Mandibular implant-retained overdenture: finite element analysis of two anchorage systems

Human arm movements towards visual targets are remarkably reproducible in several tasks and conditions. Various authors have reported that trajectories of unconstrained point-to-point movements are slightly curved, smooth and have bell-shaped velocity profiles. The hand paths of such movements show small - but significant - curvatures throughout the workspace. The cause of these curvatures is still obscure. Traditionally this curvature is explained as the result of an optimisation process or is ascribed to mechanical or dynamic properties of the effector system. Recently, however, it has been suggested that these curvatures are due at least partly, to the visual misperception of straight lines. To evaluate the latter hypothesis, we compared unconstrained, self-paced point-to-point movements that subjects made with their right and left hand. We assume that the visual misperception may depend on the position in the workspace, subject, etc. but not on the hand used to make the movement. Therefore we argue that if curvature is caused by a visual misperception of straight lines, curvatures should be the same for movements made with the left and right hand. Our experiments cast strong doubt on the hypothesis that curvatures are the result of a visual distortion, because curvatures of the left hand trajectories, mirrored in the mid-sagittal plane, are found to be accurately described by trajectories of the right hand. Estimates of the effect of visual distortion on movement curvature show that, if present, this effect is very small compared with other sources that contribute to movement curvature. We found that curvatures depend strongly on the subject and on the direction and distance of the movement. Curvatures do not seem to be caused purely by the dynamic properties of the arm, since curvatures do not change significantly with increasing movement velocity. Therefore, we conclude that curvatures reflect an inherent property of the control of multi-joint arm movements.     

Trajectory formation based on physiological characteristics of skeletal muscles

Human arm trajectories in natural unrestricted reaching movements were studied. They have particular properties such that a hand path is a rather simple straight or curved line, and a tangential velocity profile of hand is bell-shaped. Also these properties are invariant, independent of movement duration and hand-held load. In this study, trajectory formation is investigated on the basis of physiological characteristics of skeletal muscles, and a criterion prescribed by a derivative of isometric muscle torque is proposed. Subsequently, optimal trajectories are formulated under various conditions of movement to account for a planning strategy of human arm trajectories. In addition to such a theoretical approach, human arm trajectories are experimentally observed by a measuring system which provides a visual sensor and a target tracking device, enabling totally unrestricted movements. Then, optimal trajectories are quantitatively evaluated in comparison with experimental data in which essential properties of human arm trajectories are demonstrated. These results support the idea that human arm trajectories are planned in order to minimize the proposed criterion which is determined from physiological aspects. Finally, the physiological advantages of human arm trajectories are discussed with regard to the analysis of observed and optimal trajectories.     

Perceiving and tracking kinesthetic stimuli: Further evidence of motor–perceptual interactions.

Two experiments pursued previous studies (P. Viviani & P. Mounoud, 1990; P. Viviani & N. Stucchi, 1989) on motor–perceptual interactions. The right arm of blindfolded participants was moved passively along elliptic trajectories. Kinematics was either coherent or at variance with the relation (two-thirds power law) observed in active movements. In Experiment 1 participants compared the horizontal and vertical extent of the ellipses. Kinematics affected aspect ratio discrimination: The direction along which the movement decelerated was subjectively stretched. In Experiment 2 participants used the left arm to reproduce in real time the movement of the right arm. The trajectories of the left arm presented a stretch similar to the perceptual illusion demonstrated in Experiment 1. Between-arm asynchrony suggests that the motor control system cannot use kinesthetic information that is at variance with the flow of reafferences normally associated with voluntary movements. It is argued that these interactions occur at the level of a central amodal representation of the stimuli. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Updating Target Location at the End of an Orienting Saccade Affects the Characteristics of Simple Point-to-Point Movements.

Six results are reported. (a) Reaching accuracy increases when visual capture of the target is allowed (e.g., target on vs. target off at saccade onset). (b) Whatever the visual condition, trajectories diverge only after peak acceleration, suggesting that accuracy is improved through feedback mechanisms. (c) Feedback corrections are smoothly implemented, causing the corrected and uncorrected velocity profiles to exhibit similar shapes. (d) Initial kinematics poorly predict final accuracy whatever the condition, indicating that target capture is not the only critical input for feedback control. (e) Hand and eye final variability are unrelated, suggesting that gaze direction is not a target signal for arm control. (f) Extent errors are corrected without modification of movement straightness; direction errors cause path curvature to increase. Together these data show that movements with straight paths and bell-shaped velocity profiles are not necessarily ballistic. (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.     

Lateral interception II: Predicting hand movements.

D. M. Jacobs and C. F. Michaels (2006) concluded that aspects of hand movements in lateral catching were predicted by the ratio of lateral optical velocity to expansion velocity. Their conclusions were based partly on a modified version of the required velocity model of catching (C. E. Peper, R. J. Bootsma, D. R. Mestre, & F. C. Bakker, 1994). The present article considers this optical ratio in detail and asks whether it, together with a control law, predicts the (often curious) hand trajectories observed in lateral interception. The optical ratio was used to create a succession of target-position inputs for the vector integration to endpoint model of hand movements (D. Bullock & S. Grossberg, 1988). The model used this succession, initial hand position, and model parameters (fit to 60 trials) to predict hand trajectories on each trial. Predicted trajectories were then compared with observed hand trajectories. Hand movements were predicted accurately, especially in the binocular condition, and were superior to predictions based on lateral ball position, the input variable of the required velocity model. The authors concluded, as did C. E. Peper et al. (1994), that perceivers continuously couple movements to optics. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Ultrasonic diagnosis in pediatrics. The state of the art of ultrasonic diagnosis in pediatrics today Part I

A non-linear sixth order homeomorphic model, fitted with parameters based on eye movements and physiological data, was tuned so that it provided good simulations for the shapes of the magnitude, velocity and acceleration trajectories. Excellent quantitative agreement was obtained in terms of the Main Sequence diagrams for human eye movements. Parametric sensitivity analysis was done for a saccade of ten degree amplitude, a physiologically normal magnitude at which experimental data is both abundant and relatively noise free. Among the many useful results of this sensitivity analysis are that pulse width (PW) and pulse height (PH) were confirmed as the two controlling parameters for the human eye movement model. Output behavior was relatively insensitive to variations of the passive elements of the plant. This analysis also pointed out that more physiological data are needed to understand the role of the non-linear force-velocity relationship of the extraocular muscles.     

Speed and accuracy of saccadic eye movements: Characteristics of impulse variability in the oculomotor system.

Dynamic characteristics observed in the trajectories of saccadic eye movements revealed systematic variability of the force pulses used to move the eyes. This variability causes saccades to exhibit a linear speed–accuracy trade-off: As the average distance and duration of saccades toward specified target points increase, the standard deviations of saccadic-movement endpoints increase linearly with the saccades' average velocity. The linear trade-off, and other observed stochastic properties of saccades, may be attributed to noise in neuromotor processes and may be described in terms of an impulse-variability model originally designed for characterizing limb movements. According to the model, both eye and limb movements are controlled through stochastic force and time parameters that govern movement kinematics. Such an account may promote a unified conceptual framework for understanding a wide range of motor behavior. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Possible explanations for trajectory curvature in multijoint arm movements.

Although the straightness of hand paths is a widely accepted feature of human multijoint reaching movement, detailed examinations have revealed slight curvatures in some regions of the workspace. This observation raises the question of whether planned trajectories are straight or curved. If they are straight, 3 possible factors can explain the observed curvatures: (a) imperfect control, (b) visual distortion, or (c) interaction between straight virtual trajectories and the dynamics of the arm. Participants instructed to generate straight movement paths produced movements much straighter than those generated spontaneously. Participants generated spontaneously curved trajectories in the frontoparallel plane, where visual distortion is not expected. Electromyograms suggested that participants generated straighter paths without an increase in arm stiffness. These findings argue against the 3 factors. It follows that planned trajectories are likely to be curved. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

The relationship between curvature and velocity in two-dimensional smooth pursuit eye movements

Curvature and tangential velocity of voluntary hand movements are constrained by an empirical relation known as the Two-Thirds Power Law. It has been argued that the law reflects the working of central control mechanisms, but it is not known whether these mechanisms are specific to the hand or shared also by other types of movement. Three experiments tested whether the power law applies to the smooth pursuit movements of the eye, which are controlled by distinct neural motor structures and a peculiar set of muscles. The first experiment showed that smooth pursuit of elliptic targets with various curvature-velocity relationships was most accurate when targets were compatible with the Two-Thirds Power Law. Tracking errors in all other cases reflected the fact that, irrespective of target kinematics, eye movements tended to comply with the law. Using only compatible targets, the second experiment demonstrated that kinematics per se cannot account for the pattern of pursuit errors. The third experiment showed that two-dimensional performance cannot be fully predicted on the basis of the performance observed when the horizontal and vertical components of the targets used in the first condition were tracked separately. We conclude that the Two-Thirds Power Law, in its various manifestations, reflects neural mechanisms common to otherwise distinct control modules.     

Premotor commands encode monocular eye movements

Binocular coordination of eye movements is essential for stereopsis (depth perception) and to prevent double vision. More than a century ago, Hering and Helmholtz debated the neural basis of binocular coordination. Helmholtz believed that each eye is controlled independently and that binocular coordination is learned. Hering believed that both eyes are innervated by common command signals that yoke the eye movements (Hering's law of equal innervation). Here we provide evidence that Hering's law is unlikely to be correct. We show that premotor neurons in the paramedian pontine reticular formation that were thought to encode conjugate velocity commands for saccades (rapid eye movements) actually encode monocular commands for either right or left eye saccades. However, 66% of the abducens motor neurons, which innervate the ipsilateral lateral rectus muscle, fire as a result of movements of either eye. The distribution of sensitivity to ipsilateral and contralateral eye movements across the abducens motor neuron pool may provide a basis for learning binocular coordination in infancy and adapting it throughout life.     

Motor subcircuits mediating the control of movement velocity: a PET study

The influence of changes in the mean velocity of movement on regional cerebral blood flow (rCBF) was studied using positron emission tomography (PET) in nine healthy right-handed adults while they performed a smooth pursuit visuomanual tracking task. Images of relative rCBF were obtained while subjects moved a hand-held joystick to track the movement of a target at three different rates of a sinusoidal displacement (0.1, 0.4, and 0.7 Hz). Significant changes in rCBF between task conditions were detected using analysis of variance and weighted linear contrasts. The kinematics of arm and eye movements indicated that subjects performed tasks in a similar manner, particularly during the faster two tracking conditions. Significant increases in rCBF during arm movement (relative to an eye tracking only control condition) were detected in a widespread network of areas known for their involvement in motor control. The activated areas included primary sensorimotor (M1S1), dorsal and mesial premotor, and dorsal parietal cortices in the left hemisphere and to a lesser extent the sensorimotor and superior parietal cortices in the right hemisphere. Subcortically, activations were found in the left putamen, globus pallidus (GP), and thalamus, in the right basal ganglia, and in the right anterior cerebellum. Within the cerebral volume activated with movement, three areas had changes in rCBF that correlated positively with the rate of movement: left M1S1, left GP, and right anterior cerebellum. No movement-related sites had rCBF that correlated negatively with the rate of movement. Regressions of mean percent change (MPC) in rCBF onto mean hand velocity yielded two nonoverlapping subpopulations of movement-related loci, the three sites with significant rate effects and regression slopes steeper than 0.17 MPC.cm-1.s-1 and all other sites with nonsignificant rate effects and regression slopes below 0.1 MPC.cm-1. s-1. Moreover, the effects of movement per se and of movement velocity varied in magnitude independently. These results confirm previous reports that movement-related activations of M1S1 and cerebellum are sensitive to movement frequency or some covarying parameter of movement. The activation of GP with increasing movement velocity, not described in previous functional-imaging studies, supports the hypothesis that the basal ganglia motor circuit may be involved preferentially in controlling or monitoring the scale and/or dynamics of arm movements. The remaining areas that were activated equally for all movement rates may be involved in controlling higher level aspects of motor control that are independent of movement dynamics.     

Hydrothermal-electrochemical deposition of hydroxyapatite

Age-related differences in the trajectories of saccadic eye movements were examined. Younger and older adult subjects produced saccades to predictable target locations. Detailed features of the movements were examined such as the time of peak acceleration and the variability in the magnitude of the peak velocity. These and other measures reveal important details of the force pulses underlying the eye movements and the mental mechanisms that control them. Although minor differences were apparent between the eye movements of younger and older adults, the general patterns were the same across age groups. These results suggest that fundamental details of the brain mechanisms involved in the control of movement are the same for younger and older adults.     

Relation between velocity and curvature in movement: Equivalence and divergence between a power law and a minimum-jerk model.

Unconstrained hand movements typically display a decrease in hand speed around highly curved sections of a trajectory. It has been suggested that this relation between tangential velocity and radius of curvature conforms to a one-third power law. We demonstrate that a one-third power law can be explained by models taking account of trajectory costs such as a minimum-jerk model. Data were analyzed from 6 subjects performing elliptical drawing movements of varying eccentricities. Conformity to the one-third power law in the average was obtained but is shown to be artifactual. It is demonstrated that asymmetric velocity profiles may result in consistent departures from a one-third power law but that such differences may be masked by inappropriate analysis procedures. We introduce a modification to the original minimum-jerk model by replacing the assumption of a Newtonian point-mass with a visco-elastic body. Simulations with the modified model identify a basis for asymmetry of velocity profiles and thereby predict departures from a one-third law commensurate with the empirical findings. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Aging and movement: Variability of force pulses for saccadic eye movements.

Age-related differences in the trajectories of saccadic eye movements were examined. Younger and older adult subjects produced saccades to predictable target locations. Detailed features of the movements were examined such as the time of peak acceleration and the variability in the magnitude of the peak velocity. These and other measures reveal important details of the force pulses underlying the eye movements and the mental mechanisms that control them. Although minor differences were apparent between the eye movements of younger and older adults, the general patterns were the same across age groups. These results suggest that fundamental details of the brain mechanisms involved in the control of movement are the same for younger and older adults. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

A jitter after-effect reveals motion-based stabilization of vision

A shaky hand holding a video camera invariably turns a treasured moment into an annoying, jittery momento. More recent consumer cameras thoughtfully offer stabilization mechanisms to compensate for our unsteady grip. Our eyes face a similar challenge in that they are constantly making small movements even when we try to maintain a fixed gaze. What should be substantial, distracting jitter passes completely unseen. Position changes from large eye movements (saccades) seem to be corrected on the basis of extraretinal signals such as the motor commands sent to the eye muscle, and the resulting motion responses seem to be simply switched off. But this approach is impracticable for incessant, small displacements, and here we describe a novel visual illusion that reveals a compensation mechanism based on visual motion signals. Observers were adapted to a patch of dynamic random noise and then viewed a larger pattern of static random noise. The static noise in the unadapted regions then appeared to 'jitter' coherently in random directions. Several observations indicate that this visual jitter directly reflects fixational eye movements. We propose a model that accounts for this illusion as well as the stability of the visual world during small and/or slow eye movements such as fixational drift, smooth pursuit and low-amplitude mechanical vibrations of the eyes.     

Role of the oculomotor vermis in generating pursuit and saccades: effects of microstimulation

We studied the eye movements evoked by applying small amounts of current (2-50 microA) within the oculomotor vermis of two monkeys. We first compared the eye movements evoked by microstimulation applied either during maintained pursuit or during fixation. Smooth, pursuitlike changes in eye velocity caused by the microstimulation were directed toward the ipsilateral side and occurred at short latencies (10-20 ms). The amplitudes of these pursuitlike changes were larger during visually guided pursuit toward the contralateral side than during either fixation or visually guided pursuit toward the ipsilateral side. At these same sites, microstimulation also often produced abrupt, saccadelike changes in eye velocity. In contrast to the smooth changes in eye velocity, these saccadelike effects were more prevalent during fixation and during pursuit toward the ipsilateral side. The amplitude and type of evoked eye movements could also be manipulated at single sites by changing the frequency of microstimulation. Increasing the frequency of microstimulation produced increases in the amplitude of pursuitlike changes, but only up to a certain point. Beyond this point, the value of which depended on the site and whether the monkey was fixating or pursuing, further increases in stimulation frequency produced saccadelike changes of increasing amplitude. To quantify these effects, we introduced a novel method for classifying eye movements as pursuitlike or saccadelike. The results of this analysis showed that the eye movements evoked by microstimulation exhibit a distinct transition point between pursuit and saccadelike effects and that the amplitude of eye movement that corresponds to this transition point depends on the eye movement behavior of the monkey. These results are consistent with accumulating evidence that the oculomotor vermis and its associated deep cerebellar nucleus, the caudal fastigial, are involved in the control of both pursuit and saccadic eye movements. We suggest that the oculomotor vermis might accomplish this role by altering the amplitude of a motor error signal that is common to both saccades and pursuit.     

Mechanisms of action and targets of nitric oxide in the oculomotor system

Nitric oxide (NO) production by neurons in the prepositus hypoglossi (PH) nucleus is necessary for the normal performance of eye movements in alert animals. In this study, the mechanism(s) of action of NO in the oculomotor system has been investigated. Spontaneous and vestibularly induced eye movements were recorded in alert cats before and after microinjections in the PH nucleus of drugs affecting the NO-cGMP pathway. The cellular sources and targets of NO were also studied by immunohistochemical detection of neuronal NO synthase (NOS) and NO-sensitive guanylyl cyclase, respectively. Injections of NOS inhibitors produced alterations of eye velocity, but not of eye position, for both spontaneous and vestibularly induced eye movements, suggesting that NO produced by PH neurons is involved in the processing of velocity signals but not in the eye position generation. The effect of neuronal NO is probably exerted on a rich cGMP-producing neuropil dorsal to the nitrergic somas in the PH nucleus. On the other hand, local injections of NO donors or 8-Br-cGMP produced alterations of eye velocity during both spontaneous eye movements and vestibulo-ocular reflex (VOR), as well as changes in eye position generation exclusively during spontaneous eye movements. The target of this additional effect of exogenous NO is probably a well defined group of NO-sensitive cGMP-producing neurons located between the PH and the medial vestibular nuclei. These cells could be involved in the generation of eye position signals during spontaneous eye movements but not during the VOR.     

Study of non-visually induced smooth pursuit eye movements and their predictability using pseudorandom target motion

It has been found that the smooth pursuit eye movements (SPEM) are elicited by not only visual stimuli but also non-visual information such as the subject's fingertip movement and a moving sound source. We have already reported the quantitative analysis of SPEM which were induced by somatosensory and acoustic information. In the previous study, we used a sinusoidal waveform that could be highly predictable. Since it is wellknown that predictive control has an important role in the normal SPEM, we expect the predictive control to function in non-visually induced SPEM (NVSPEM). We quantitatively analyzed NVSPEM and normal SPEM evoked by pseudorandom target motion in ten human subjects who had no ocular, oculomotor or vestibular disorders. NVSPEM were induced by the following two non-visual targets: 1, subjects' fingertip motion as a somatosensory target ("Somato"), 2, a small loudspeaker (3-cm diameter.) generating white noise with an intensity of about 60 dB (A) as an acoustic target ("Acoustic"). A servo-controlled swing arm of 50cm was used to drive the subject's fingertip and the acoustic target of the small loudspeaker. The horizontal motion of the swing arm was controlled by a personal computer. The pseudorandom target motion was generated by mixing four sinusoids (0.1, 0.2, 0.4, 0.8 Hz) of which the phases were randomly selected and the peak velocities were equally set at 19 deg/s. The mean peak velocity of the target was 26.2 deg/s and the amplitude was limited within 15 deg. Horizontal eye movements were recorded by DC electro-oculography and on an analogue datatape. The experiment was performed for 30 s in complete darkness so that the subjects' fingertip and loudspeaker as such remain invisible to the subject. Signals from the data recorder were smoothed by a low pass analogue filter of 20Hz, after digitization with a sampling frequency of 200 Hz and precision of 12 bits, and stored on a computer. The slow and quick eye movement components, both of which were present in each class of horizontal eye movement investigated, were identified and separated by a computer. Then we developed a method of automatic quantitative analysis of ocular tracking eye movement. Gain and phase values for the smooth pursuit eye movements were obtained in each condition. In the lower frequency area, the gain elicited by the pseudorandom stimulation was lower than the smooth pursuit gain for sinusoidal (predictable) stimulation in all conditions. In the highest frequency, gain values did not differ significantly among the three. For the sinusoidal stimulation, the phase of the smooth component of "Visual" always had a lag and that of "Somato" and "Acoustic" had a lead in lower frequencies. All conditions had a phase shift, decreasing with increasing frequency. For the pseudorandom stimulation the phase of the SPEM had a lead only in the lowest frequency (0.1 Hz). On the other hand, in the NVSPEM the phases of the three lower frequencies had a lead which had a tendency of a larger phase lead with decreasingly frequency. In the highest frequency (0.8 Hz), we could see a short phase lag. These findings support the idea that SPEM and NVSPEM have a mutual or similar physiologic system and overlap part of the anatomical pathway.     

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.