indicates that loss of stability in the limb's motion acted as a key mechanism underlying the transition between units of action. The loss of stability was associated with the transition from cyclical to discrete actions and with the transition from discrete to cyclical actions. The transition between units of action may be conceptualized as a transition from a limit cycle attractor (cyclical unit of action) to a shift between two fixed-point attractors (discrete unit of action) when ID was increased, with the transition occurring in the opposite direction when ID was decreased.

Systematic scaling of target width: dynamics, planning, and feedback

The target width of a single target in a two-target reciprocal aiming task was scaled from small (ID = 5.85) to large (ID = 2.85) and large-to-small within individual trials with movement amplitude fixed. Scaling target width produced a transition in the end-effector's dynamics and based on a measure of movement harmonicity, the transition was sensitive to the initial conditions but not to the direction of target width scaling. Hysteresis emerged in a variety of kinematic measures suggesting that the interdependency of planning and feedback control processes was sensitive to initial conditions as well as the direction of target width scaling. Practice increased the efficiency of the reciprocal movements and produced changes in movement time and the measure of harmonic motion that revealed a tuning of the end-effector's dynamics to cyclical motion over as large of range of IDs as possible. The tuning occurred through the modulation of time spent accelerating and decelerating the end-effector for IDs outside the range of 3.85-4.26. The results are discussed with reference to a critical ID boundary that separates regions of parameter space wherein the end-effector's dynamics are more cyclical (limit-cycle) or discrete (fixed-point) in nature.

Learning a single limb multijoint coordination pattern: the impact of a mechanical constraint on the coordination dynamics of learning and transfer

The coordination dynamics of learning and transfer were studied in a single limb multijoint task requiring rhythmic elbow and wrist motions. Participants were required to learn a continuous 90 degrees relative phase pattern between the elbow and wrist such that an angle-angle plot of elbow and wrist motion produced a circle with a diameter of 80 degrees. Joint motion was restricted to elbow and wrist flexion-extension on the sagittal plane and the to-be-learned 90 degrees relative phase pattern was always practiced with the learning arm supine. Cycling frequency was controlled by a pacing metronome set at 0.75 Hz. Issues regarding effector-independent and effector-specific transfer were addressed with three transfer conditions: (1). learning arm prone (LP), (2). non-learning arm supine (NS), and (3). non-learning arm prone (NP). Four subjects learned the required relative phase (90 degrees ) and amplitude (80 degrees ) pattern with their dominant arm and four with their non-dominant arm. The experiment produced three main findings with regard to elbow-wrist control processes: First, seven of eight participants spontaneously produced a wrist-lagging coordination pattern (wrist motion lagged elbow motion) in learning to produce a continuous relative phase pattern of 90 degrees between the elbow and wrist. The wrist-lagging pattern may emerge as a result of the central nervous system exploiting the transfer of angular momentum from the elbow to the wrist as the elbow rotates up and down. The influence of interactive torque on elbow-wrist coordination represents an important mechanical constraint on the selection of intralimb coordination strategies during learning. The transfer conditions revealed that this mechanical constraint was effector-independent with regard to ipsilateral limb transfer (LP) and contralateral limb transfer (NS and NP). Second, consistent transfer of the learned relative phase pattern across ipsilateral and contralateral conditions demonstrates an effector-independent representation for this control variable. The effector-independent and effector-specific nature of joint amplitude transfer was dependent to some degree on learning arm, dominant or non-dominant, and the amount of practice, 1 day versus 5 days. Third, learning of the required 90 degrees relative phase pattern may be characterized as a phase transition leading to the formation of a stable attractor in the elbow-wrist coordination landscape. The above findings are discussed with respect to motor programming and coordination dynamic viewpoints on effector-independent and effector-specific aspects of motor equivalence.

Voluntary control of postural equilibrium patterns

The ability to voluntarily transit from one whole-body movement to another is based on the multisensory integration of visual, vestibular, and somatosensory information. The role of functional sensory ranges and mechanical constraints on the ability to voluntarily transit between whole-body movements was studied by requiring subjects to switch from a head-fixed-to-surface to head-fixed-in-space postural pattern (and vice versa). The head-fixed-to-surface pattern required an erect stance characterized by an in-phase relationship between center of pressure (CoP) and platform motion. The head-fixed-in-space pattern required subjects to fix trunk-head position in-space while producing an anti-phase relationship between CoP and platform motion. The voluntary transition was performed with and without vision while standing on a surface oscillating in the anterior-posterior (A/P) direction. The support surface oscillated at five frequencies (0.2-1Hz) with amplitude fixed at 15cm. The voluntary transition was initiated with an auditory cue. The appropriate CoP-platform phase relationship for the two postural patterns was produced for all frequencies with and without vision. Upper-trunk kinematics revealed that subjects often failed to produce the head-fixed-to-surface pattern for frequencies >/=0.6Hz, while producing the head-fixed-in-space pattern at all frequencies with vision. Without vision, neither pattern was produced consistently based on upper-trunk kinematics. These findings demonstrate separate control processes for upper- and lower-body motion and that functional sensory ranges and mechanical constraints can facilitate or inhibit voluntary production of whole-body movements based on these control processes. The results are discussed in reference to neurological substrates that may be involved in the planning and execution of motor set-switching. The experimental protocol we employ may also have application as a diagnostic tool for the evaluation of postural deficits.

Vestibular loss disrupts control of head and trunk on a sinusoidally moving platform

Twelve subjects, 6 bilateral vestibular-loss (3 well compensated and 3 poorly compensated) and 6 controls, attempted to maintain balance during anterior-posterior sinusoidal surface translation at 6 different frequencies. For frequencies <or= 0.25 Hz well compensated and control subjects rode the platform by fixing the head and upper-trunk with respect to the support surface, and for frequencies >or= 0.75 Hz, these subjects fixed their head/upper-trunk in space. Poorly compensated vestibular subjects showed large head and center of mass variability and were unable to balance at frequencies requiring a head fixed in space pattern. All vestibular subjects were less stable with vision than the controls. Without vision, vestibular subjects experienced more falls than the controls at all frequencies, with falls observed in 61% of the vestibular subjects trials and 16% of the control subjects trials. Vestibular information is important in stabilizing head and upper-trunk motion in space. Visual and somatosensory information can compensate, in part, for vestibular-loss. The results are discussed in light of models that characterize postural control in a vestibular/visual top-down and somatosensory bottom-up manner.

Discrete and cyclical units of action in a mixed target pair aiming task

Two experiments addressed the issue of discrete and cyclical units as possible basic units of action that might be used to construct complex actions based on task constraints. The experiments examined the influence of low and high accuracy constraints on the end-effector's motion in rhythmical aiming movements. Both experiments utilized a Fitts-type task under three accuracy constraints: (1) big target pairing-low index of movement difficulty (ID), (2) small target pairing-high ID, and (3) mixed target pairing-one target high ID and the other target low ID. Experiment I was a 1-degree-of-freedom ( df) task that required subjects to crossover the inside edge of targets in a target pair using elbow flexion-extension motions. Experiment II used a 2- df task that required subjects to tap back and forth between targets in a target pair using a hand-held stylus. In both experiments, end-effector motion in the low ID condition was cyclical with the end-effector's motion consistent with a limit-cycle attractor description, while in the high ID condition end-effector motion was discrete and consistent with a fixed-point attractor description. The mixed target pairing produced both discrete and cyclical features in the end-effector's dynamics that suggested a functional linking of discrete and cyclical units of action as the optimal movement solution. Evidence supporting the above statements was found in the kinematic measures of movement time (MT), dwell time, proportion of MT accelerating and decelerating, and in a measure of harmonicity (Guiard 1993, Acta Psychol 82:139-159; Guiard 1997, Hum Mov Sci 16:97-131). Extended practice in the mixed target condition revealed a bias towards cyclical motion with practice. The results demonstrate that discrete and cyclical motion, represented as limit-cycle and fixed-point attractors, are basic units of action that the motor system uses in constructing more complex action sequences. The results are discussed with reference to coordinative structures and the generalized motor program as basic units of action. Issues pertaining to visual feedback processing and movement braking in rapid aiming tasks are also discussed.

Vestibular loss disrupts control of head and trunk on a sinusoidally moving platform

Twelve subjects, 6 bilateral vestibular-loss (3 well compensated and 3 poorly compensated) and 6 controls, attempted to maintain balance during anterior-posterior sinusoidal surface translation at 6 different frequencies. For frequencies ≤ 0.25 Hz well compensated and control subjects rode the platform by fixing the head and upper-trunk with respect to the support surface, and for frequencies ≥ 0.75 Hz, these subjects fixed their head/upper-trunk in space. Poorly compensated vestibular subjects showed large head and center of mass variability and were unable to balance at frequencies requiring a head fixed in space pattern. All vestibular subjects were less stable with vision than the controls. Without vision, vestibular subjects experienced more falls than the controls at all frequencies, with falls observed in 61% trials and 16% information is important in stabilizing head and upper-trunk motion in space. Visual and somatosensory information can compensate, in part, for vestibular-loss. The results are discussed in light of models that characterize postural control in a vestibular/visual top-down and somatosensory bottom-up manner.

Transitions in a postural task: do the recruitment and suppression of degrees of freedom stabilize posture?

In this study, we examined flexibility in postural coordination by inducing transitions between postural patterns. Previous work demonstrated that the postural control system produces two task-specific postural patterns as a function of the frequency of support surface translation. For slow translation frequencies (<0.5 Hz), subjects ride on the platform reminiscent of upright stance (ride pattern), and for fast frequencies (> or =0.75 Hz) subjects actively fixed the head and trunk in space (head fixed pattern) during anterior-posterior platform motion. To study the adaptation of the postural control system, we had subjects stand on a support surface undergoing increases (from 0.2 to 1.0 Hz in 0.1-Hz steps) and decreases (from 1.0 to 0.2 Hz in 0.1-Hz steps) in translation frequency with the eyes open and closed. Kinematic measures of sagittal plane body motion revealed a gradual transition between these two postural patterns as a function of frequency scaling. In both the increasing and decreasing frequency conditions with visual input, center of mass displacements gradually decreased and increased, respectively, whereas upper-trunk (and head) displacement decreased gradually within the ride pattern until a head fixed pattern was observed without any significant changes in displacement for translation frequencies at and above 0.6 Hz. Without visual input, the scaling of the ride pattern was similar except the transition to the head fixed pattern never emerged with increasing frequency; instead, a less stable pattern exhibiting slow drift in head-trunk anterior-posterior motion (drift pattern) was observed at and above 0.5 Hz oscillations. The stability of the head fixed pattern at fast frequencies was clearly dependent on visual input suggesting that vision was more critical for trunk and head control in space at high than low translation frequencies. Head velocity was kept constant, and lower with vision, as translation frequency (and velocity) changed suggesting a head velocity threshold constraint across postural patterns. The gradual transition from the ride to the head fixed pattern was made possible by the recruitment of available degrees of freedom in the form of ankle, then knee, and then hip joint motion. In turn, the transition from the head fixed or drift pattern was made possible by the gradual suppression of available degrees of freedom in the form of reducing hip, then knee, and then ankle motion. The gradual change in postural kinematics without instabilities and hysteresis suggests that the ability to recruit and suppress biomechanical degrees of freedom allows the postural control system to gradually change postural strategies without suffering a loss of stability. The results are discussed in light of possible self-organizing mechanisms in the multisensory control of posture.

Emergence of postural patterns as a function of vision and translation frequency

Emergence of postural patterns as a function of vision and translation frequency. We examined the frequency characteristics of human postural coordination and the role of visual information in this coordination. Eight healthy adults maintained balance in stance during sinusoidal support surface translations (12 cm peak to peak) in the anterior-posterior direction at six different frequencies. Changes in kinematic and dynamic measures revealed that both sensory and biomechanical constraints limit postural coordination patterns as a function of translation frequency. At slow frequencies (0.1 and 0.25 Hz), subjects ride the platform (with the eyes open or closed). For fast frequencies (1.0 and 1.25 Hz) with the eyes open, subjects fix their head and upper trunk in space. With the eyes closed, large-amplitude, slow-sway motion of the head and trunk occurred for fast frequencies above 0.5 Hz. Visual information stabilized posture by reducing the variability of the head's position in space and the position of the center of mass (CoM) within the support surface defined by the feet for all but the slowest translation frequencies. When subjects rode the platform, there was little oscillatory joint motion, with muscle activity limited mostly to the ankles. To support the head fixed in space and slow-sway postural patterns, subjects produced stable interjoint hip and ankle joint coordination patterns. This increase in joint motion of the lower body dissipated the energy input by fast translation frequencies and facilitated the control of upper body motion. CoM amplitude decreased with increasing translation frequency, whereas the center of pressure amplitude increased with increasing translation frequency. Our results suggest that visual information was important to maintaining a fixed position of the head and trunk in space, whereas proprioceptive information was sufficient to produce stable coordinative patterns between the support surface and legs. The CNS organizes postural patterns in this balance task as a function of available sensory information, biomechanical constraints, and translation frequency.

Self-organization of trajectory formation. II. Theoretical model

Most studies of movement coordination deal with temporal patterns of synchronization between components, often without regard to the actual amplitudes the components make. When such a system is required to produce a composite action that is spatially constrained, coordination persists, but its stability is modulated by spatial requirements effected, we hypothesize, through the component amplitudes. As shown experimentally in part I, when a redundant three-joint system (wrist, elbow, and shoulder) is required to trace a specified arc in space, the joint angles may be frequency- and phased-locked even as the curvature of the trajectory is manipulated. Transitions between joint coordination patterns occur at a critical curvature, accompanied by a significant reduction in wrist amplitude. Such amplitude reduction is viewed as destabilizing the existing coordinative pattern under current task constraints, thereby forcing the joints into a more stable phase relationship. This paper presents a theoretical analysis of these multijoint patterns and proposes an amplitude mechanism for the transition process. Our model uses three linearly coupled, nonlinear oscillators for the joint angles and reproduces both the observed interjoint coordination and component amplitude effects as well as the resulting trajectories of the end effector.

Self-organization of trajectory formation. I. Experimental evidence

Most studies examining the stability and change of patterns in biological coordination have focused on identifying generic bifurcation mechanisms in an already active set of components (see Kelso 1994). A less well understood phenomenon is the process by which previously quiescent degrees of freedom (df) are spontaneously recruited and active df suppressed. To examine such behavior, in part I we study a single limb system composed of three joints (wrist, elbow, and shoulder) performing the kinematically redundant task of tracing a sequence of two-dimensional arcs of monotonically varying curvature, kappa. Arcs were displayed on a computer screen in a decreasing and increasing kappa sequence, and subjects rhythmically traced the arcs with the right hand in the sagittal plane at a fixed frequency (1.0 Hz), with motion restricted to flexion-extension of the wrist, elbow, and shoulder. Only a few coordinative patterns among the three joints were stably produced, e.g., in-phase (flexion-extension of one joint coordinated with flexion-extension of another joint) and antiphase (flexion-extension coordinated with extension-flexion). As kappa was systematically increased and decreased, switching between relative phase patterns was observed around critical curvature values, kappa c. A serendipitous finding was a strong 2:1 frequency ratio between the shoulder and elbow that occurred across all curvature values for some subjects, regardless of the wrist-elbow relative phase pattern. Transitions from 1:1 to 2:1 frequency entrainment and vice versa were also observed. The results indicate that both amplitude modulation and relative phase change are utilized to stabilize the end-effector trajectory. In part II, a theoretical model is derived from three coupled nonlinear oscillators, in which the relative phases (phi) between the components and the relative joint amplitudes (rho) are treated as collective variables with arc curvature as a control parameter.

Coordination dynamics of trajectory formation

The present study aims to understand the neurally based coordination dynamics (multistability, loss of stability, transitions, etc.) of trajectory formation in a simple task. Six subjects produced two spatial patterns of coordination in the xy plane by alternating the abduction-adduction and flexion-extension motions of their right index finger. Each pattern was characterized by a unique temporal ratio between the x and y directions of motion: (1) a figure zero, a 1:1 temporal pattern; and (2) a figure eight, a 2:1 temporal pattern. The patterns were produced rhythmically and movement frequency was scaled across ten frequency plateaus, with ten cycles of motion per step. As movement frequency increased, switching from a figure eight to a figure zero was observed at critical cycling frequencies. The switch from pattern (2) to pattern (1) was identified in the spatial trajectory and power spectra of x(t) and y(t). En route to the transition, enhancement of fluctuations was observed in the Fourier amplitudes of x(t) and y(t), specifically at f0 (the metronome frequency) and 2f0 (the first harmonic of f0). Interestingly, there was no difference in the spatial variability of the two patterns. Overall, the data demonstrate that spatial patterns of coordination can be characterized in terms of the temporal relationship between the spatial components of the trajectory itself. We discuss the experimental findings in relation to other end-point planning and multijoint control strategies, as well as the much more general problem of temporal synchronization in many interlimb and intralimb coordination tasks.

Posturally induced transitions in rhythmic multijoint limb movements

The coordination dynamics (e.g., stability, loss of stability, switching) of multijoint arm movements are studied as a function of forearm rotation. Rhythmical coordination of flexion and extension of the right elbow and wrist was examined under the following conditions: (1) forearm supine (forearm angle 0 degrees), simultaneous coordination of wrist flexion/elbow flexion and wrist extension/elbow extension (termed in-phase); and (2) forearm prone (forearm angle 160 degrees), simultaneous coordination of wrist flexion/elbow extension and wrist extension/elbow flexion (termed anti-phase). Starting in either pattern, subjects rotated the forearm in nine 20 degrees steps, producing 15 cycles of motion per step at a frequency of 1.25 Hz. Spontaneous transitions from pattern 1 to pattern 2 and from pattern 2 to pattern 1 were observed at a critical forearm angle. The critical angle depended on the direction of forearm rotational change, thus revealing the hysteretic nature of the switching process. En route to the transition, regardless of direction of forearm rotation, enhancement of phase fluctuations and an increase in perturbation response times (critical slowing down) were observed in the relative phasing between the joints. Such observations support loss of stability as a central, self-organizing process underlying coordinative change. Neurophysiological mechanisms supporting multijoint coordinative dynamics are discussed.

Order parameters for the neural organization of single, multijoint limb movement patterns

Subjects performed two patterns of coordination between the elbow and wrist joints of the right arm: 1) wrist flexion synchronized with elbow flexion and wrist extension with elbow extension (homologous muscle groups); and 2) wrist extension synchronized with elbow flexion and wrist flexion with elbow extension (nonhomologous muscle groups). As a parameter, cycling frequency, was increased, an abrupt switch in the phase relation between the elbow and wrist joints occurred. Similar effects were observed in underlying neuromuscular (EMG) timing patterns. Observed transitions depended on whether the forearm was prone or supine, not simply on the muscle pairing across the joints. With the forearm supine, transitions were from pattern (2) to pattern (1) above, and with the forearm prone the transitions were from pattern (1) to pattern (2). When subjects were initially prepared in pattern (1) with the forearm supine or in pattern (2) with the forearm prone, switching did not occur. En route to transitions, enhanced fluctuations in the phase relation occurred, indicating that loss of stability is at the origin of pattern change. Accompanying such changes in coordination were characteristic effects on end effector trajectories and velocity profiles. Possible neurophysiological mechanisms for context dependence in multijoint coordination are discussed.