Neural activity of supplementary and primary motor areas in monkeys and its relation to bimanual and unimanual movement sequences

Decoding of temporal intervals from cortical ensemble activity

Neurophysiological, neuroimaging, and lesion studies point to a highly distributed processing of temporal information by cortico-basal ganglia-thalamic networks. However, there are virtually no experimental data on the encoding of behavioral time by simultaneously recorded cortical ensembles. We predicted temporal intervals from the activity of hundreds of neurons recorded in motor and premotor cortex as rhesus monkeys performed self-timed hand movements. During the delay periods, when animals had to estimate temporal intervals and prepare hand movements, neuronal ensemble activity encoded both the time that elapsed from the previous hand movement and the time until the onset of the next. The neurons that were most informative of these temporal intervals increased or decreased their rates throughout the delay until reaching a threshold value, at which point a movement was initiated. Variability in the self-timed delays was explainable by the variability of neuronal rates, but not of the threshold. In addition to predicting temporal intervals, the same neuronal ensemble activity was informative for generating predictions that dissociated the delay periods of the task from the movement periods. Left hemispheric areas were the best source of predictions in one bilaterally implanted monkey overtrained to perform the task with the right hand. However, after that monkey learned to perform the task with the left hand, its left hemisphere continued and the right hemisphere started contributing to the prediction. We suggest that decoding of temporal intervals from bilaterally recorded cortical ensembles could improve the performance of neural prostheses for restoration of motor function.

The role of the basal ganglia in bimanual coordination

The functional anatomical role of the basal ganglia in bimanual coordination is unknown. Utilizing functional MRI (fMRI) at 3 T, we analyzed brain activity during three different typing tasks. The first task consisted of typing with parallel finger movements (moving left to right with four fingers on both hands). The second task was mirror movements (moving little finger to index finger on both hands), and the third task compared a resting condition with right-handed unimanual typing (moving little finger to index finger). Task dependent BOLD activity in the supplementary motor area (SMA) and dorsolateral premotor areas was observed. In addition, activation patterns were present in the cerebellar vermis during bimanual coordination tasks, with greater activation in the parallel than in the mirror condition. Finally, we also identified activity in the putamen during the tasks described above. Interestingly, putaminal activity was greatest during the period of motor task initiation, and activity during this period was greatest in the parallel condition. Our results suggest a critical role of the basal ganglia in the neural control of bimanual coordination.

Zones of bimanual and unimanual preference within human primary sensorimotor cortex during object manipulation

We asked which brain areas are engaged in the coordination of our hands in dexterous object manipulations where they cooperate for achieving a common goal. Well-trained right-handers steered a cursor on a screen to hit successively displayed targets by applying isometric forces and torques to a rigid tool. In two bimanual conditions, the object was held freely in the air and the hands thus generated coupled opposing forces. Yet, depending on the mapping rule linking hand forces and cursor movements, all subjects selected either the left or the right hand as prime actor. In two unimanual conditions, the subjects performed the same task with either the left or the right hand operating on a fixed tool. Functional magnetic resonance imaging revealed common activation across all four conditions in a dorsal fronto-parietal network biased to the left hemisphere and in bilateral occipitotemporal cortex. Contrary to the notion that medial wall premotor areas are especially active in complex bimanual actions, their activation depended on acting hand (left, right) rather than on grip type (bimanual, unimanual). We observed effects of grip type only in the primary sensorimotor cortex (SMC). In particular, with either hand as prime actor, bimanual actions preferentially activated subregions of the SMC contralateral to the acting hand. A sizeable subregion with preference for unimanual activity was found only in the left SMC in our right-handed subjects. Collectively, these results indicate a hemispheric asymmetry for the SMC and that partially different neural populations support the control of bimanual versus unimanual object manipulations.

Eccles' perspective of the forebrain, its role in skilled movements, and the mind-brain problem

Sir John Eccles' experimental life evolved from the "bottom" up: the synapse to the modular circuitry of the spinal cord, later the cerebellum and, less extensively, also the thalamus and hippocampus. He experimented quantitatively on basic properties of cell membranes, synapses, transmitters, cellular modules, reflexes, and plasticity. In parallel, he was also motivated to consider philosophical problems of mind-brain interactions. It was mostly during Eccles' "Swiss period" (1976-1997) that new experimental work advanced understanding of intentional motor actions and their preparation. For example, early brain imaging work suggested that the so-called "supplementary" motor area was rather a "supramotor" area, concerned with intentional preparation to move. Eccles also closely followed work on cortico-cerebellar integration and learning. His final contribution, in collaboration with the quantum physicist, Friedrich Beck, was a model of how specific neuronal modules interact with the mind. Being a declared dualist, Eccles encountered considerable resistance and skepticism among neuroscientists in accepting his experimentally untestable mind-brain theories. But one can only admire the remarkable continuity of effort in his search for modular operations of identified neurons in the central nervous system and their synaptic actions. This effort was facilitated by collaboration with the eminent anatomist, János Szentágothai, who had previously helped Eccles advance understanding of spinal and cerebellar circuitry. This review also includes some personal views on current understanding of the forebrain, with an emphasis on the multiplicity of cortical modules, all of which contribute in the mental preparation for forthcoming intentional actions.

Time delay and partial coherence analyses to identify cortical connectivities

Recently it has been demonstrated by Albo that partial coherence analysis is sensitive to signal to noise ratio (SNR) and that it will always identify the signal with the highest SNR among the three signals as the main (driving) influence. We propose to use time delay analysis in parallel to partial coherence analysis to identify the connectivities between the multivariate time series. Both are applied to a theoretical model (used by Albo) to analyse the connections introduced in the model. Time delay analysis identifies the connections correctly. We also apply these analyses to the electroencephalogram (EEG) and electromyogram of essential tremor patients and EEG of normal subjects while bimanually tapping their index fingers. Biologically plausible cortico-muscular and cortico-cortical connections are identified by these methods.

Disruption of bilateral temporal coordination during arm swinging in patients with hemiparesis

Persistent motor deficits in the paretic arm present a major barrier to the recovery of the ability to perform bimanual tasks even in individuals who have recovered well after a stroke. Impaired performance may be related to deficits in bimanual temporal coordination due to stroke-related damage of specific brain motor structures as well as changed biomechanics of the paretic arm. To determine the extent of the deficit in bilateral temporal coordination after the stroke, we investigated how bilateral reciprocal coordination was regained after external perturbations of the arm in individuals with hemiparesis due to stroke. We used a bilateral task that would be minimally affected by the unilateral arm motor deficit. Nine non-disabled control subjects and 12 individuals with chronic hemiparesis performed reciprocal (anti-phase) arm swinging in the standing position for 15 s per trial. In each trial, movement of one arm was unexpectedly and transiently (approximately 150-350 ms) arrested at the level of the wrist once in the forward and once in the backward phase of swinging. Perturbation was applied to the left and right arms in control subjects and to the paretic and non-paretic arms of individuals with hemiparesis. Kinematic data from endpoint markers on both hands and electromyographic activity of anterior and posterior deltoid muscles from both arms were recorded. The oscillatory period, the phase differences between arms and the mean EMG activity before, during and after perturbation were analyzed. In both groups the perturbation altered the period of the perturbed cycle in both the arrested and non-arrested arms and resulted in a change from anti-phase to in-phase coordination, following which anti-phase coordination was regained. Recovery of anti-phase swinging took significantly longer in patients with hemiparesis compared to control subjects. Stable pre-perturbed (anti-phase) reciprocal coordination was regained within one cycle following perturbation for the control subjects and within two cycles following perturbation for the patients with hemiparesis. Analysis of EMG activation levels showed that, compared to control subjects, there was significantly less activation of the shoulder muscles in response to perturbation in the patient group and the pattern of muscle activation in the paretic arm was opposite to that in the non-paretic and control arms. The finding that patients had a reduced capacity for maintaining and restoring the required reciprocal coordination when perturbation occurred suggests that stroke-related brain damage in our patients led to instability of bilateral temporal coordination for this rhythmical task.

Unilateral vs. bilateral coordination of circle-drawing tasks

The number of joint motions available in the upper extremity provides for multiple solutions to the coordination of a motor task. Making use of these abundant joint motions provides for task flexibility. Controlling bimanual movements poses another level of complexity because of possible tradeoffs between coordination within a limb and coordination between the limbs. We examined how flexible patterns of joint coordination were used to stabilize the hand's path when drawing a circle independently compared to a bimanual pattern. Across-trial variance of joint motions was partitioned into two components: goal-equivalent variance (GEV), representing variance of joint motions consistent with a stable hand path and non-goal-equivalent variance (NGEV) representing variance of joint motions that led to deviations of the hand's path. GEV was higher than NGEV in both unimanual and bimanual drawing, with one exception. Both GEV and NGEV, related to control of the individual hands' motion, decreased when engaged in the bimanual compared to unimanual drawing. Moreover, NGEV, leading to variability in the vectorial distance between the hands, was higher when the two hands drew circles in a bimanually asymmetric vs. symmetric pattern, consistent with reported differences in the relative phasing of the two hands. Our results suggest that the nervous system controls the individual hands' motions by separate intra-limb synergies during both unimanual and bimanual drawing, and superimposes an additional synergy to achieve stable relative motion of the two hands during bimanual drawing.

Measuring temporal dynamics of functional networks using phase spectrum of fMRI data

We present a novel method to measure relative latencies between functionally connected regions using phase-delay of functional magnetic resonance imaging data. Derived from the phase component of coherency, this quantity estimates the linear delay between two time-series. In conjunction with coherence, derived from the magnitude component of coherency, phase-delay can be used to examine the temporal properties of functional networks. In this paper, we apply coherence and phase-delay methods to fMRI data in order to investigate dynamics of the motor network during task and rest periods. Using the supplementary motor area (SMA) as a reference region, we calculated relative latencies between the SMA and other regions within the motor network including the dorsal premotor cortex (PMd), primary motor cortex (M1), and posterior parietal cortex (PPC). During both the task and rest periods, we measured significant delays that were consistent across subjects. Specifically, we found significant delays between the SMA and the bilateral PMd, bilateral M1, and bilateral PPC during the task condition. During the rest condition, we found that the temporal dynamics of the network changed relative to the task period. No significant delays were measured between the SMA and the left PM and left M1; however, the right PM, right M1, and bilateral PPC were significantly delayed with respect to the SMA. Additionally, we observed significant map-wise differences in the dynamics of the network at task compared to the network at rest. These differences were observed in the interaction between the SMA and the left M1, left superior frontal gyrus, and left middle frontal gyrus. These temporal measurements are important in determining how regions within a network interact and provide valuable information about the sequence of cognitive processes within a network.

Reduction of the hand representation in the ipsilateral primary motor cortex following unilateral section of the corticospinal tract at cervical level in monkeys

BACKGROUND

After sub-total hemi-section of cervical cord at level C7/C8 in monkeys, the ipsilesional hand exhibited a paralysis for a couple of weeks, followed by incomplete recovery of manual dexterity, reaching a plateau after 40-50 days. Recently, we demonstrated that the level of the plateau was related to the size of the lesion and that progressive plastic changes of the motor map in the contralesional motor cortex, particularly the hand representation, took place following a comparable time course. The goal of the present study was to assess, in three macaque monkeys, whether the hand representation in the ipsilesional primary motor cortex (M1) was also affected by the cervical hemi-section.

RESULTS

Unexpectedly, based on the minor contribution of the ipsilesional hemisphere to the transected corticospinal (CS) tract, a considerable reduction of the hand representation was also observed in the ipsilesional M1. Mapping control experiments ruled out the possibility that changes of motor maps are due to variability of the intracortical microstimulation mapping technique. The extent of the size reduction of the hand area was nearly as large as in the contralesional hemisphere in two of the three monkeys. In the third monkey, it represented a reduction by a factor of half the change observed in the contralesional hemisphere. Although the hand representation was modified in the ipsilesional hemisphere, such changes were not correlated with a contribution of this hemisphere to the incomplete recovery of the manual dexterity for the hand affected by the lesion, as demonstrated by reversible inactivation experiments (in contrast to the contralesional hemisphere). Moreover, despite the size reduction of M1 hand area in the ipsilesional hemisphere, no deficit of manual dexterity for the hand opposite to the cervical hemi-section was detected.

CONCLUSION

After cervical hemi-section, the ipsilesional motor cortex exhibited substantial reduction of the hand representation, whose extent did not match the small number of axotomized CS neurons. We hypothesized that the paradoxical reduction of hand representation in the ipsilesional hemisphere is secondary to the changes taking place in the contralesional hemisphere, possibly corresponding to postural adjustments and/or re-establishing a balance between the two hemispheres.

TMS-responses during anticipatory postural adjustment in bimanual unloading in humans

Transcranial magnetic brain stimulation (TMS) was used to assess the influence of the corticospinal system on motor output during forearm unloading in humans. Unloading was obtained either "passively" by the experimenter, or "actively" with the subjects' own contralateral arm. Anticipatory postural adjustments consisted of changes in the activity of a forearm flexor muscle prior to active unloading of the limb and acted to stabilize the forearm position. Motor evoked potentials (MEPs) were recorded in the forearm flexor at different times during active and passive unloading, static forearm loading, and during lifting of an equivalent weight by the contralateral arm while the ipsilateral forearm was statically loaded and held stationary. In active unloading, MEP amplitude decreased with the decrease of muscle activity. Passive unloading resulted in a similar decrease of MEP as with active unloading. During stationary forearm loading, the change in MEP corresponded to the degree of loading. If during static loading the contralateral arm has lifted a separate, equivalent weight, the amplitude of MEP decreased. A possible role of direct corticospinal volley and the motor command mediated by subcortical structures in anticipatory postural adjustments is discussed.

Sleep-dependent learning and motor-skill complexity

Learning of a procedural motor-skill task is known to progress through a series of unique memory stages. Performance initially improves during training, and continues to improve, without further rehearsal, across subsequent periods of sleep. Here, we investigate how this delayed sleep-dependent learning is affected when the task characteristics are varied across several degrees of difficulty, and whether this improvement differentially enhances individual transitions of the motor-sequence pattern being learned. We report that subjects show similar overnight improvements in speed whether learning a five-element unimanual sequence (17.7% improvement), a nine-element unimanual sequence (20.2%), or a five-element bimanual sequence (17.5%), but show markedly increased overnight improvement (28.9%) with a nine-element bimanual sequence. In addition, individual transitions within the motor-sequence pattern that appeared most difficult at the end of training showed a significant 17.8% increase in speed overnight, whereas those transitions that were performed most rapidly at the end of training showed only a non-significant 1.4% improvement. Together, these findings suggest that the sleep-dependent learning process selectively provides maximum benefit to motor-skill procedures that proved to be most difficult prior to sleep.

Connectivity exploration with structural equation modeling: an fMRI study of bimanual motor coordination

The present fMRI study explores the connectivity among motor areas in a bimanual coordination task using the analysis framework of structural equation modeling (SEM). During bimanual finger tapping at different frequency ratios, temporal correlations of activations between left/right primary motor cortices (MI), left/right PMdc (caudal dorsal premotor area) and supplementary motor cortex (SMA) were detected and used as inputs to the SEM analysis. SEM was extended from its traditional role as a confirmatory analysis to be used as an exploratory technique to determine the most statistically significant connectivity model given a set of cortical areas based on anatomic constraints. The resultant network exhibits coupling from left MI to right MI, links from both PMs to the two MIs, a negative interaction from left PM to right PM, and functional influence from SMA to right MI and right PM, revealing contributions of these areas to bimanual coordination.

Bimanual Coordination: An Unbalanced Field of Research

Using more than one limb to perform functional, goal-directed actions is arguably one of the most important abilities that human beings possess. In many everyday tasks, the hands, in particular, must be used to accomplish all manner of goals. From buttoning a shirt to opening a jam jar and driving to work, good bimanual coordination is of great utility. In addition to the tasks mentioned above, there are also other tasks involving the functional use of more than one limb, including walking or cycling and typing a report. With a little thought, it becomes apparent that there is at least one important difference between these categories of coordination tasks. On one hand, in some tasks the effectors must perform markedly different motor outputs that are bound together in some functionally defined and usually object-oriented manner (e.g., buttoning a shirt) yet, in others, the effectors produce very similar motor outputs but in a specific temporal order, which may or may not repeat itself periodically (e.g., walking and cycling compared to typing or drumming). In this short article, I will argue that the second category of coordination task and, in particular, cyclical coordination, has been studied extensively and, at least at the level of behavior, is relatively well understood. In contrast the former category of bimanual task is seldom studied and, even at the descriptive level, is rather poorly understood. One of the reasons for this may be the complexity of such tasks and the technical difficulties involved in attempting to study them. By highlighting some key studies, I hope to illustrate that such tasks can be fruitfully studied in the laboratory. Last, since the neural control processes underlying both classes of coordination task are not yet well known, I aim to draw attention to the potential value of the interventional technique of Transcranial Magnetic Stimulation (TMS) as a tool for investigating the functions of brain regions contributing to bimanual coordination.

The quest to understand bimanual coordination

Many skillful manipulations engage both hands for goal achievement. Whereas the goal is planned consciously and achieved quasi-invariantly, the articulators are mobilized automatically, but in a flexible manner (Lashley's principle of motor equivalence). In brain disorders affecting hand functions, adaptive mechanisms are mobilized to improve goal achievement. Thus, chronic cerebellar patients were found to initiate a bimanual drawer task with marked intermanual desynchronization as compared to control subjects. This was partly compensated for, however, by adjusting the kinematics as the individual limbs move toward the goal, thereby improving the initial desynchronization. Adaptive strategies rarely correct deficits completely, however. Bimanual movement patterns, either in-phase or anti-phase are relatively stable in healthy human subjects, whereas brain pathology may preferentially impair the anti-phase pattern. This is the case in patients with acquired pathology of the corpus callosum, thereby suggesting that this structure is important for maintaining temporally independent limb and hand movements.

Grip force control during object manipulation in cerebral stroke

OBJECTIVE

To analyze impairments of manipulative grip force control in patients with chronic cerebral stroke and relate deficits to more elementary aspects of force and grip control.

METHODS

Nineteen chronic stroke patients with fine motor deficits after unilateral cerebral lesions were examined when performing 3 manipulative tasks consisting of stationary holding, transport, and vertical cyclic movements of an instrumented object. Technical sensors measured the grip force used to stabilize the object in the hand and the object accelerations, from which the dynamic loads were calculated.

RESULTS

Many patients produced exaggerated grip forces with their affected hand in all types of manipulations. The amount of finger displacement in a grip perturbation task emerged as a highly sensitive measure for predicting the force increases. Measures of grip strength and maximum speed of force changes could not account for the impairments with comparable accuracy. In addition to force economy, the precision of the coupling between grip and load forces was impaired. However, no temporal delays were typically observed between the grip and load force profiles during cyclic movements.

CONCLUSIONS

Impaired sensibility and sensorimotor processing, evident by delayed reactions in the perturbation task, lead to an excessive increase of the safety margin between the actual grip force and the minimum force necessary to prevent object slipping. In addition to grip force scaling, cortical sensorimotor areas are responsible for smoothly and precisely adjusting grip forces to loads according to predictions about movement-induced loads and sensory experiences. However, the basic feedforward mechanism of grip force control by internal models appears to be preserved, and thus may not be a cortical but rather a subcortical or cerebellar function, as has been suggested previously.

Neural activity in primary motor and dorsal premotor cortex in reaching tasks with the contralateral versus ipsilateral arm

To investigate the effector dependence of task-related neural activity in dorsal premotor (PMd) and primary motor cortex (M1), directional tuning functions were compared between instructed-delay reaching tasks performed separately with either the contralateral or the ipsilateral limb. During presentation of the instructional cue, the majority (55/90, 61%) of cells in PMd were tuned with both arms, and their dynamic range showed a trend for stronger discharge with the contralateral arm. Most strikingly, however, the preferred direction of most of these latter cells (41/55, 75%) was not significantly different between arms. During movement, many PMd cells continued to be tuned with both arms (53/90, 59%), with a trend for increasing directional differences between the arms over the course of the trial. In contrast, during presentation of the instructional cue only 5/74 (7%) cells in M1 were tuned with both arms. During movement, about half of M1 cells (41/74, 55%) were tuned with both arms but the preferred directions of their tuning functions were often very different and there was a strong bias toward greater discharge rates when the contralateral arm was used. Similar trends were observed for EMG activity. In conclusion, M1 is strongly activated during movements of the contralateral arm, but activity during ipsilateral arm movements is also common and usually different from that seen with the contralateral arm. In contrast, a major component of task-related activity in PMd represents movement in a more abstract or task-dependent and effector-independent manner, especially during the instructed-delay period.

Single-unit activity related to bimanual arm movements in the primary and supplementary motor cortices

Single units were recorded from the primary motor (MI) and supplementary motor (SMA) areas of Rhesus monkeys performing one-arm (unimanual) and two-arm (bimanual) proximal reaching tasks. During execution of the bimanual movements, the task related activity of about one-half the neurons in each area (MI: 129/232, SMA: 107/206) differed from the activity during similar displacements of one arm while the other was stationary. The bulk of this "bimanual-related" activity could not be explained by any linear combination of activities during unimanual reaching or by differences in kinematics or recorded EMG activity. The bimanual-related activity was relatively insensitive to trial-to-trial variations in muscular activity or arm kinematics. For example, trials where bimanual arm movements differed the most from their unimanual controls did not correspond to the ones where the largest bimanual neural effects were observed. Cortical localization established by using a mixture of surface landmarks, electromyographic recordings, microstimulation, and sensory testing suggests that the recorded neurons were not limited to areas specifically involved with postural muscles. By rejecting this range of alternative explanations, we conclude that neural activity in MI as well as SMA can reflect specialized cortical processing associated with bimanual movements.

rTMS to the supplementary motor area disrupts bimanual coordination

Bimanual coordination tasks form an essential part of our behaviour. One brain region thought to be involved in bimanual coordination is the supplementary motor area (SMA). We used repetitive transcranial magnetic stimulation (rTMS) at 1 Hz for 5 min to create a temporary virtual lesion of the rostral portion of the human SMA immediately prior to performance of a goal-directed bimanual coordination task. In two control conditions, participants underwent sham stimulation or stimulation over the primary motor cortex (MI). The experimental task was to open a drawer with the left hand, catch a ball with the right hand, and reinsert the ball into the drawer through an aperture just big enough for the ball to pass through, again with the right hand. Hence, the actions of one hand depend upon the actions of the other. We calculated time intervals between the successive component actions of one hand (unimanual intervals) and actions of both hands (bimanual intervals) and analyzed these intervals separately. Interestingly, none of the unimanual intervals were affected by the rTMS, but the variability of a critical bimanual interval--the time between the left hand opening the drawer and the right hand starting to move to catch the ball--was increased by rTMS over the rostral parts of the SMA. No such effect was seen following rTMS over MI or after sham rTMS. Our results suggest that the rostral parts of the SMA play an important role in aspects of functional bimanual tasks, which involve tight temporal coordination between different motor actions of the two hands.

Bimanual coordination and interhemispheric interaction

Bimanual coordination of skilled finger movements requires intense functional coupling of the motor areas of both cerebral hemispheres. This coupling can be measured non-invasively in humans with task-related coherence analysis of multi-channel surface electroencephalography. Since bimanual coordination is a high-level capability that virtually always requires training, this review is focused on changes of interhemispheric coupling associated with different stages of bimanual learning. Evidence is provided that the interaction between hemispheres is of particular importance in the early phase of command integration during acquisition of a novel bimanual task. It is proposed that the dynamic changes in interhemispheric interaction reflect the establishment of efficient bimanual 'motor routines'. The effects of callosal damage on bimanual coordination and learning are reviewed as well as functional imaging studies related to bimanual movement. There is evidence for an extended cortical network involved in bimanual motor activities which comprises the bilateral primary sensorimotor cortex (SM1), supplementary motor area, cingulate motor area, dorsal premotor cortex and posterior parietal cortex. Current concepts about the functions of these structures in bimanual motor behavior are reviewed.

The neuronal basis of bimanual coordination: recent neurophysiological evidence and functional models

Recent physiological studies of the neuronal processes underlying bimanual movements provide new tests for earlier functional models of bimanual coordination. The recently acquired data address three conceptual areas: the generalized motor program (GMP), intermanual crosstalk and dynamic systems models. To varying degrees, each of these concepts has aspects that can be reconciled with experimental evidence. The idea of a GMP is supported by the demonstration of abstract neuronal motor codes, e.g. bimanual-specific activity in motor cortex. The crosstalk model is consistent with the facts that hand-specific coding also exists and that interactions occur between the motor commands for each arm. Uncrossed efferent projections may underlie crosstalk on an executional level. Dynamic interhemispheric interactions through the corpus callosum may provide a high-level link at the parametric programming level, allowing flexible coupling and de-coupling. Flexible neuronal interactions could also underlie adaptive large-scale systems dynamics that can be formalized within the dynamic systems theory approach. The correspondence of identified neuronal processes with functions of abstract models encourages the development of realistic computational models that can predict bimanual behavior on the basis of neuronal activity.

Intermanual coordination: from behavioural principles to neural-network interactions

Locomotion in vertebrates and invertebrates has a long history in research as the most prominent example of interlimb coordination. However, the evolution towards upright stance and gait has paved the way for a bewildering variety of functions in which the upper limbs interact with each other in a context-specific manner. The neural basis of these bimanual interactions has been investigated in recent years on different scales, ranging from the single-cell level to the analysis of neuronal assemblies. Although the prevailing viewpoint has been to assign bimanual coordination to a single brain locus, more recent evidence points to a distributed network that governs the processes of neural synchronization and desynchronization that underlie the rich variety of coordinated functions. The distributed nature of this network accounts for disruptions of interlimb coordination across various movement disorders.

Neuronal populations in primary motor cortex encode bimanual arm movements

Previous studies have shown that activity of neuronal populations in the primary motor cortex (MI), processed by the population vector method, faithfully predicts upcoming movements. In our previous studies we found that single neurons responded differently during movements of one arm vs. combined movements of the two arms. It was, therefore, not clear whether the population vector approach could produce reliable movement predictions also for bimanual movements. This study tests this question by comparing the predictive quality of population vectors for unimanual and bimanual arm movements. We designed a bimanual motor task that requires coordinated movements of the two arms, in which each arm may move in eight directions, and recorded single unit activity in the MI of two rhesus (Macaca mulatta) monkeys during the performance of unimanual and bimanual arm movements. We analysed the activity of 212 MI cells from both hemispheres and found that, despite bimanual related activity, the directional tuning and preferred directions of most cells were preserved in unimanual and bimanual movements. We demonstrate that population vectors, constructed from the activity of MI cells, predict accurately the direction of movement both for unimanual and for bimanual movements even when the two arms move simultaneously in different directions.

Neuronal activity in primate striatum and pallidum related to bimanual motor actions

To assess whether striatal and pallidal neurones may contribute to bimanual co-ordination, two macaque monkeys were trained to perform a delayed conditional sequence of co-ordinated pull and grasp movements, executed either bimanually or unimanually. Most of the 58 task-related neurones, recorded from the caudate nucleus, putamen, external and internal divisions of the globus pallidus, exhibited an activity related to the execution of the movements. Only a quarter of neurones displayed preparatory activity. The majority of units exhibited a significant modulation of activity in unimanual trials irrespective of the hand used to perform the task. In bimanual trials, one-third of units exhibited discharge patterns reflecting a bimanual synergy, suggesting a possible role for basal ganglia in inter-limb co-operation.

Brain areas involved in interlimb coordination: a distributed network

Whereas behavioral studies have made significant contributions toward the identification of the principles governing the coordination of limb movements, little is known about the role of higher brain areas that are involved in interlimb coordination. Functional magnetic resonance imaging (fMRI) was used to reveal the brain areas activated during the cyclical coordination of ipsilateral wrist and foot movements. Six normal subjects performed five different tasks that were presented in a random order, i.e., isolated flexion-extension movements of the right wrist (WRIST) and right foot (FOOT), cyclical coordination of wrist and foot according to the isodirectional (ISODIR) and nonisodirectional (NON-ISODIR) mode, and rest (REST). All movements were auditory paced at 66 beats/min. During the coordination of both limb segments, a distributed network was identified showing activation levels in the supplementary motor area (SMA), cingulate motor cortex (CMC), premotor cortex (PMC), primary sensorimotor cortex (M1/S1), and cerebellum that exceeded the sum of the activations observed during the isolated limb movements. In addition, coordination of the limb movements in different directions was associated with extra activation of the SMA as compared to movements in the same direction. It is therefore concluded that the SMA is substantially involved in the coordination of the nonhomologous limbs as part of a distributed motor network. Accordingly, the long-standing exclusive association that has been made between this medial frontal area and bimanual (homologous) coordination needs to be abandoned and extended towards other forms of interlimb coordination (nonhomologous).

The role of the medial wall and its anatomical variations for bimanual antiphase and in-phase movements

The medial wall of the frontal cortex is thought to play an important role for bimanual coordination. However, there is uncertainty regarding the exact neuroanatomical regions involved. We compared the activation patterns related to bimanual movements using functional magnetic resonance imaging in 12 healthy right-handed subjects, paying special attention to the anatomical variability of the frontal medial wall. The subjects performed unimanual right and left and bimanual antiphase and in-phase flexion and extension movements of the index finger. Activation of the right supplementary motor area (SMA) proper, right and left caudal cingulate motor area (CMA), and right and left premotor cortices was significantly stronger during bimanual antiphase than bimanual in-phase movements, indicating an important function of these areas with bimanual coordination. A frequent anatomical variation is the presence of the paracingulate sulcus (PCS), which might be an anatomical landmark to determine the location of activated areas. Seven subjects had a bilateral, three a unilateral right, and two a unilateral left PCS. Because the area around the PCS is functionally closer coupled to the CMA than to the SMA, activation found in the area around the PCS should be attributed to the CMA. With anatomical variations such as the presence of a PCS or a vertical branch of the cingulate sulcus, normalization and determination of the activation with the help of stereotaxic coordinates can cause an incorrect shift of CMA activation to the SMA. This might explain some of the discrepancies found in previous studies.

Different ipsilateral representations for distal and proximal movements in the sensorimotor cortex: activation and deactivation patterns

Each hemisphere is known to be also involved in controlling the ipsilateral arm, but with an asymmetry favoring the dominant hemisphere. However, the relative role of primary and secondary motor areas in ipsilateral control is not well defined. We used whole brain functional magnetic resonance imaging in healthy human subjects to differentiate between contributions from primary and secondary areas during discrete unilateral distal finger and proximal shoulder movements. It was found that ipsilateral distal movements activated secondary areas only, while sparing or even significantly deactivating the primary sensorimotor cortex. Ipsilateral proximal movements substantially activated both SM1 and secondary areas. A newly defined small territory within the precentral gyrus, extending from the premotor cortex and intruding toward SM1, showed an activation pattern corresponding to secondary motor areas. Finally, the effects of hemispheric dominance were confirmed, but attributed exclusively to secondary areas. These new imaging findings agree well with functional requirements as well as established anatomical and neurophysiological data.

Time structure of a goal-directed bimanual skill and its dependence on task constraints

The aim of the study was to elucidate the underlying principles of bimanual coordination and to establish quantitative coordination criteria. Healthy human subjects were instructed to open a loaded drawer with the left hand and to grasp, lift and reinsert with the right hand a small peg in the drawer recess. This bimanual goal-oriented task was executed promptly and consistently after a few trials. The temporal structure of the individual limb actions was assessed for computing interlimb synchronization and temporal correlation. In all subjects, both hands were well synchronized at the goal with high intermanual correlation in reaching the goal (event times of drawer opening and grasping the peg). This temporal goal-invariance was independent of movement speed and of the highly variable timing of the individual hands and persisted when subjects were blindfolded. Unilateral loading of the pulling hand and cutaneous anesthesia of the left index finger and thumb used for grasping the drawer handle significantly increased the pull-phase. This slowing of the left hand was matched by an adaptive delay of the right non-disturbed hand, thus preserving goal invariance. As a working hypothesis, we propose that multimodal sensory signals generated in the leading arm be transmitted centrally to re-parameterize the non-disturbed arm.