Joint coordination during bimanual transport of real and imaginary objects

Effect of Object Texture and Weight on Ipsilateral Corticospinal Influences During Bimanual Holding in Humans

We tested the hypothesis that the ipsilateral corticospinal system, like the contralateral corticospinal system, controls the threshold muscle length at which wrist muscles and the stretch reflex begin to act during holding tasks. Transcranial magnetic stimulation was applied over the right primary motor cortex in 21 healthy subjects holding a smooth or coarse block between the hands. Regardless of the lifting force, motor evoked potentials in right wrist flexors were larger for the smooth block. This result was explained based on experimental evidence that motor actions are controlled by shifting spatial stretch reflex thresholds. Thus, the ipsilateral corticospinal system is involved in threshold position control by modulating facilitatory influences of hand skin afferents on motoneurons of wrist muscles during bimanual object manipulation.

Participation of ipsilateral cortical descending influences in bimanual wrist movements in humans

There are contralateral and less studied ipsilateral (i), indirect cortical descending projections to motoneurons (MNs). We compared ipsilateral cortical descending influences on MNs of wrist flexors by applying transcranial magnetic stimulation (TMS) over the right primary motor cortex at actively maintained flexion and extension wrist positions in uni- and bimanual tasks in right-handed participants (n = 23). The iTMS response includes a short latency (~ 25 ms) motor evoked potential (iMEP), a silent period (iSP) and a long latency (~ 60 ms) facilitation called rebound (iRB). We also investigated whether the interaction between the two hands while holding an object in a bimanual task involves ipsilateral cortical descending influences. In the unimanual task, iTMS responses in the right wrist flexors were unaffected by changes in wrist position. In the bimanual task with an object, iMEPs in the right wrist flexors were larger when the ipsilateral wrist was in flexion compared to extension. Without the object, only iRB were larger when the ipsilateral wrist was extended. Thus, ipsilateral cortical descending influences on MNs were modulated only in bimanual tasks and depended on how the two hands interacted. It is concluded that the left and right cortices cooperate in bimanual tasks involving holding an object with both hands, with possible involvement of oligo- and poly-synaptic, as well as transcallosal projections to MNs. The possible involvement of spinal and transcortical stretch and cutaneous reflexes in bimanual tasks when holding an object is discussed in the context of the well-established notion that indirect, referent control underlies motor actions.

The patterning of local variability during the acquisition of a novel whole-body continuous motor skill in young adults

There is increasing evidence that movement variability during motor skill acquisition plays a functional role. Specifically, initial variability might represent exploration of the possible motor space for solutions and error identification. Following practice, individuals might exploit a reduced amount of motor solutions to execute the task. While this variability pattern has been supported during discrete upper limb and multi-finger force tasks, there is a paucity of evidence for continuous whole-body motor tasks. Therefore, the purpose of this study was to characterize the role of variability during the acquisition of a whole-body continuous motor task across practice sessions in young adults. Twelve young adults aged 18-35-years participated in this study. Subjects practiced a novel, sagittal plane task, the kettlebell swing, using an online training video. We conducted an uncontrolled manifold analysis to partition local variability of the configuration of the kettlebell and body segments based on their impact on the position of the center-of-mass (COM) in the sagittal plane. Our results demonstrated that following initial practice, variability that did not affect the COM position remained elevated, suggesting sustained exploration of motor solutions. Following multiple practice sessions, variability related to motor solutions decreased, potentially indicating exploitation. The results from this study support the proposal that young adults initially utilize a range of motor solutions when acquiring a whole-body motor skill, followed by exploitation of stereotypic movement.

Performance-Stabilizing Synergies in a Complex Motor Skill: Analysis Based on the Uncontrolled Manifold Hypothesis

The authors studied indices of stability (ΔV) of two time-varying variables, hand coordinate and velocity, during accurate throw of a small ball into the basket. Ten participants performed the throwing task with eyes-open (vision) and -closed (no vision) conditions. In the latter condition, participants closed their eyes prior to initiating the throw. The intertrial variance in the joint configuration space (and joint velocity space) was analyzed based on the uncontrolled manifold hypothesis. The results confirmed the presence of both coordinate- and velocity-stabilizing synergies (ΔV > 0). Intertrial variance was larger in the no-vision condition compared with the vision condition. Over the movement duration, ΔV did not change for the coordinate-related analysis but dropped consistently for the velocity-related analysis. The authors interpret the findings within the idea of hierarchical control and trade-off between synergy indices at different levels of the hierarchy.

Complex Adaptive Behavior and Dexterous Action

Dexterous action, as conceptualized by Bernstein in his influential ecological analysis of human behavior, is revealed in the ability to flexibly generate behaviors that are adaptively tailored to the demands of the context in which they are embedded. Conceived as complex adaptive behavior, dexterity depends upon the qualities of robustness and degeneracy, and is supported by the functional complexity of the agent-environment system. Using Bernstein's and Gibson's ecological analyses of behavior situated in natural environments as conceptual touchstones, we consider the hypothesis that complex adaptive behavior capitalizes upon general principles of self-organization. Here, we outline a perspective in which the complex interactivity of nervous-system, body, and environment is revealed as an essential resource for adaptive behavior. From this perspective, we consider the implications for interpreting the functionality and dysfunctionality of human behavior. This paper demonstrates that, optimal variability, the topic of this special issue, is a logical consequence of interpreting the functionality of human behavior as complex adaptive behavior.

The bliss (not the problem) of motor abundance (not redundancy)

Motor control is an area of natural science exploring how the nervous system interacts with other body parts and the environment to produce purposeful, coordinated actions. A central problem of motor control-the problem of motor redundancy-was formulated by Nikolai Bernstein as the problem of elimination of redundant degrees-of-freedom. Traditionally, this problem has been addressed using optimization methods based on a variety of cost functions. This review draws attention to a body of recent findings suggesting that the problem has been formulated incorrectly. An alternative view has been suggested as the principle of abundance, which considers the apparently redundant degrees-of-freedom as useful and even vital for many aspects of motor behavior. Over the past 10 years, dozens of publications have provided support for this view based on the ideas of synergic control, computational apparatus of the uncontrolled manifold hypothesis, and the equilibrium-point (referent configuration) hypothesis. In particular, large amounts of "good variance"-variance in the space of elements that has no effect on the overall performance-have been documented across a variety of natural actions. "Good variance" helps an abundant system to deal with secondary tasks and unexpected perturbations; its amount shows adaptive modulation across a variety of conditions. These data support the view that there is no problem of motor redundancy; there is bliss of motor abundance.

Unpredictable elbow joint perturbation during reaching results in multijoint motor equivalence

Motor equivalence expresses the idea that movement components reorganize in the face of perturbations to preserve the value of important performance variables, such as the hand's position in reaching. A formal method is introduced to evaluate this concept quantitatively: changes in joint configuration due to unpredictable elbow perturbation lead to a smaller change in performance variables than expected given the magnitude of joint configuration change. This study investigated whether motor equivalence was present during the entire movement trajectory and how magnitude of motor equivalence was affected by constraints imposed by two different target types. Subjects pointed to spherical and cylindrical targets both with and without an elbow joint perturbation produced by a low- or high-stiffness elastic band. Subjects' view of their arm was blocked in the initial position, and the perturbation condition was randomized to avoid prediction of the perturbation or its magnitude. A modification of the uncontrolled manifold method variance analysis was used to investigate how changes in joint configuration on perturbed vs. nonperturbed trials (joint deviation vector) affected the hand's position or orientation. Evidence for motor equivalence induced by the perturbation was present from the reach onset and increased with the strength of the perturbation after 40% of the reach, becoming more prominent as the reach progressed. Hand orientation was stabilized more strongly by motor equivalent changes in joint configuration than was three-dimensional position regardless of the target condition. Results are consistent with a recent model of neural control that allows for flexible patterns of joint coordination while resisting joint configuration deviations in directions that affect salient performance variables. The observations also fit a general scheme of synergic control with referent configurations defined across different levels of the motor hierarchy.

Stabilization of the total force in multi-finger pressing tasks studied with the 'inverse piano' technique

When one finger changes its force, other fingers of the hand can show unintended force changes in the same direction (enslaving) and in the opposite direction (error compensation). We tested a hypothesis that externally imposed changes in finger force predominantly lead to error compensation effects in other fingers thus stabilizing the total force. A novel device, the "inverse piano", was used to impose controlled displacements to one of the fingers over different magnitudes and at different rates. Subjects (n=10) pressed with four fingers at a constant force level and then one of the fingers was unexpectedly raised. The subjects were instructed not to interfere with possible changes in the finger forces. Raising a finger caused an increase in its force and a drop in the force of the other three fingers. Overall, total force showed a small increase. Larger force drops were seen in neighbors of the raised finger (proximity effect). The results showed that multi-finger force stabilizing synergies dominate during involuntary reactions to externally imposed finger force changes. Within the referent configuration hypothesis, the data suggest that the instruction "not to interfere" leads to adjustments of the referent coordinates of all the individual fingers.

Prehension of half-full and half-empty glasses: time and history effects on multi-digit coordination

We explored how digit forces and indices of digit coordination depend on the history of getting to a particular set of task parameters during static prehension tasks. The participants held in the right hand an instrumented handle with a light-weight container attached on top of the handle. At the beginning of each trial, the container could be empty, filled to the half with water (0.4 l), or filled to the top (0.8 l). The water was pumped in/out of the container at a constant, slow rate over 10 s. At the end of each trial, the participants always held a half-filled container that has just been filled (Empty-Half), emptied (Full-Half) or stayed half-filled throughout the trial (Half-Only). Indices of covariation (synergy indices) of elemental variables (forces and moments of force produced by individual digits) stabilizing such performance variables as total normal force, total tangential force, and total moment of force were computed at two levels of an assumed control hierarchy. At the upper level, the task is shared between the thumb and virtual finger (an imagined digit with the mechanical action equal to that of the four fingers), while at the lower level the action of the virtual finger is shared among the actual four fingers. Filling or emptying the container led to a drop in the safety margin (proportion of grip force over the slipping threshold) below the values observed in the Half-Only condition. Synergy indices at both levels of the hierarchy showed changes over the Full-Half and Empty-Half condition. These changes could be monotonic (typical of moment of force and normal force) or non-monotonic (typical of tangential force). For both normal and tangential forces, higher synergy indices at the higher level of the hierarchy corresponded to lower indices at the lower level. Significant differences in synergy indices across conditions were seen at the final steady state showing that digit coordination during steady holding an object is history dependent. The observations support an earlier hypothesis on a trade-off between synergies at the two levels of a hierarchy. They also suggest that, when a change in task parameters is expected, the neural strategy may involve producing less stable (easier to change) actions. The results suggest that synergy indices may be highly sensitive to changes in a task variable and that effects of such changes persist after the changes are over.

Stages in learning motor synergies: a view based on the equilibrium-point hypothesis

This review describes a novel view on stages in motor learning based on recent developments of the notion of synergies, the uncontrolled manifold hypothesis, and the equilibrium-point hypothesis (referent configuration) that allow to merge these notions into a single scheme of motor control. The principle of abundance and the principle of minimal final action form the foundation for analyses of natural motor actions performed by redundant sets of elements. Two main stages of motor learning are introduced corresponding to (1) discovery and strengthening of motor synergies stabilizing salient performance variable(s) and (2) their weakening when other aspects of motor performance are optimized. The first stage may be viewed as consisting of two steps, the elaboration of an adequate referent configuration trajectory and the elaboration of multi-joint (multi-muscle) synergies stabilizing the referent configuration trajectory. Both steps are expected to lead to more variance in the space of elemental variables that is compatible with a desired time profile of the salient performance variable ("good variability"). Adjusting control to other aspects of performance during the second stage (for example, esthetics, energy expenditure, time, fatigue, etc.) may lead to a drop in the "good variability". Experimental support for the suggested scheme is reviewed.

Fatigue and motor redundancy: adaptive increase in finger force variance in multi-finger tasks

We studied the effects of fatigue of the index finger on indices of force variability in discrete and rhythmic accurate force production tasks performed by the index finger and by all four fingers pressing in parallel. An increase in the variance of the force produced by the fatigued index finger was expected. We hypothesized that the other fingers would also show increased variance of their forces, which would be accompanied by co-variation among the finger forces resulting in relatively preserved accuracy of performance. The subjects performed isometric tasks including maximal voluntary contraction (MVC) and accurate force production before and after a 1-min MVC fatiguing exercise by the index finger. During fatigue, there was a significant increase in the root mean square index of force variability during accurate force production by the index finger. In the four-finger tasks, the variance of the individual finger force increased for all four fingers, while the total force variance showed only a modest change. We quantified two components of variance in the space of hypothetical commands to fingers, finger modes. There was a large increase in the variance component that did not affect total force and a much smaller increase in the component that did. The results suggest an adaptive increase in force variance by nonfatigued elements as a strategy to attenuate effects of fatigue on accuracy of multi-element performance. These effects were unlikely to originate at the level of synchronization of motor units across muscle compartments but rather involved higher control levels.

Motor control theories and their applications

We describe several influential hypotheses in the field of motor control including the equilibrium-point (referent configuration) hypothesis, the uncontrolled manifold hypothesis, and the idea of synergies based on the principle of motor abundance. The equilibrium-point hypothesis is based on the idea of control with thresholds for activation of neuronal pools; it provides a framework for analysis of both voluntary and involuntary movements. In particular, control of a single muscle can be adequately described with changes in the threshold of motor unit recruitment during slow muscle stretch (threshold of the tonic stretch reflex). Unlike the ideas of internal models, the equilibrium-point hypothesis does not assume neural computations of mechanical variables. The uncontrolled manifold hypothesis is based on the dynamic system approach to movements; it offers a toolbox to analyze synergic changes within redundant sets of elements related to stabilization of potentially important performance variables. The referent configuration hypothesis and the principle of abundance can be naturally combined into a single coherent scheme of control of multi-element systems. A body of experimental data on healthy persons and patients with movement disorders are reviewed in support of the mentioned hypotheses. In particular, movement disorders associated with spasticity are considered as consequences of an impaired ability to shift threshold of the tonic stretch reflex within the whole normal range. Technical details and applications of the mentioned hypo-theses to studies of motor learning are described. We view the mentioned hypotheses as the most promising ones in the field of motor control, based on a solid physical and neurophysiological foundation.

Manipulation of a fragile object

We investigated strategies of adjustments in kinetic and kinematic patterns, and in multi-digit synergies during quick vertical transport of an instrumented handle that collapsed when the grasping force exceeded a certain magnitude (quantified with a fragility index). The collapse threshold of the object was set using a novel electromagnetic device. Moving a fragile object is viewed as a task with two constraints on the grip force defined by the slipping and crushing thresholds. When moving more fragile objects, subjects decreased object peak acceleration, increased movement time, showed a drop in the safety margin (SM) (extra force over the slipping threshold), and showed a tendency toward violating the minimum-jerk criterion. Linear regression analysis of grip force against load force has shown tight coupling between the two with a decline in the coefficient of determination with increased fragility index. The SM was lower in bimanual tasks, compared to unimanual tasks, for both fragile and non-fragile objects. Two novel indices have been introduced and studied, the SM due to fragility and the drop-crush index. Both indices showed a decrease with increased object fragility. Changes in the drop-crush index showed that the subjects would rather crush the fragile objects as opposed to dropping them, possibly reflecting the particular experimental procedure. We did not find differences between the performance indices of the dominant and non-dominant hand thus failing to support the recently formulated dominance hypothesis. The synergies stabilizing grip force were quantified at two levels of an assumed two-level control hierarchy using co-variation indices between elemental variables across trials. There were strong synergies at the upper level of the hierarchy (the task is shared between the opposing groups of digits) that weakened with an increase in object fragility. At the lower level (action of an effector is shared among the four fingers), higher fragility led to higher synergy indices. Analysis of force variance showed that an increase in object fragility was accompanied by exploring a smaller range of equivalent combinations of elemental variables. The additional constraint imposed by high fragility facilitated synergies at the lower level of the hierarchy, while there was evidence for a trade-off between synergies at the two levels.