The effect of head-to-trunk position on the direction of arm movements before, during, and after space flight

This contribution deals with the examination of the consequences of different head-to-trunk positions on arm movements under normal gravity and during prolonged space flight. One of the objectives of this study was to investigate the influence of weightlessness on the condition of the spatial analysis system. Aimed arm movements in the horizontal plane (pointings towards two visual targets) were recorded, first with eyes open, head straight (learning part), then with eyes closed, head straight and during yaw or roll position of the head (performance part). Measurements related to these different head-to-trunk-positions were taken in one short-term and nine long-term cosmonauts preflight, inflight, and postflight. Terrestrial control experiments were carried out with an extended experimental design in 14 healthy volunteers. The analysis of these experiments revealed that, with eyes closed and the head in yaw position, cosmonauts before flight and control subjects exhibit significant slants of the movement plane of the arm. Contrary to terrestrial measurements, in space experiments roll tilt of the head to the right is correlated with considerable counterclockwise slant of the movement plane. This slant of the movement plane of the arm was interpreted as tilt of the internal representation of the horizontal coordinate. The effect is larger with greater distortion induced by the changed head position and with larger muscular involvement to keep this position. This effect is also increased by the reduction of information (for example, in microgravity). The amount and the direction of the horizontal offset of the arm movements are shown to be dependent on the head-to-trunk position, too. Additionally, we have found changes in the amplitude and in the duration of the arm movement, in the vertical offset, and in the curvature of the movement paths, depending on the experimental conditions.     

Task-dependent reduction of the number of degrees of freedom in sensorimotor systems

In this paper we present a concise review of experiments on sensorimotor performance in man from the perspective of new opportunities provided by research in microgravity, which will contribute to our basic understanding of sensorimotor processes. In particular, we will discuss some new results on strategies for dealing with the large number of degrees of freedom in biological limbs with special emphasis on human motor control and on the specific role for mono- and bi-articular muscles. Finally, we propose some ideas for future experiments on motor function in microgravity, which will reveal new basic knowledge about the role of the CNS in motor control and which will contribute to a better performance of man in sensorimotor tasks in microgravity conditions.     

Independent practice association physician groups in California

Hemispatial neglect is a neurological disorder which entails a spatial bias that penalizes events occurring in the hemispace contralateral to a brain lesion. Mechanisms operating upon various stages ranging from perception to action have been invoked to explain neglect. The present study explores the contribution of a defective programming of arm movements towards the neglected hemispace to neglect behaviour. Two reaction time tasks -- a "perceptual" task and a "motor" task -- were performed by right brain-damaged (RBD) patients with left hemispatial neglect, RBD patients without signs of neglect and control subjects. The perceptual task consisted of lateralized visual stimuli and central motor responses, whereas the motor task consisted of visual stimuli presented on the vertical midline and hand responses to be produced in either hemispace. Neglect patients showed a rightward bias on the perceptual task, but only two RBD patients (showing no signs of severe neglect) were consistently slowed in producing leftward motor responses. Different reference frames may thus be used in perceptual tasks and tasks involving arm movements. We conclude that hemispatial neglect commonly results from attentional impairments operating upon a visual perceptual frame of reference; additional deficits appear to be necessary to produce a directional motor disorder.     

Postural motor programming in paraplegic patients during rehabilitation

One of the basic aims in the rehabilitation of thoracic spinal cord injured (SCI) patients concerns the regaining of sitting posture control. This implies the development of new postural strategies requiring the adjustment of motor programming processes. The aim of this study was to investigate the time course of postural reorganization during active, clinical rehabilitation of thoracic SCI patients with different SCI levels. Thus changes in motor programming in sitting balance control were investigated in two groups of complete low or high thoracic SCI patients. At several stages during the rehabilitation process an experiment was held in which sitting posture was perturbed systematically using submaximal reaching movements over four reaching distances. This bimanual reaching task was presented as a visual precue choice reaction time (RT) task in which reaching distance (i.e. grade of postural perturbation) was precued. Results indicated that in both high and low thoracic SCI patients RTs in movements involving postural perturbation became shorter during the course of the rehabilitation period. However, low thoracic SCI patients were generally slower in the programming of balance perturbing movements than high thoracic SCI patients, a phenomenon that did not change over time. Furthermore, initial differences in RTs as a function of grade of postural perturbation disappeared in both groups in the course of the rehabilitation phase. Precue benefit, equally large for both groups, did not change as a function of rehabilitation time. It is concluded that the observed phenomena signify the gradual development of new central postural control processes in both SCI groups during rehabilitation. Low thoracic SCI patients, having more residual sensorimotor functions, seem to adopt more complex strategies in maintaining and restoring sitting balance that take longer to specify and to programme. High thoracic SCI patients seem to rely on simpler strategies using more passive postural support.     

Static postural control in children

The purpose of this study was to investigate "static" balance characteristics in four and eight year old children performing six developmental tasks leading to upright stance. The data were evaluated with electromyographic, center of gravity and photographic procedures. The results of the study indicated that the older age group of children demonstrated higher degrees of motor control in all the balance tasks involving upper and/or lower extremity support of the trunk. The eight year old children showed less postural sway, more definitive muscular localizations and smaller degrees of motor activity occurring during the execution of the developmental tasks.     

Does the brain use sliding variables for the control of movements?

Delays in the transmission of sensory and motor information prevent errors from being instantaneously available to the central nervous system (CNS) and can reduce the stability of a closed-loop control strategy. On the other hand, the use of a pure feedforward control (inverse dynamics) requires a perfect knowledge of the dynamic behavior of the body and of manipulated objects. Sensory feedback is essential both to accommodate unexpected errors and events and to compensate for uncertainties about the dynamics of the body. Experimental observations concerning the control of posture, gaze and limbs have shown that the CNS certainly uses a combination of closed-loop and open-loop control. Feedforward components of movement, such as eye saccades, occur intermittently and present a stereotyped kinematic profile. In visuo-manual tracking tasks, hand movements exhibit velocity peaks that occur intermittently. When a delay or a slow dynamics are inserted in the visuo-manual control loop, intermittent step-and-hold movements appear clearly in the hand trajectory. In this study, we investigated strategies used by human subjects involved in the control of a particular dynamic system. We found strong evidence for substantial nonlinearities in the commands produced. The presence of step-and-hold movements seemed to be the major source of nonlinearities in the control loop. Furthermore, the stereotyped ballistic-like kinematics of these rapid and corrective movements suggests that they were produced in an open-loop way by the CNS. We analyzed the generation of ballistic movements in the light of sliding control theory assuming that they occurred when a sliding variable exceeded a constant threshold. In this framework, a sliding variable is defined as a composite variable (a combination of the instantaneous tracking error and its temporal derivatives) that fulfills a specific stability criterion. Based on this hypothesis and on the assumption of a constant reaction time, the tracking error and its derivatives should be correlated at a particular time lag before movement onset. A peak of correlation was found for a physiologically plausible reaction time, corresponding to a stable composite variable. The direction and amplitude of the ongoing stereotyped movements seemed also be adjusted in order to minimize this variable. These findings suggest that, during visually guided movements, human subjects attempt to minimize such a composite variable and not the instantaneous error. This minimization seems to be obtained by the execution of stereotyped corrective movements.     

The current status of psychoanalysis

When a perturbation displaces the human hand from equilibrium, arm muscles respond by producing restoring forces. When a set of displacements are given at various directions from the same equilibrium position, the resulting restoring forces form a "postural force field." It is not known whether these postural forces are related to those generated when a reaching movement is executed. However, if a movement is a consequence of a shift of the equilibrium position of the hand toward the target, then, from the postural force field, predictions can be made regarding the nature of the elastic forces acting on the hand during the movement. We have taken the first steps in testing this hypothesis by measuring the postural force field of a subject's arm over relatively large distances, and comparing these forces with the static forces generated at the hand while the subject attempted a reaching movement. Using a robot manipulandum, the hand was displaced at various directions from an equilibrium position. The measured restoring forces were fitted to a nonlinear model to define a postural force field for that equilibrium position. This field was used to predict elastic forces generated when the subject attempted to move the manipulandum from a point on the circumference of a circle to a target at its center--the center corresponded to the equilibrium position at which the postural field was measured. In some of the movement trials, the manipulandum was locked during approximately the first 120 msec of the program for motion and the resulting static "evoked" forces measured. We found that (1) the evoked forces did not point to the target, but were a function of the configuration of the arm and rotated with the shoulder joint, and (2) the magnitude of the evoked forces varied systematically, even though the movements were of the same magnitude. These patterns were remarkably similar to those observed in the postural forces. Our results provide experimental evidence linking maintenance of posture in a multijoint system to that of generating a movement. The evidence is consistent with the hypothesis that the CNS programs a reaching movement by shifting the equilibrium position of the hand toward the target.     

Anthropomorphic robotics. II. Analysis of manipulator dynamics and the output motor impedance

An important factor in trying to capture the complexity of many manipulation problems is the notion of Output Motor Impedance, i.e., the relationship between a set of disturbing forces and the resulting variation in arm configuration. The functional significance of such force/displacement characteristics is investigated, showing how several aspects of different manipulation tasks (holding against gravity, inserting, fast moving, and throwing) can be naturally described in terms of appropriate modulation of the impedance characteristics of the manipulator. For this reason, impedance modulation can be considered an integral part of motor control.     

How similar are motor imagery and movement?

It has been suggested that motor imagery (MI) has the basic components of real motion. This possibility was tested here in 17 healthy volunteers studied while performing or imaging a fast sequence of finger movements of progressive complexity, a fast and precise extension of the arm to touch a small circle with the tip of a pencil, a periodic repetitive flexion-extension of the index finger at a specified rate, and a velocity-regulated continuous rotary movement of the right hand. Motor sequences of 4 to 5 fingers showed a real-virtual congruency similar to that previously reported with other equivalent tests, but it decreased in the simplest sequences performed with 1 to 2 fingers. A more marked decrease of real-virtual congruency was found in the experimental paradigm aimed at producing movements with a pre-specified velocity, which was low for rhythmic movements of the index finger and practically absent in the continuous rotary movements of the hand. Present data show that the ability of MI to produce "realistic" simulations of motion is not the same for all motor tasks. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Smoothness maximization along a predefined path accurately predicts the speed profiles of complex arm movements

The speed profiles of arm movements display a number of regularities, including bell-shaped speed profiles in straight reaching movements and an inverse relationship between speed and curvature in extemporaneous drawing movements (described as a 2/3 power law). Here we propose a new model that simultaneously accounts for both regularities by replacing the 2/3 power law with a smoothness constraint. For a given path of the hand in space, our model assumes that the speed profile will be the one that minimizes the third derivative of position (or "jerk"). Analysis of the mathematical relationship between this smoothness constraint and the 2/3 power law revealed that in both two and three dimensions, the power law is equivalent to setting the jerk along the normal to the path to zero; it generates speed predictions that are similar, but clearly distinguishable from the predictions of our model. We have assessed the accuracy of the model on a number of motor tasks in two and three dimensions, involving discrete movements along arbitrary paths, traced with different limb segments. The new model provides a very close fit to the observed speed profiles in all cases. Its performance is uniformly better compared with all existing versions of the 2/3 power law, suggesting that the correlation between speed and curvature may be a consequence of an underlying motor strategy to produce smooth movements. Our results indicate that the relationship between the path and the speed profile of a complex arm movement is stronger than previously thought, especially within a single trial. The accuracy of the model was quite uniform over movements of different shape, size, and average speed. We did not find evidence for segmentation, yet prediction error increased with movement duration, suggesting a continuous fluctuation of the "tempo" of discrete movements. The implications of these findings for motor planning and on-line control are discussed.     

Cytokines and embryo implantation

A neuromusculoskeletal model of the human arm was developed which contains both feedforward and feedback control, and thereby accounts for motor control of fast movements as well as interaction with external forces. The feedforward control component forms an approximate representation of the inverse dynamics of the arm and its interaction with the environment. The feedback control component compensates for errors in the representation of the inverse dynamics and for unexpected forces acting on the arm. Moreover, the control system provides a solution for the redundancy of the muscles. The system performance is adapted in a learning procedure according to a specified goal function. It is shown in the paper that good control of the nonlinear musculoskeletal model and neural control signals which are similar to electromyographic (EMG) data, are attained. The response of the arm to external forces is analysed and compared with experimental data on arm impedance.     

Reduced variability of postural strategy prevents normalization of motor changes induced by back pain: A risk factor for chronic trouble?

Variability is fundamental to biological systems and is important in posturomotor learning and control. Pain induces a protective postural strategy, although variability is normally preserved. If variability is lost, does the normal postural strategy return when pain stops? Sixteen subjects performed arm movements during control trials, when the movement evoked back pain and then when it did not. Variability in the postural strategy of the abdominal muscles and pain-related cognitions were evaluated. Only those subjects for whom pain induced a reduction in variability of the postural strategy failed to return to a normal strategy when pain stopped. They were also characterized by their pain-related cognitions. Ongoing perception of threat to the back may exert tighter evaluative control over variability of the postural strategy. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Patterns of arm muscle activation involved in octopus reaching movements

The extreme flexibility of the octopus arm allows it to perform many different movements, yet octopuses reach toward a target in a stereotyped manner using a basic invariant motor structure: a bend traveling from the base of the arm toward the tip (Gutfreund et al., 1996a). To study the neuronal control of these movements, arm muscle activation [electromyogram (EMG)] was measured together with the kinematics of reaching movements. The traveling bend is associated with a propagating wave of muscle activation, with maximal muscle activation slightly preceding the traveling bend. Tonic activation was occasionally maintained afterward. Correlation of the EMG signals with the kinematic variables (velocities and accelerations) reveals that a significant part of the kinematic variability can be explained by the level of muscle activation. Furthermore, the EMG level measured during the initial stages of movement predicts the peak velocity attained toward the end of the reaching movement. These results suggest that feed-forward motor commands play an important role in the control of movement velocity and that simple adjustment of the excitation levels at the initial stages of the movement can set the velocity profile of the whole movement. A simple model of octopus arm extension is proposed in which the driving force is set initially and is then decreased in proportion to arm diameter at the bend. The model qualitatively reproduces the typical velocity profiles of octopus reaching movements, suggesting a simple control mechanism for bend propagation in the octopus arm.     

Optimization-based differential kinematic modeling exhibits a velocity-control strategy for dynamic posture determination in seated reaching movements

We proposed a velocity control strategy for dynamic posture determination that underlay an optimization-based differential inverse kinematics (ODIK) approach for modeling three-dimensional (3-D) seated reaching movements. In this modeling approach, a four-segment seven-DOF linkage is employed to represent the torso and right arm. Kinematic redundancy is resolved efficiently in the velocity domain via a weighted pseudoinverse. Weights assigned to individual DOF describe their relative movement contribution in response to an instantaneous postural change. Different schemes of posing constraints on the weighting parameters, by which various motion apportionment strategies are modeled, can be hypothesized and evaluated against empirical measurements. A numerical optimization procedure based on simulated annealing estimate the weighting parameter values such that the predicted movement best fits the measurement. We applied this approach to modeling 72 seated reaching movements of three distinctive types performed by six subjects. Results indicated that most of the movements were accurately modeled (time-averaged RMSE < 5 degrees) with a simple time-invariant four-weight scheme which represents a time-constant, inter-joint motion apportionment strategy. Modeling error could be further reduced by using less constrained schemes, but notably only for the ones that were relatively poorly modeled with a time-invariant four-weight scheme. The fact that the current modeling approach was able to closely reproduce measured movements and do so in a computationally advantageous way lends support to the proposed velocity control strategy.     

The oculomanual coordination control center takes into account the mechanical properties of the arm

When the eyes and arm are involved in a tracking task, the characteristics of each system differ from those observed when they act alone: smooth pursuit (SP) latency decreases from 130 ms in external target tracking tasks to 0 ms in self-moved target tracking tasks. Two models have been proposed to explain this coordination. The common command model suggests that the same command be addressed to the two sensorimotor systems, which are otherwise organized in parallel, while the coordination control model proposes that coordination is due to a mutual exchange of information between the motor systems. In both cases, the interaction should take into account the dynamic differences between the two systems. However, the nature of the adaptation depends on the model. During self-moved target tracking a perturbation was applied to the arm through the use of an electromagnetic brake. A randomized perturbation of the arm increased the arm motor reaction time without affecting SP. In contrast, a constant perturbation produced an adaptation of the coordination control characterized by a decrease in arm latency and an increase in SP latency relative to motor command. This brought the arm-to-SP latency back to 0 ms. These results support the coordination control model.     

Coding of intention in the posterior parietal cortex

To look at or reach for what we see, spatial information from the visual system must be transformed into a motor plan. The posterior parietal cortex (PPC) is well placed to perform this function, because it lies between visual areas, which encode spatial information, and motor cortical areas. The PPC contains several subdivisions, which are generally conceived as high-order sensory areas. Neurons in area 7a and the lateral intraparietal area fire before and during visually guided saccades. Other neurons in areas 7a and 5 are active before and during visually guided arm movements. These areas are also active during memory tasks in which the animal remembers the location of a target for hundreds of milliseconds before making an eye or arm movement. Such activity could reflect either visual attention or the intention to make movements. This question is difficult to resolve, because even if the animal maintains fixation while directing attention to a peripheral location, the observed neuronal activity could reflect movements that are planned but not executed. To address this, we recorded from the PPC while monkeys planned either reaches or saccades to a single remembered location. We now report that, for most neurons, activity before the movement depended on the type of movement being planned. We conclude that PPC contains signals related to what the animal intends to do.     

Regional cerebral blood flow changes in human brain related to ipsilateral and contralateral complex hand movements--a PET study

The purpose of this study was to investigate the cortical motor areas activated in relation to unilateral complex hand movements of either hand, and the motor area related to motor skill learning. Regional cerebral blood flow (rCBF) was measured in eight right-handed healthy male volunteers using positron emission tomography during a two-ball-rotation task using the right hand, the same task using the left hand and two control tasks. In the two-ball-rotation tasks, subjects were required to rotate the same two iron balls either with the right or left hand. In the control task, they were required to hold two balls in each hand without movement. The primary motor area, premotor area and cerebellum were activated bilaterally with each unilateral hand movement. In contrast, the supplementary motor area proper was activated only by contralateral hand movements. In addition, we found a positive correlation between the rCBF to the premotor area and the degree of improvement in skill during motor task training. The results indicate that complex hand movements are organized bilaterally in the primary motor areas, premotor areas and cerebellum, that functional asymmetry in the motor cortices is not evident during complex finger movements, and that the premotor area may play an important role in motor skill learning.     

Anticipatory postural adjustments in the back and leg lift

This study examined anticipatory postural adjustments in a dynamic multi-joint action in which a relatively fast voluntary movement is being executed while balance is maintained in the field of gravity. In a bi-manual whole body lifting task, the pickup of the load induces a forward shift in the position of the center of mass, challenging the dynamic balance regulation while simultaneously impeding the ongoing extension movement. We investigated whether anticipatory postural adjustments are an addition to a voluntary motor command or an inherent component of this command. Using a global mechanical analysis of the movement, we found that anticipatory postural adjustments are present in bimanual lifting, both in back lifting and leg lifting, and that lifting technique had a significant influence on the pattern of the adjustments. If the mass of the object was reduced unexpectedly, balance was disturbed in 92% of the mass-reduced trials. These findings suggest that the anticipatory postural adjustments to be performed are specified in advance such that the expected changes in the mechanical interaction with the environment are taken into account. The observations lend support to the hypothesis that the control of the observed anticipatory postural adjustments is an integral part of the control of the lifting movement itself. Consequently, the strict dichotomy in the control of posture and movement is being questioned.     

Movement-related potential measures of different modes of movement selection in Parkinson's disease

Movement-related potentials were recorded preceding self-paced voluntary movements in patients with Parkinson's disease and in healthy subjects of the same age group. We compared the Readiness Potential preceding joystick movements in a fixed direction and preceding joystick movements in freely selected directions. In normal subjects the Readiness Potential amplitude was higher preceding freely selected movements than preceding movements in a fixed direction. The Readiness Potential in Parkinson patients failed to be modified by the different modes of movement selection. The modulation of the Readiness Potential by different ways of preparing for movement might be due to the supplementary motor area (SMA) being more strongly engaged by tasks requiring internal control of movements than by tasks that are externally structured. The results suggest that this task-dependent variation of SMA activity is reduced in Parkinson's disease. A failing capacity to adapt SMA activity to different task demands has previously been suggested by evidence from positron emission tomography studies using similar tasks.     

Effect of physical training on head-hip co-ordinated movements during unperturbed stance

A cross-correlation analysis between head and hip lateral accelerations has been used to analyse the effects of sport training (in experts in judo or classical dance as compared to controls) on postural strategies during unperturbed stance. Subjects were standing in the sharpened Romberg position on either a hard or foam rubber support. The main results were: (1) several non-visual and ankle-like strategies (head-hip movements in the same sense) were used by both groups on both supports; (2) two types of lateral hip strategies (head-hip movements in opposite sense) were seen in controls on soft support only, and were mainly modulated by vision. Training appears to result in a shift from a visual to a proprioceptive dominance in the regulation of postural control in unperturbed stance.