Manual interception of moving targets. II. On-line control of overlapping submovements

Tapping on a target: dealing with uncertainty about its position and motion

Reaching movements are guided by estimates of the target object's location. Since the precision of instantaneous estimates is limited, one might accumulate visual information over time. However, if the object is not stationary, accumulating information can bias the estimate. How do people deal with this trade-off between improving precision and reducing the bias? To find out, we asked participants to tap on targets. The targets were stationary or moving, with jitter added to their positions. By analysing the response to the jitter, we show that people continuously use the latest available information about the target's position. When the target is moving, they combine this instantaneous target position with an extrapolation based on the target's average velocity during the last several hundred milliseconds. This strategy leads to a bias if the target's velocity changes systematically. Having people tap on accelerating targets showed that the bias that results from ignoring systematic changes in velocity is removed by compensating for endpoint errors if such errors are consistent across trials. We conclude that combining simple continuous updating of visual information with the low-pass filter characteristics of muscles, and adjusting movements to compensate for errors made in previous trials, leads to the precise and accurate human goal-directed movements.

When intercepting moving targets, mid-movement error corrections reflect distinct responses to visual and haptic perturbations

We examined a key aspect of sensorimotor skill: the capability to correct performance errors that arise mid-movement. Participants grasped the handle of a robot that imposed a nominal viscous resistance to hand movement. They watched a target move pseudo-randomly just above the horizontal plane of hand motion and initiated quick interception movements when cued. On some trials, the robot's viscosity or the target's speed changed without warning coincident with the GO cue. We fit a sum-of-Gaussians model to mechanical power measured at the handle to determine the number, magnitude, and relative timing of submovements occurring in each interception attempt. When a single submovement successfully intercepted the target, capture times averaged 410 ms. Sometimes, two or more submovements were required. Initial error corrections typically occurred before feedback could indicate the target had been captured or missed. Error corrections occurred sooner after movement onset in response to mechanical viscosity increases (at 154 ms) than to unprovoked errors on control trials (215 ms). Corrections occurred later (272 ms) in response to viscosity decreases. The latency of corrections for target speed changes did not differ from those in control trials. Remarkably, these early error corrections accommodated the altered testing conditions; speed/viscosity increases elicited more vigorous corrections than in control trials with unprovoked errors; speed/viscosity decreases elicited less vigorous corrections. These results suggest that the brain monitors and predicts the outcome of evolving movements, rapidly infers causes of mid-movement errors, and plans and executes corrections-all within 300 ms of movement onset.

Cyclic, Condition-Independent Activity in Primary Motor Cortex Predicts Corrective Movement Behavior

Reaching movements are known to have large condition-independent (CI) neural activity and cyclic neural dynamics. A new precision center-out task was performed by rhesus macaques to test the hypothesis that cyclic, CI neural activity in the primary motor cortex (M1) occurs not only during initial reaching movements but also during subsequent corrective movements. Corrective movements were observed to be discrete with time courses and bell-shaped speed profiles similar to the initial movements. CI cyclic neural trajectories were similar and repeated for initial and each additional corrective submovement. The phase of the cyclic CI neural activity predicted the time of peak movement speed more accurately than regression of instantaneous firing rate, even when the subject made multiple corrective movements. Rather than being controlled as continuations of the initial reach, a discrete cycle of motor cortex activity encodes each corrective submovement.

Age-related deficits in rapid visuomotor decision-making

Many goal-directed actions that require rapid visuomotor planning and perceptual decision-making are affected in older adults, causing difficulties in execution of many functional activities of daily living. Visuomotor planning and perceptual identification are mediated by the dorsal and ventral visual streams, respectively, but it is unclear how age-induced changes in sensory processing in these streams contribute to declines in visuomotor decision-making performance. Previously, we showed that in young adults, task demands influenced movement strategies during visuomotor decision-making, reflecting differential integration of sensory information between the two streams. Here, we asked the question if older adults would exhibit deficits in interactions between the two streams during demanding motor tasks. Older adults (n = 15) and young controls (n = 26) performed reaching or interception movements toward virtual objects. In some blocks of trials, participants also had to select an appropriate movement goal based on the shape of the object. Our results showed that older adults corrected fewer initial decision errors during both reaching and interception movements. During the interception decision task, older adults made more decision- and execution-related errors than young adults, which were related to early initiation of their movements. Together, these results suggest that older adults have a reduced ability to integrate new perceptual information to guide online action, which may reflect impaired ventral-dorsal stream interactions.NEW & NOTEWORTHY Older adults show declines in vision, decision-making, and motor control, which can lead to functional limitations. We used a rapid visuomotor decision task to examine how these deficits may interact to affect task performance. Compared with healthy young adults, older adults made more errors in both decision-making and motor execution, especially when the task required intercepting moving targets. This suggests that age-related declines in integrating perceptual and motor information may contribute to functional deficits.

Experimental and theoretical study of velocity fluctuations during slow movements in humans

Moving smoothly is generally considered as a higher-order goal of motor control and moving jerkily as a witness of clumsiness or pathology, yet many common and well-controlled movements (e.g., tracking movements) have irregular velocity profiles with widespread fluctuations. The origin and nature of these fluctuations have been associated with the operation of an intermittent process but in fact remain poorly understood. Here we studied velocity fluctuations during slow movements, using combined experimental and theoretical tools. We recorded arm movement trajectories in a group of healthy participants performing back-and-forth movements at different speeds, and we analyzed velocity profiles in terms of series of segments (portions of velocity between 2 minima). We found that most of the segments were smooth (i.e., corresponding to a biphasic acceleration) and had constant duration irrespective of movement speed and linearly increasing amplitude with movement speed. We accounted for these observations with an optimal feedback control model driven by a staircase goal position signal in the presence of sensory noise. Our study suggests that one and the same control process can explain the production of fast and slow movements, i.e., fast movements emerge from the immediate tracking of a global goal position and slow movements from the successive tracking of intermittently updated intermediate goal positions. NEW & NOTEWORTHY We show in experiments and modeling that slow movements could result from the brain tracking a sequence of via points regularly distributed in time and space. Accordingly, slow movements would differ from fast movement by the nature of the guidance and not by the nature of control. This result could help in understanding the origin and nature of slow and segmented movements frequently observed in brain disorders.

Continuously updating one’s predictions underlies successful interception

This paper reviews our understanding of the interception of moving objects. Interception is a demanding task that requires both spatial and temporal precision. The required precision must be achieved on the basis of imprecise and sometimes biased sensory information. We argue that people make precise interceptive movements by continuously adjusting their movements. Initial estimates of how the movement should progress can be quite inaccurate. As the movement evolves, the estimate of how the rest of the movement should progress gradually becomes more reliable as prediction is replaced by sensory information about the progress of the movement. The improvement is particularly important when things do not progress as anticipated. Constantly adjusting one’s estimate of how the movement should progress combines the opportunity to move in a way that one anticipates will best meet the task demands with correcting for any errors in such anticipation. The fact that the ongoing movement might have to be adjusted can be considered when determining how to move, and any systematic anticipation errors can be corrected on the basis of the outcome of earlier actions.

The self-organization of ball bouncing

The hybrid rhythmic ball-bouncing task considered in this study requires a participant to hit a ball in a virtual environment by moving a paddle in the real environment. It allows for investigation of the online visual control of action in humans. Changes in gravity acceleration in the virtual environment affect the ball dynamics and modify the ball-paddle system limit cycle. These changes are shown to be accurately reproduced through simulation by a model integrating continuous information-movement couplings between the ball trajectory and the paddle trajectory, giving rise to a resonance-tuning phenomenon. On the contrary, the tested models integrating only intermittent sensorimotor couplings were unable to replicate the observed human behavior. Results suggest that the visual control of action is achieved online, in a prospective way. Human rhythmic motor control would benefit from the timing and phase control emerging from the low-level continuous coupling between the central pattern generator and the visual perception of the ball trajectory. This control strategy, which precludes the need for internal clock and explicit environmental representation, is also able to explain the empirical result that the bounces tend to converge toward a passive stability regime during human ball bouncing.

A Single, Continuously Applied Control Policy for Modeling Reaching Movements with and without Perturbation

It has been debated whether kinematic features, such as the number of peaks or decomposed submovements in a velocity profile, indicate the number of discrete motor impulses or result from a continuous control process. The debate is particularly relevant for tasks involving target perturbation, which can alter movement kinematics. To simulate such tasks, finite-horizon models require two preset movement durations to compute two control policies before and after the perturbation. Another model employs infinite- and finite-horizon formulations to determine, respectively, movement durations and control policies, which are updated every time step. We adopted an infinite-horizon optimal feedback control model that, unlike previous approaches, does not preset movement durations or use multiple control policies. It contains both control-dependent and independent noises in system dynamics, state-dependent and independent noises in sensory feedbacks, and different delays and noise levels for visual and proprioceptive feedbacks. We analytically derived an optimal solution that can be applied continuously to move an effector toward a target regardless of whether, when, or where the target jumps. This single policy produces different numbers of peaks and “submovements” in velocity profiles for different conditions and trials. Movements that are slower or perturbed later appear to have more submovements. The model is also consistent with the observation that subjects can perform the perturbation task even without detecting the target jump or seeing their hands during reaching. Finally, because the model incorporates Weber's law via a state representation relative to the target, it explains why initial and terminal visual feedback are, respectively, less and more effective in improving end-point accuracy. Our work suggests that the number of peaks or submovements in a velocity profile does not necessarily reflect the number of motor impulses and that the difference between initial and terminal feedback does not necessarily imply a transition between open- and closed-loop strategies.

Eye-hand coordination during flexible manual interception of an abruptly appearing, moving target

As a vital skill in an evolving world, interception of moving objects relies on accurate prediction of target motion. In natural circumstances, active gaze shifts often accompany hand movements when exploring targets of interest, but how eye and hand movements are coordinated during manual interception and their dependence on visual prediction remain unclear. Here, we trained gaze-unrestrained monkeys to manually intercept targets appearing at random locations and circularly moving with random speeds. We found that well-trained animals were able to intercept the targets with adequate compensation for both sensory transmission and motor delays. Before interception, the animals' gaze followed the targets with adequate compensation for the sensory delay, but not for extra target displacement during the eye movements. Both hand and eye movements were modulated by target kinematics, and their reaction times were correlated. Moreover, retinal errors and reaching errors were correlated across different stages of reach execution. Our results reveal eye-hand coordination during manual interception, yet the eye and hand movements may show different levels of prediction based on the task context.

NEW & NOTEWORTHY Here we studied the eye-hand coordination of monkeys during flexible manual interception of a moving target. Eye movements were untrained and not explicitly associated with reward. We found that the initial saccades toward the moving target adequately compensated for sensory transmission delays, but not for extra target displacement, whereas the reaching arm movements fully compensated for sensorimotor delays, suggesting that the mode of eye-hand coordination strongly depends on behavioral context.

Analyzing the kinematics of hand movements in catching tasks-An online correction analysis of movement toward the target's trajectory

Free, 3-D interceptive movements are difficult to visualize and quantify. For ball catching, the endpoint of a movement can be anywhere along the target's trajectory. Furthermore, the hand may already have begun to move before the subject has estimated the target's trajectory, and the subject may alter the targeted position during the initial part of the movement. We introduce a method to deal with these difficulties and to quantify three movement phases involved in catching: the initial, non-goal-directed phase; the goal-directed phase, which is smoothly directed toward the target's trajectory; and the final, interception phase. Therefore, the 3-D movement of the hand was decomposed into a component toward the target's trajectory (the minimal distance of the hand to the target's parabolic [MDHP] trajectory) and a component along this trajectory. To identify the goal-directed phase of the MDHP trajectory, we employed the empirical finding that goal-directed trajectories are minimally jerky. The second component, along the target's trajectory, was used to analyze the interaction of the hand with the ball. The method was applied to two conditions of a ball-catching task. In the manipulated condition, the initial part of the ball's flight was occluded, so the visibility of the ball was postponed. As expected, the onset of the smooth part of the movement shifted to a later time. This method can be used to quantify anticipatory behavior in interceptive tasks, allowing researchers to gain new insights into movement planning toward the target's trajectory.

Intercepting virtual balls approaching under different gravity conditions: evidence for spatial prediction

To accurately time motor responses when intercepting falling balls we rely on an internal model of gravity. However, whether and how such a model is also used to estimate the spatial location of interception is still an open question. Here we addressed this issue by asking 25 participants to intercept balls projected from a fixed location 6 m in front of them and approaching along trajectories with different arrival locations, flight durations, and gravity accelerations (0g and 1g). The trajectories were displayed in an immersive virtual reality system with a wide field of view. Participants intercepted approaching balls with a racket, and they were free to choose the time and place of interception. We found that participants often achieved a better performance with 1g than 0g balls. Moreover, the interception points were distributed along the direction of a 1g path for both 1g and 0g balls. In the latter case, interceptions tended to cluster on the upper half of the racket, indicating that participants aimed at a lower position than the actual 0g path. These results suggest that an internal model of gravity was probably used in predicting the interception locations. However, we found that the difference in performance between 1g and 0g balls was modulated by flight duration, the difference being larger for faster balls. In addition, the number of peaks in the hand speed profiles increased with flight duration, suggesting that visual information was used to adjust the motor response, correcting the prediction to some extent.NEW & NOTEWORTHY Here we show that an internal model of gravity plays a key role in predicting where to intercept a fast-moving target. Participants also assumed an accelerated motion when intercepting balls approaching in a virtual environment at constant velocity. We also show that the role of visual information in guiding interceptive movement increases when more time is available.

Grasping occluded targets: investigating the influence of target visibility, allocentric cue presence, and direction of motion on gaze and grasp accuracy

Participants executed right-handed reach-to-grasp movements toward horizontally translating targets. Visual feedback of the target when reaching, as well as the presence of additional cues placed above and below the target's path, was manipulated. Comparison of average fixations at reach onset and at the time of the grasp suggested that participants accurately extrapolated the occluded target's motion prior to reach onset, but not after the reach had been initiated, resulting in inaccurate grasp placements. Final gaze and grasp positions were more accurate when reaching for leftward moving targets, suggesting individuals use different grasp strategies when reaching for targets traveling away from the reaching hand. Additional cue presence appeared to impair participants' ability to extrapolate the disappeared target's motion, and caused grasps for occluded targets to be less accurate. Novel information is provided about the eye-hand strategies used when reaching for moving targets in unpredictable visual conditions.

How Can People Be so Good at Intercepting Accelerating Objects if They Are so Poor at Visually Judging Acceleration?

People are known to be very poor at visually judging acceleration. Yet, they are extremely proficient at intercepting balls that fall under gravitational acceleration. How is this possible? We previously found that people make systematic errors when trying to tap on targets that move with different constant accelerations or decelerations on interleaved trials. Here, we show that providing contextual information that indicates how the target will decelerate on the next trial does not reduce such errors. Such errors do rapidly diminish if the same deceleration is present on successive trials. After observing several targets move with a particular acceleration or deceleration without attempting to tap on them, participants tapped as if they had never experienced the acceleration or deceleration. Thus, people presumably deal with acceleration when catching or hitting a ball by compensating for the errors that they made on preceding attempts.

Hand interception of occluded motion in humans: a test of model-based vs. on-line control

Two control schemes have been hypothesized for the manual interception of fast visual targets. In the model-free on-line control, extrapolation of target motion is based on continuous visual information, without resorting to physical models. In the model-based control, instead, a prior model of target motion predicts the future spatiotemporal trajectory. To distinguish between the two hypotheses in the case of projectile motion, we asked participants to hit a ball that rolled down an incline at 0.2 g and then fell in air at 1 g along a parabola. By varying starting position, ball velocity and trajectory differed between trials. Motion on the incline was always visible, whereas parabolic motion was either visible or occluded. We found that participants were equally successful at hitting the falling ball in both visible and occluded conditions. Moreover, in different trials the intersection points were distributed along the parabolic trajectories of the ball, indicating that subjects were able to extrapolate an extended segment of the target trajectory. Remarkably, this trend was observed even at the very first repetition of movements. These results are consistent with the hypothesis of model-based control, but not with on-line control. Indeed, ball path and speed during the occlusion could not be extrapolated solely from the kinematic information obtained during the preceding visible phase. The only way to extrapolate ball motion correctly during the occlusion was to assume that the ball would fall under gravity and air drag when hidden from view. Such an assumption had to be derived from prior experience.

Sensorimotor control of tracking movements at various speeds for stroke patients as well as age-matched and young healthy subjects

There are aging- and stroke-induced changes on sensorimotor control in daily activities, but their mechanisms have not been well investigated. This study explored speed-, aging-, and stroke-induced changes on sensorimotor control. Eleven stroke patients (affected sides and unaffected sides) and 20 control subjects (10 young and 10 age-matched individuals) were enrolled to perform elbow tracking tasks using sinusoidal trajectories, which included 6 target speeds (15.7, 31.4, 47.1, 62.8, 78.5, and 94.2 deg/s). The actual elbow angle was recorded and displayed on a screen as visual feedback, and three indicators, the root mean square error (RMSE), normalized integrated jerk (NIJ) and integral of the power spectrum density of normalized speed (IPNS), were used to investigate the strategy of sensorimotor control. Both NIJ and IPNS had significant differences among the four groups (P<0.01), and the values were ranked in the following order: young controls < age-matched controls Collapse

Key Words Collapse

MESH Headings

• Adult
• Case-Control Studies
• Elbow/physiopathology
• Female
• Humans
• Male
• Middle Aged
• Movement/physiology
• Psychomotor Performance/physiology
• Stroke/physiopathology
• Young Adult

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Grants Collapse

Affiliation(s)

Di Ao School of Engineering, Sun Yat-sen University, Guangzhou, Guang Dong, P. R. China Key Laboratory of Sensing Technology and Biomedical Instrument of GuangDong province, Guangzhou, Guang Dong, P. R. China
Rong Song School of Engineering, Sun Yat-sen University, Guangzhou, Guang Dong, P. R. China Key Laboratory of Sensing Technology and Biomedical Instrument of GuangDong province, Guangzhou, Guang Dong, P. R. China
Kai-yu Tong Division of Biomedical Engineering, Department of Electronic Engineering, the Chinese University of Hong Kong, Hong Kong, China

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Interpersonal variability in timing strategy and temporal accuracy in rapid interception task with variable time-to-contact

In rapid interceptive actions such as hitting a baseball, cricket ball or tennis ball, ball speed varies between trials, and players have to compensate the time lag by controlling the moment of movement onset and movement duration. Previous studies have found that these two variables can flexibly co-vary and are robustly influenced by target speed (i.e. velocity-coupling effect: faster movement for faster target). However, some studies reported an interpersonal variability in the timing control strategy and the relationship between the strategy and temporal accuracy in rapid interception is unclear. We used a baseball-simulated rapid interceptive task to assess this issue. Under relatively easy time constraints, there was a large interpersonal variability, and participants were distinctively divided into two groups: those who mainly modulated their movement duration and those who mainly controlled their movement onset. When the time constraint became severe, the second strategy shifted to the first strategy in most of the second group participants. In the both cases, being able to mainly control movement onset resulted in higher temporal accuracy. These results suggest that minimising the velocity-coupling effect is an important factor to achieve high temporal accuracy in rapid interception.

Characterizing and predicting submovements during human three-dimensional arm reaches

We have demonstrated that 3D target-oriented human arm reaches can be represented as linear combinations of discrete submovements, where the submovements are a set of minimum-jerk basis functions for the reaches. We have also demonstrated the ability of deterministic feed-forward Artificial Neural Networks (ANNs) to predict the parameters of the submovements. ANNs were trained using kinematic data obtained experimentally from five human participants making target-directed movements that were decomposed offline into minimum-jerk submovements using an optimization algorithm. Under cross-validation, the ANNs were able to accurately predict the parameters (initiation-time, amplitude, and duration) of the individual submovements. We also demonstrated that the ANNs can together form a closed-loop model of human reaching capable of predicting 3D trajectories with VAF >95.9% and RMSE ≤4.32 cm relative to the actual recorded trajectories. This closed-loop model is a step towards a practical arm trajectory generator based on submovements, and should be useful for the development of future arm prosthetic devices that are controlled by brain computer interfaces or other user interfaces.

Neural extrapolation of motion for a ball rolling down an inclined plane

It is known that humans tend to misjudge the kinematics of a target rolling down an inclined plane. Because visuomotor responses are often more accurate and less prone to perceptual illusions than cognitive judgments, we asked the question of how rolling motion is extrapolated for manual interception or drawing tasks. In three experiments a ball rolled down an incline with kinematics that differed as a function of the starting position (4 different positions) and slope (30°, 45° or 60°). In Experiment 1, participants had to punch the ball as it fell off the incline. In Experiment 2, the ball rolled down the incline but was stopped at the end; participants were asked to imagine that the ball kept moving and to punch it. In Experiment 3, the ball rolled down the incline and was stopped at the end; participants were asked to draw with the hand in air the trajectory that would be described by the ball if it kept moving. We found that performance was most accurate when motion of the ball was visible until interception and haptic feedback of hand-ball contact was available (Experiment 1). However, even when participants punched an imaginary moving ball (Experiment 2) or drew in air the imaginary trajectory (Experiment 3), they were able to extrapolate to some extent global aspects of the target motion, including its path, speed and arrival time. We argue that the path and kinematics of a ball rolling down an incline can be extrapolated surprisingly well by the brain using both visual information and internal models of target motion.

Predicting the initiation of minimum-jerk submovements in three-dimensional target-oriented human arm trajectories

Target-oriented human arm trajectories can be represented as a series of summed minimum-jerk submovements. Under this framework, corrections for errors in reaching trajectories could be implemented by adding another submovement to the ongoing trajectory. It has been proposed that a feedback-feedforward error-detection process continuously evaluates trajectory error, but this process initiates corrections at discrete points in time. The present study demonstrates the ability of a feed-forward Artificial Neural Network (ANN) to learn the function of this error-detection process. Experimentally recorded human target-oriented arm trajectories were decomposed into submovements. It was assumed that the parameters of each submovement are known at their onset. Trained on these parameters, for each of three participants, an ANN can predict presence of corrections with sensitivity and specificity > 80%, and can predict their timing with R(2) > 40%.

Catching what we can't see: manual interception of occluded fly-ball trajectories

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories.

Submovement composition of head movement

Limb movement is smooth and corrections of movement trajectory and amplitude are barely noticeable midflight. This suggests that skeletomuscular motor commands are smooth in transition, such that the rate of change of acceleration (or jerk) is minimized. Here we applied the methodology of minimum-jerk submovement decomposition to a member of the skeletomuscular family, the head movement. We examined the submovement composition of three types of horizontal head movements generated by nonhuman primates: head-alone tracking, head-gaze pursuit, and eye-head combined gaze shifts. The first two types of head movements tracked a moving target, whereas the last type oriented the head with rapid gaze shifts toward a target fixed in space. During head tracking, the head movement was composed of a series of episodes, each consisting of a distinct, bell-shaped velocity profile (submovement) that rarely overlapped with each other. There was no specific magnitude order in the peak velocities of these submovements. In contrast, during eye-head combined gaze shifts, the head movement was often comprised of overlapping submovements, in which the peak velocity of the primary submovement was always higher than that of the subsequent submovement, consistent with the two-component strategy observed in goal-directed limb movements. These results extend the previous submovement composition studies from limb to head movements, suggesting that submovement composition provides a biologically plausible approach to characterizing the head motor recruitment that can vary depending on task demand.

Base on balls for the Chapman strategy: reassessing Brouwer, Brenner, and Smeets (2002)

A true understanding of skilled behavior includes the identification of the information that underlies the perception–action cycle at work. Often, observers’ sensitivity to perceptual variables is established in laboratory-situated simulation-based psychophysical experiments. The observers’ sensitivity thus determined is then used to draw conclusions that will generalize the findings to natural behavior. Focusing on the example of running to catch fly balls, the present contribution takes the study of Brouwer, Brenner, and Smeets (Perception & Psychophysics 64:1160–1168, 2002) to illustrate how common assumptions in the steps from psychophysical experiments to natural behavior can result in ungrounded conclusions. These authors built an argument to reject the use of the Chapman strategy of zeroing out optical acceleration. For this argument, they determined the sensitivity of the visual system to acceleration, assuming that acceleration is detected as a velocity ratio. Next, they showed that catchers started running earlier than could be expected on the basis of sensitivity thresholds for this velocity ratio, concluding that running initiation could not have been based on optical acceleration. In the present study, we argue that important assumptions in the Brouwer et al. (Perception & Psychophysics 64:1160–1168, 2002) line of argument are incorrect. First, we show how the assumption of parabolic ball flight trajectories, although convenient, biased Brouwer et al.’s (Perception & Psychophysics 64:1160–1168, 2002) conclusion. Next, we present an experiment revealing that observers do not base their judgments of acceleration on the velocity ratio. Thus, we demonstrate that Brouwer et al.’s (Perception & Psychophysics 64:1160–1168, 2002) argument that optical acceleration cannot serve as the information for running to catch fly balls does not hold.

Catching a ball at the right time and place: individual factors matter

Intercepting a moving object requires accurate spatio-temporal control. Several studies have investigated how the CNS copes with such a challenging task, focusing on the nature of the information used to extract target motion parameters and on the identification of general control strategies. In the present study we provide evidence that the right time and place of the collision is not univocally specified by the CNS for a given target motion; instead, different but equally successful solutions can be adopted by different subjects when task constraints are loose. We characterized arm kinematics of fourteen subjects and performed a detailed analysis on a subset of six subjects who showed comparable success rates when asked to catch a flying ball in three dimensional space. Balls were projected by an actuated launching apparatus in order to obtain different arrival flight time and height conditions. Inter-individual variability was observed in several kinematic parameters, such as wrist trajectory, wrist velocity profile, timing and spatial distribution of the impact point, upper limb posture, trunk motion, and submovement decomposition. Individual idiosyncratic behaviors were consistent across different ball flight time conditions and across two experimental sessions carried out at one year distance. These results highlight the importance of a systematic characterization of individual factors in the study of interceptive tasks.

Beside the point: motor adaptation without feedback-based error correction in task-irrelevant conditions

Adaptation of movement may be driven by the difference between planned and actual motor performance, or the difference between expected and actual sensory consequences of movement. To identify how the nervous system differentially uses these signals, we asked: does motor adaptation occur when movement errors are irrelevant to the task goal? Participants reached on a digitizing tablet from a fixed start location to one of three targets: a point, an arc, or a ray. For the arc, reaches could be in any direction, but to a specific extent. For the ray, reaches could be to any distance, but in a targeted direction. After baseline reaching to the point, the direction or extent of continuous visual feedback was perturbed during training with either a cursor rotation or gain, respectively, while reaching to either the ray (goal = direction) or the arc (goal = extent). The perturbation, therefore, was either relevant or irrelevant to the task goal, depending on target type. During interspersed catch trials, the perturbation was removed and the target switched back to the point, identical to baseline. Although the goal of baseline and catch trials was the same, significant aftereffects in catch trials indicated behavioral adaptation in response to the perturbation. Adaptation occurred regardless of whether the perturbation was relevant to the task, and it was independent of feedback control. The presence of adaptation orthogonal to task demands supports the hypothesis that the nervous system can rely on sensory prediction to drive motor learning that can generalize across tasks.

Superposition and modulation of muscle synergies for reaching in response to a change in target location

We have recently shown that the muscle patterns for reaching are well described by the combination of a few time-varying muscle synergies supporting the notion of a modular architecture for arm control. Here we investigated whether the muscle patterns for reaching movements involving online corrections are also generated by the combination of the same set of time-varying muscle synergies used for point-to-point movements. We recorded endpoint kinematics and EMGs from up to 16 arm muscles of 5 subjects reaching from a central location to 8 peripheral targets in the frontal plane, from each peripheral target to 1 of the 2 adjacent targets, and from the central location initially to 1 peripheral target and, after a delay of either 50, 150, or 250 ms from the go signal, to 1 of the 2 adjacent targets. Time-varying muscle synergies were extracted from the averaged, phasic, normalized EMGs of point-to-point movements and fit to the patterns of target change movements using an iterative optimization algorithm. In all subjects, three time-varying muscle synergies explained a large fraction of the data variation of point-to-point movements. The superposition and modulation of the same three synergies reconstructed the muscle patterns for target change movements better than the superposition and modulation of the corresponding point-to-point muscle patterns, appropriately aligned. While at the kinematic level the corrective trajectory for reaching during a change in target location can be obtained by the delayed superposition of the trajectory from the initial to the final target, at the muscle level the underlying phasic muscle patterns are captured by the amplitude and timing modulation of the same time-varying muscle synergies recruited for point-to-point movements. These results suggest that a common modular architecture is used for the control of unperturbed arm movement and for its visually guided online corrections.

Quantitative evaluation of upper-limb motor control in robot-aided rehabilitation

This paper is focused on the multimodal analysis of patient performance, carried out by means of robotic technology and wearable sensors, and aims at providing quantitative measure of biomechanical and motion planning features of arm motor control following rehabilitation. Upper-limb robotic therapy was administered to 24 community-dwelling persons with chronic stroke. Performance indices on patient motor performance were computed from data recorded with the InMotion2 robotic machine and a magneto-inertial sensor. Motor planning issues were investigated by means of techniques of motion decomposition into submovements. A linear regression analysis was carried out to study correlation with clinical scales. Robotic outcome measures showed a significant improvement of kinematic motor performance; improvement of dynamic components was more significant in resistive motion and highly correlated with MP. The analysis of motion decomposition into submovements showed an important change with recovery of submovement number, amplitude and order, tending to patterns measured in healthy subjects. Preliminary results showed that arm biomechanical functions can be objectively measured by means of the proposed set of performance indices. Correlation with MP is high, while correlation with FM is moderate. Features related to motion planning strategies can be extracted from submovement analysis.

Where was my arm again? Memory-based matching of proprioceptive targets is enhanced by increased target presentation time

Our sense of proprioception is vital for the successful performance of most activities of daily living, and memory-based joint position matching (JPM) tasks are often utilized to quantify such proprioceptive abilities. In the present study we sought to determine if matching a remembered proprioceptive target angle was influenced significantly by the length of time given to develop a neural representation of that position. Thirteen healthy adult subjects performed active matching of passively determined elbow joint angles (amplitude = 20 degrees or 40 degrees extension) in the absence of vision, with either a relatively "short" (3 s) or "long" (12 s) target presentation time. In the long condition, where subjects had a greater opportunity to develop an internal representation of the target elbow joint angle, matching movements had significantly smaller variable errors and were associated with smoother matching movement trajectories of a shorter overall duration. Taken together, these findings provide an important proprioceptive corollary for previous results obtained in studies of visually-guided reaching suggesting that increased exposure to target sensory stimuli can improve the accuracy of matching performance. Further, these results appear to be of particular importance with respect to the estimation of proprioceptive function in individuals with disability, who typically have increased noise in their proprioceptive systems.

Learning optimal adaptation strategies in unpredictable motor tasks

Picking up an empty milk carton that we believe to be full is a familiar example of adaptive control, because the adaptation process of estimating the carton's weight must proceed simultaneously with the control process of moving the carton to a desired location. Here we show that the motor system initially generates highly variable behavior in such unpredictable tasks but eventually converges to stereotyped patterns of adaptive responses predicted by a simple optimality principle. These results suggest that adaptation can become specifically tuned to identify task-specific parameters in an optimal manner.

Behavioral and neurophysiological aspects of target interception

This chapter focuses on the behavioral and neurophysiological aspects of manual interception. We review the most important elements of an interceptive action from the sensory and cognitive stage to the motor side of this behavior. We describe different spatial and temporal target parameters that can be used to control the interception movement, as well as the different strategies used by the subject to intercept a moving target. We review the neurophysiological properties of the parietofrontal system during target motion processing and during a particular experiment of target interception. Finally, we describe the neural responses associated with the temporal and spatial parameters of a moving target and the possible neurophysiological mechanisms used to integrate this information in order to trigger an interception movement.

Single trial coupling of Purkinje cell activity to speed and error signals during circular manual tracking

The simple spike firing of cerebellar Purkinje cells encodes information on the kinematics of limb movements. However, these conclusions have been primarily based on averaging the discharge of Purkinje cells across trials and time and there is little information on whether Purkinje cell simple spike firing encodes specific motor errors during limb movements. Therefore, this study investigated single-trial correlations between the instantaneous simple spike firing of Purkinje cells with various kinematics and error signals. Purkinje cells (n = 126) were recorded in the intermediate and lateral zones centered on the primary fissure while three monkeys intercepted and tracked a target moving in a circle. Cross-correlation analysis was performed between the instantaneous simple spike firing rate and speed, the directional component of the velocity vector, and error signals during single movement trials. Significant correlations at physiologically relevant lags of +/-250 ms were observed with tracking speed for 37% of Purkinje cells, with the velocity component in 39%, with direction error in 6% and speed error in 25%. Simple spike firing of the majority of Purkinje cells with significant correlation showed a negative lag with respect to speed and a positive lag with respect to error signals. We hypothesize that the cerebellum is involved in movement planning and control by continuously monitoring movement errors and making intermittent corrections that are represented as fluctuations in the speed profile.

Application of motor algebra to the analysis of human arm movements

Motor algebra, a 4D degenerate geometric algebra, offers a rigorous yet simple representation of the 3D velocity of a rigid body. Using this representation, we study 3D extended arm pointing and reaching movements. We analyze the choice of arm orientation about the vector connecting the shoulder and the wrist, in cases for which this orientation is not prescribed by the task. Our findings show that the changes in this orientation throughout the movement were very small, possibly indicating an underlying motion planning strategy. We additionally examine the decomposition of movements into submovements and reconstruct the motion by assuming superposition of the velocity profiles of the underlying submovements by analyzing both the translational and rotational components of the 3D spatial velocity. This movement decomposition method reveals a larger number of submovement than is found using previously applied submovement extraction methods that are based only on the analysis of the hand tangential velocity. The reconstructed velocity profiles and final orientations are relatively close to the actual values, indicating that single-axis submovements may be the basic building blocks underlying 3D movement construction.

A computational model for redundant human three-dimensional pointing movements: integration of independent spatial and temporal motor plans simplifies movement dynamics

Few computational models have addressed the spatiotemporal features of unconstrained three-dimensional (3D) arm motion. Empirical observations made on hand paths, speed profiles, and arm postures during point-to-point movements led to the assumption that hand path and arm posture are independent of movement speed, suggesting that the geometric and temporal properties of movements are decoupled. In this study, we present a computational model of 3D movements for an arm with four degrees of freedom based on the assumption that optimization principles are separately applied at the geometric and temporal levels of control. Geometric properties (path and posture) are defined in terms of geodesic paths with respect to the kinetic energy metric in the Riemannian configuration space. Accordingly, a geodesic path can be generated with less muscular effort than on any other, nongeodesic path, because the sum of all configuration-speed-dependent torques vanishes. The temporal properties of the movement (speed) are determined in task space by minimizing the squared jerk along the selected end-effector path. The integration of both planning levels into a single spatiotemporal representation simplifies the control of arm dynamics along geodesic paths and results in movements with near minimal torque change and minimal peak value of kinetic energy. Thus, the application of Riemannian geometry allows for a reconciliation of computational models previously proposed for the description of arm movements. We suggest that geodesics are an emergent property of the motor system through the exploration of dynamical space. Our data validated the predictions for joint trajectories, hand paths, final postures, speed profiles, and driving torques.

Submovements in visually-guided and memory-guided reaching tasks: changes in Parkinson's disease

Movements in people with Parkinson's disease are often hypometric, although we have found that this was not the case in an experimental visually-guided reaching task. We wished to explore our hypotheses that (1) people with Parkinson's disease produce hypometric primary submovements but(2) are able to use visual feedback to accurately reach the target in a single overall movement, and (3) this effect may be greater in memory-guided tasks in which an internal representation of the target location is used instead of a fixation-centered representation of the target.Visually- and memory-guided reaching movements were examined in 22 people with mild to moderate severity Parkinson's disease on medication, along with age-matched and sex-matched controls. Primary submovements were extracted from 5149 movements using a method based upon zero crossings of jerk(3rd derivative of position), with several additional criteria to minimize the detection of submovements due to noise or tremor.There was no difference in the end position of the overall reaching movement between the two groups, although the movement was smaller in the memory-guided task. In contrast,the gain of the primary submovement was smaller in the Parkinson's disease group than the control group, with this difference being greater on the memory-guided task. There was no task effect on the primary submovement gain in the control group.Our results show that the underlying primary submovement in visually-guided movements in people with Parkinson's disease is hypometric, and that the degree of hypometria is even greater in memory-guided movements.

A state-space framework for movement control to dynamic goals through brain-driven interfaces

State-space estimation is a convenient framework for the design of brain-driven interfaces, where neural activity is used to control assistive devices for individuals with severe motor deficits. Recently, state-space approaches were developed to combine goal planning and trajectory-guiding neural activity in the control of reaching movements of an assistive device to static goals. In this paper, we extend these algorithms to allow for goals that may change over the course of the reach. Performance between static and dynamic goal state equations and a standard free movement state equation is compared in simulation. Simulated trials are also used to explore the possibility of incorporating activity from parietal areas that have previously been associated with dynamic goal position. Performance is quantified using mean-square error (MSE) of trajectory estimates. We also demonstrate the use of goal estimate MSE in evaluating algorithms for the control of goal-directed movements. Finally, we propose a framework to combine sensor data and control algorithms along with neural activity and state equations, to coordinate goal-directed movements through brain-driven interfaces.

Target interception: hand-eye coordination and strategies

This study was designed to define the characteristics of eye-hand coordination in a task requiring the interception of a moving target. It also assessed the extent to which the motion of the target was predicted and the strategies subjects used to determine when to initiate target interception. Target trajectories were constructed from sums of sines in the horizontal and vertical dimensions. Subjects intercepted these trajectories by moving their index finger along the surface of a display monitor. They were free to initiate the interception at any time, and on successful interception, the target disappeared. Although they were not explicitly instructed to do so, subjects tracked target motion with normal, high-gain smooth-pursuit eye movements right up until the target was intercepted. However, the probability of catch-up saccades was substantially depressed shortly after the onset of manual interception. The initial direction of the finger movement anticipated the motion of the target by approximately 150 ms. For any given trajectory, subjects tended to initiate interception at predictable times that depended on the characteristics of the target trajectories [i.e., when the curvature (or angular velocity) of the target was small and when the target was moving toward the finger]. The relative weighting of various parameters that influenced the decision to initiate interception varied from subject to subject and was not accounted for by a model based on the short-range predictability of target motion.

Task-dependent asymmetries in the utilization of proprioceptive feedback for goal-directed movement

Whereas the majority of studies regarding upper limb asymmetries in motor performance have focused on preferred arm dominance for producing motor output, studies exploring the role of sensory feedback have suggested that the preferred and non-preferred arms are specialized for different aspects of movement. A recent study by Goble et al. (2006) found evidence of a non-preferred left arm (and presumably right hemisphere) proprioceptive dominance for a target matching task that required subjects to both memorize and transfer across hemispheres proprioceptive target information. This paradigm contrasted previous studies of proprioceptive matching asymmetry that explored only memory-based matching and produced equivocal results. The purpose of the present study, therefore, was to examine task-dependent asymmetries in proprioceptive matching performance, including differences related to active versus passive presentation of the matching target. It was found that the non-preferred left arm of right handers matched target elbow angles more accurately than the preferred arm, but only in the matching condition that required both memory and interhemispheric transfer. Task-dependent asymmetries were not affected by the mode of target presentation and assessment of matching kinematics revealed differences in strategy for both the speed and smoothness of targeted movements. Taken together, these results suggest that the non-preferred arm/hemisphere system is specialized for the processing of movement-related proprioceptive feedback.

Use of visual information in the correction of interceptive actions

Use of visual information in interceptive actions requiring large-scale changes to movement timing was investigated. The task consisted of intercepting a moving target on a monitor screen through an angular arm movement. In half of the trials, the initial target velocity of 8 cm/s was unexpectedly decreased to 4 cm/s or increased to 12 cm/s, leaving 800 ms to target arrival after velocity change. Visual information about target displacement was manipulated by interpolating full vision with occlusion of the last 200, 400, or 600 ms before the due time of interception. The results revealed that reduction of visual exposure of target displacement affected movement variability, but not arm velocity or directional trend of temporal errors. This finding supports the concept that motor control in interception is based on an internal representation of target displacement, formed during the initial portion of visual exposure following velocity change, which is updated by further visual information of target displacement.

Effects of acoustic startle stimuli on interceptive action

In reaction time (RT) tasks, presentation of a startling acoustic stimulus (SAS) together with a visual imperative stimulus can dramatically reduce RT while leaving response execution unchanged. It has been suggested that a prepared motor response program is triggered early by the SAS but is not otherwise affected. Movements aimed at intercepting moving targets are usually considered to be similarly governed by a prepared program. This program is triggered when visual stimulus information about the time to arrival of the moving target reaches a specific criterion. We investigated whether a SAS could also trigger such a movement. Human experimental participants were trained to hit moving targets with movements of a specific duration. This permitted an estimate of when movement would begin (expected onset time). Startling and sub-startle threshold acoustic probe stimuli were delivered unexpectedly among control trials: 65, 85, 115 and 135 ms prior to expected onset (10:1 ratio of control to probe trials). Results showed that startling probe stimuli at 85 and 115 ms produced early response onsets but not those at 65 or 135 ms. Sub-threshold stimuli at 115 and 135 ms also produced early onsets. Startle probes led to an increased vigor in the response, but sub-threshold probes had no detectable effects. These data can be explained by a simple model in which preparatory, response-related activation builds up in the circuits responsible for generating motor commands in anticipation of the GO command. If early triggering by the acoustic probes is the mechanism underlying the findings, then the data support the hypothesis that rapid interceptions are governed by a motor program.

Deciding when and how to correct a movement: discrete submovements as a decision making process

Rapid reaching movements of human and non-human primates are often characterized by irregular multi-peaked velocity profiles. How to interpret these irregularities is still under debate. While some reports assert that these irregularities are the result of a continuous controller interacting with the environment, we and others hold that the velocity irregularities are evidence for a controller that produces discrete movement corrections. Here we analyze rapid pronation/supination wrist movements in monkey during a 1D step-tracking task, where visual perturbations of the target were randomly introduced at movement onset. We use our recently introduced algorithm (Fishbach et al. in Exp Brain Res 164:442-457, 2005) to decompose an irregular movement into a primary movement and one or more discrete, corrective submovements. We first show that the visual perturbation has almost no effect on primary movements. In contrast, this perturbation influences the type and the extent of the corrective submovements that often follow primary movements. Secondly, we show that the highly variable timing of overlapping submovements does not depend directly on the visual perturbation but rather on an estimate of the movement error and on the movement's extent-to-go at the time of correction initiation. These results are consistent with a forward-model based intermittent controller with a non-linearity that depends both on a prediction of the magnitude and direction of the movement's error and on its variance. Corrections are initiated only when the predicted error is statistically significant. A simple abstract model that implements these principles accounts for the type and timing of the corrections observed in our data.

Avoiding spurious submovement decompositions II: a scattershot algorithm

Evidence for the existence of discrete submovements underlying continuous human movement has motivated many attempts to "extract" them. Although they produce visually convincing results, all of the methodologies that have been employed are prone to produce spurious decompositions. In previous work, a branch-and-bound algorithm for submovement extraction, capable of global nonlinear minimization, and hence, capable of avoiding spurious decompositions, was presented [Rohrer and Hogan (Biol Cybern 39:190-199, 2003)]. Here, we present a scattershot-type global nonlinear minimization algorithm that requires approximately four orders of magnitude less time to compute. A sensitivity analysis reveals that the scattershot algorithm can reliably detect changes in submovement parameters over time, e.g., over the course of neuromotor recovery.

Neurophysiology of perceptual and motor aspects of interception

The interception of moving targets is a complex activity that involves a dynamic interplay of several perceptual and motor processes and therefore involves a rich interaction among several brain areas. Although the behavioral aspects of interception have been studied for the past three decades, it is only during the past decade that neural studies have been focused on this problem. In addition to the interception itself, several neural studies have explored, within that context, the underlying mechanisms concerning perceptual aspects of moving stimuli, such as optic flow and apparent motion. In this review, we discuss the wealth of knowledge that has accumulated on this topic with an emphasis on the results of neural studies in behaving monkeys.

Intrinsic joint kinematic planning. II: Hand-path predictions based on a Listing’s plane constraint

This study was aimed at examining the assumption that three-dimensional (3D) hand movements follow specific paths that are dictated by the operation of a Listing's law constraint at the intrinsic joint level of the arm. A kinematic model was used to simulate hand paths during 3D point-to-point movements. The model was based on the assumption that the shoulder obeys a 2D Listing's constraint and that rotations are about fixed single-axes. The elbow rotations were assumed to relate linearly to those of the shoulder. Both joints were assumed to rotate without reversals, and to start and end rotating simultaneously with zero initial and final velocities. Model predictions were compared to experimental observations made on four right-handed individuals that moved toward virtual objects in "extended arm", "radial", and "frontal plane" movement types. The results showed that the model was partially successful in accounting for the observed behavior. Best hand-path predictions were obtained for extended arm movements followed by radial ones. Frontal plane movements resulted in the largest discrepancies between the predicted and the observed paths. During such movements, the upper arm rotation vectors did not obey Listing's law and this may explain the observed discrepancies. For other movement types, small deviations from the predicted paths were observed which could be explained by the fact that single-axis rotations were not followed even though the rotation vectors remained within Listing's plane. Dynamic factors associated with movement execution, which were not taken into account in our purely kinematic approach, could also explain some of these small discrepancies. In conclusion, a kinematic model based on Listing's law can describe an intrinsic joint strategy for the control of arm orientation during pointing and reaching movements, but only in conditions in which the movements closely obey the Listing's plane assumption.

Anticipating the Effects of Gravity When Intercepting Moving Objects: Differentiating Up and Down Based on Nonvisual Cues

Intercepting an object requires a precise estimate of its time of arrival at the interception point (time to contact or “TTC”). It has been proposed that knowledge about gravitational acceleration can be combined with first-order, visual-field information to provide a better estimate of TTC when catching falling objects. In this experiment, we investigated the relative role of visual and nonvisual information on motor-response timing in an interceptive task. Subjects were immersed in a stereoscopic virtual environment and asked to intercept with a virtual racket a ball falling from above or rising from below. The ball moved with different initial velocities and could accelerate, decelerate, or move at a constant speed. Depending on the direction of motion, the acceleration or deceleration of the ball could therefore be congruent or not with the acceleration that would be expected due to the force of gravity acting on the ball. Although the best success rate was observed for balls moving at a constant velocity, we systematically found a cross-effect of ball direction and acceleration on success rate and response timing. Racket motion was triggered on average 25 ms earlier when the ball fell from above than when it rose from below, whatever the ball's true acceleration. As visual-flow information was the same in both cases, this shift indicates an influence of the ball's direction relative to gravity on response timing, consistent with the anticipation of the effects of gravity on the flight of the ball.