A Linked Muscular Activation Model for Movement Generation and Control

Movement trajectory smoothness is not associated with the endpoint accuracy of rapid multi-joint arm movements in young and older adults

The minimum variance theory proposes that motor commands are corrupted by signal-dependent noise and smooth trajectories with low noise levels are selected to minimize endpoint error and endpoint variability. The purpose of the study was to determine the contribution of trajectory smoothness to the endpoint accuracy and endpoint variability of rapid multi-joint arm movements. Young and older adults performed arm movements (4 blocks of 25 trials) as fast and as accurately as possible to a target with the right (dominant) arm. Endpoint accuracy and endpoint variability along with trajectory smoothness and error were quantified for each block of trials. Endpoint error and endpoint variance were greater in older adults compared with young adults, but decreased at a similar rate with practice for the two age groups. The greater endpoint error and endpoint variance exhibited by older adults were primarily due to impairments in movement extent control and not movement direction control. The normalized jerk was similar for the two age groups, but was not strongly associated with endpoint error or endpoint variance for either group. However, endpoint variance was strongly associated with endpoint error for both the young and older adults. Finally, trajectory error was similar for both groups and was weakly associated with endpoint error for the older adults. The findings are not consistent with the predictions of the minimum variance theory, but support and extend previous observations that movement trajectories and endpoints are planned independently.

Motor variability within a multi-effector system: experimental and analytical studies of multi-finger production of quick force pulses

The purpose of the study was to develop a model of force variability for a fast action performed by a multi-effector system and to verify it for multi-finger quick force production. The experiments involved quick isometric contractions to different target force levels using different finger combinations. Force variance calculated over sets of trials for a multi-finger force production task showed non-monotonic single-peak profiles of force variance with a peak at a time between the times of the maxima of the force rate and of the total force. When analyzed in the four-dimensional space of finger forces, the variance peak was mostly expressed in the direction of the force rate, and was absent in the directions orthogonal to it. The non-monotonic time profile of the force variance could be reproduced by a model of force production, which assumes that each finger force profile is based on a template function scaled in duration and magnitude with two parameters assigned prior to each trial with some variability. The model allows decomposition of the force variance into two fractions related to variability in setting the magnitude and duration scaling parameters. The former fraction changes monotonically with time, while the latter shows a transient peak in the middle of the action. The model was able to reproduce experimental variance time profiles across conditions with the total error of under 8%. The results demonstrate, in particular, that fast multi-finger actions may show transient changes in motor variability in certain directions of the finger force space, particularly in the direction of the first force derivative, without any task-specific coordinating action by the controller. These findings require a reconsideration of some of the conclusions drawn in recent studies on the structure of motor variability in redundant multi-effector systems.

Deceleration requirements and the control of pointing movements

When a limb is moved from one position to a target object, the limb and the target frequently collide. Often, the goal of the movement is to strike the target with a particular magnitude of impact. For single-aiming movements, impact forces have been shown to increase systematically with both an increased movement amplitude and a decreased movement time, thus providing deceleration to the moving limb. Models of speed-accuracy trade-off, however, have neglected to account for the contribution of these impact forces in the control of accurate movements. The aim of this experiment was to examine the modifications in the control strategy as a function of the amount of impact force a subject is allowed to use in decelerating his or her limb. Results showed that the structure of the acceleration-time functions was dictated by the amount of impact force subjects were allowed to use in decelerating the limb. Movement endpoint variability decreased as more impact force was used. The experiment suggests that the impact with a target is an important contributor to the deceleration of the moving limb and a critical determinant of movement organization.

Effects of target height and width on 2D pointing movement duration and kinematics

This study examined the impact of target geometry on the trajectories of rapid pointing movements. Participants performed a graphic point-to-point task using a pen on a digitizer tablet with targets and real time trajectories displayed on a computer screen. Circular- and elliptical-shaped targets were used in order to systematically vary the accuracy constraints along two dimensions. Consistent with Fitts Law, movement time increased as target difficulty increased. Analysis of movement kinematics revealed different patterns for targets constrained by height (H) and width (W). When W was the constraining factor, movements of greater precision were characterized by a lower peak velocity and a longer deceleration phase, with trajectories that were aimed relatively farther away from the center of the target and were more variable across trials. This indicates an emphasis on reactive, sensory-based control. When H was the constraining factor, however, movements of greater precision were characterized by a longer acceleration phase, a lower peak velocity, and a longer deceleration phase. The initial trajectory was aimed closer to the center of the target, and the trajectory path across trials was more constrained. This suggests a greater reliance on both predictive and reactive control.

Drift in Blind Reciprocal Aiming Movements

There is anecdotal evidence of drift in various reciprocal motor tasks, but as far as is known, no investigations into this phenomenon have been reported. Yet, systematic drift can potentially explain a significant proportion of the total variability in motor output. Three experiments were conducted to ascertain the nature of drift in reciprocal aiming tasks and to develop methods and measures to isolate and quantify drift for analyses. We also evaluated a computational posture-based model of reaching movements with respect to the findings of the experiments. Drift was observed in all three experiments, generally toward the middle of the joint motility range. Simulations based on the model produced drift to the middle of the task movement range rather than middle of the joint movement range. Adding noise to the model could increase its power for simulating the underlying principles of movement control as reflected in performance features such as drift.

Practicing a maximal performance task: a cooperative strategy for muscle activity

The effect of practice on predicting elbow flexion movement time was studied. Participants (N = 18) performed 400 elbow flexion trials to a target in the horizontal plane. The trials were distributed equally over four sessions. The goal was to decrease the movement time (MT) for the same degree of accuracy. The electromyographic (EMG) activity of the biceps and triceps brachii was monitored with standard Beckman Ag/AgCl surface electrodes. The EMG measures formed two variable sets within one prediction equation. One variable set was composed of the onset of muscle activity relative to the start of movement (motor time) and the duration of muscle activity. The other variable set consisted of the mean amplitude value of the entire burst and of the first 30 ms (Q30) of activity. As the maximal speed of limb movement increased, the duration of muscle activity (motor time and EMG duration) decreased, and the magnitude of muscle activity (MAV and Q30) increased. Most of the change in the duration of muscle activity occurred in Session 1, while the magnitude of muscle activity continued to increase until Session 3. Multiple regression analysis revealed a cooperative strategy between the magnitude and duration of muscle activity. Early in learning, participants adjusted the magnitude of muscle activity to increase limb movement speed. As practice continued, alterations in the duration of muscle activity became more important, while the magnitude changes were less involved. Late in learning, both dimensions of muscle activity were used to decrease MT. We suggest that the interplay between the magnitude and duration of muscle activity may be due to: (a) cognitive factors related to the division of attention in a motor skill, (b) an increase in the frequency of motor unit firing that affects both dimensions of muscle activity, or (c) some combination of (a) and (b).

Neuromuscular control mechanisms and strategy in arm movements of attempted supranormal speed

Rapid, goal-directed elbow flexion movements were examined under interacting conditions of inertial loading and resistance to movement initiation. The resistance ceased when movement began, resulting in quick release movements. Inertial load slowed the movement and lengthened the agonist and antagonist electromyographic (EMG) burst durations. The quick release resulted in larger accelerations but only minimal changes in peak velocity. Most aspects of the triphasic EMG pattern were little affected by the quick release, but the build up of agonist EMG and the corresponding rate of static force development differed markedly between load and quick release conditions. These and other data suggest that the specific pattern of agonist muscle activation is set according to neuromuscular constraints of the antagonist muscle and the expectation of movement dynamics.

A new method of fitting and analysis of simple uni-joint arm movements

A new method for fitting and analysis of simple uni-joint arm movements is proposed. The method is based on a model which postulates that the acceleration-time profile of the movement can be described by a linear combination of two Gaussian functions (positive for acceleration and negative for deceleration). The method was tested on more than 21000 arm movements performed under different control conditions and showed high fitting precision. It allows to completely describe a movement using only five parameters of two Gaussian functions. The method is sensitive to differences between the acceleration and deceleration phases of movement as well as between subsequent movements because of the independent calculation of the Gaussian functions for accelerative and decelerative movement parts. Relationships between conventional kinematic and model parameters as well as areas of application of the method are discussed.

Variations in several mechanical parameters associated with elbow flexion during practice under different load criteria

The purpose of this study was to analyze variations in the accuracy of the moment produced by the elbow flexors during feedback-assisted acquisition of a motor skill. The task consisted of minimizing the error around three criterional levels: 20%, 30%, or 50% of the maximal isokinetic concentric moment of these muscles measured at 90 degrees/sec. Healthy women, aged 22 to 30 years, were divided into three groups (nA = 6, nB = 6, nC = 4) corresponding to the above criteria. They were asked to perform 10 sets of 10 right-elbow flexions per day over a period of three consecutive days. The results indicated a significant difference among the groups mainly in terms of overshooting (Group A) or undershooting (Group C) the criterion. On the other hand, Group B subjects performed optimally as indicated both by a significant convergence to the criterion (30%) and a comparatively small number of repetitions required for achievements. These findings demonstrate the existence of an optimal performance point which is located at about 30% of the maximal isokinetic concentric moment.

Representation of hand position prior to movement and motor variability

Pointing accuracy of six human subjects was measured in two blocked conditions where the hand was either never visible (T: target only) or only visible in static position prior to movement onset (H+T: hand+target). It was shown in condition H+T that, viewing the hand prior to movement greatly decreased end-point variability compared with condition T. This effect was associated with a significant modification of the movement kinematics: the H+T condition induced a shortened acceleration phase with a corresponding lengthened deceleration phase, compared with the T condition. These results led us to the hypothesis that viewing the hand prior to movement onset allowed a decrease of pointing variability through a feedback process. This hypothesis was further tested by turning the target off during the deceleration phase of the movement at half peak velocity. It was shown that turning the target off had no effect upon the T condition but induced a significant increase of pointing variability in the H+T condition. This result suggests that vision of the static hand enhances the proprioceptive localization of the limb and allows for a better visual to kinesthesic feedback.

Rapid movement kinematic and electromyographic control characteristics in males and females

Maximally fast, self-terminated elbow flexion movements were performed by 10 male and 10 female college-aged subjects to assess potential gender-related differences in kinematics and the triphasic electromyographic (EMG) pattern. The subjects were instructed to move their forearms as fast as possible through 90 degrees of elbow flexion range of motion and stop as sharply as possible at the terminal point. An electromagnet, set to 0, 40, and 70% of each subject's maximal isometric torque, provided resistance to movement initiation and resulted in quick release movements. Surface EMG was collected from the biceps b. and triceps b. muscles. Results indicated that the males had faster movements and accelerations under all conditions. EMG records indicated that the males had faster rates of EMG rise, particularly in the triceps b., and more tightly coupled reciprocal activation. The quick release afforded faster accelerations for both groups, yet only the males moved faster throughout the full range of motion. Following the quick release, the males differed from the females by increasing the triceps b. EMG amplitude. Hence, the males were able to shorten movement time in quick release movements by increasing triceps b. activation and, thus, braking ability. These results suggest that the females were more neurally constrained than the males with respect to rapid EMG activation of the triceps b., resulting in limits in the braking process.

Feedback control of limb stiffness and scaled phase invariance properties of skilled high-speed arm flexion movements of a loaded manipulator

In this and a previous experiment it has been observed that subjects produce innervation patterns (EMG) that are load specific, i.e., they produce concentration patterns for movements made with inertial loads and triphasic patterns for movements made with elastic loads. The protocol of these experiments prevented any adaptive responses to the load changes, therefore, it was assumed that pattern matching to load type was a real time updating response of the peripheral feedback systems. This updating response was assumed to be a mechanism for fine tuning the muscle torque by regulation of the mechanical impedance (stiffness) of the limb. Using a standard equation of motion, it was shown that the velocity is equal to the ratio of the muscle torque to the mechanical impedance. Substitution of this ratio for the ordinate of the scaled phase diagrams was then suggested as a real time updating mechanism to account for the scaled phase invariance recorded in this experiment and in the experiment reported by Ruitenbeek, J.C., Biol. Cybernetics 51 (1984) 11-20.

Reciprocal and coactivation commands for fast wrist movements

According to the equilibrium-point hypothesis, movements are produced by means of displacement of the invariant torque/angle characteristic (IC) of the joint and change in its slope. Displacement is produced via the central reciprocal (R) command while the coactivation (C) command specifies the slope of the IC. Neurophysiologically, the R command is associated with reciprocal changes in the membrane potentials of agonist and antagonist motoneurons while the C command is associated with their simultaneous depolarisation. These commands were investigated in single joint wrist movements by perturbation methods. Subjects normally made free flexion movements to a target at 30 degrees but on random trials they were either opposed by a spring-like load or assisted by a load. The former was generated using negative linear position feedback; the latter using positive position feedback to a torque motor. Subjects were instructed not to correct errors arising from perturbations. Both peak velocity and EMG patterns were strongly affected by load conditions. Subjects undershot or overshot the target when opposing or assisting loads were presented, respectively. However, after removing the load (700 ms later), the target position was regained indicating that the IC was stable despite the perturbation. In two other experiments, subjects initially trained to reach the target with opposing or assisting loads, while on random trials, the load was not presented. Depending on training conditions, the subject shifted the IC by different amounts. The slope of the IC varied independently of the magnitude of its positional shift. We conclude that R and C commands can be specified independently.(ABSTRACT TRUNCATED AT 250 WORDS)

Reconstruction of shifting elbow joint compliant characteristics during fast and slow movements

The purpose of this study was to experimentally investigate the applicability of the equilibrium-point hypothesis to the dynamics of single-joint movements. Subjects were trained to perform relatively slow (movement time 600-1000 ms) or fast (movement time 200-300 ms) single-joint elbow flexion movements against a constant extending torque bias. They were instructed to reproduce the same time pattern of central motor command for a series of movements when the external torque could slowly and unpredictably increase, decrease, or remain constant. For fast movements, the total muscle torque was calculated as a sum of external and inertial components. Analysis of the data allowed reconstruction of the elbow joint compliant characteristics at different times during execution of the learned motor command. "Virtual" trajectories of the movements, representing time-varying changes in a central control parameter, were reconstructed and compared with the "actual" trajectories. For slow movements, the actual trajectories lagged behind the virtual ones. There were no consistent changes in the joint stiffness during slow movements. Similar analysis of experiments without voluntary movements demonstrated a lack of changes in the central parameters, supporting the assumption that the subjects were able to keep the same central motor command in spite of externally imposed unexpected torque perturbations. For the fast movements, the virtual trajectories were N-shaped, and the joint stiffness demonstrated a considerable increase near the middle of the movement. These findings contradict an hypothesis of monotonic joint compliant characteristic translation at a nearly constant rate during such movements.

Mechanisms Underlying Accuracy in Fast Goal-Directed Arm Movements in Man

This study investigated how accuracy is attained in fast goal-directed arm movements. Subjects were instructed to make arm extension movements over three different distances in random order, with and without visual feedback. Target width was varied proportionally with distance. Movement time was kept as short as possible, but there were well-defined limits with respect to accuracy. There appeared to be a large relative variability (variation coefficient [VC]) in the initial acceleration. The VC in the distance the hand moved during the acceleration phase was much smaller. This reduction was accompanied by a strong negative correlation between the initial acceleration and the duration of the acceleration phase. Further, the VC in the total distance moved was less than the VC in the distance moved during acceleration. This result indicates asymmetry between the acceleration and the deceleration phase. This is confirmed by the negative correlation between the distance the hand moved during acceleration and the distance it moved during deceleration. Withdrawal of visual feedback had a significant effect on movement accuracy. No differences were found in the parameters of the acceleration phase in the two feedback conditions, however. our results point to the existence of a powerful variability compensating mechanism within the acceleration phase. This mechanism seems to be independent of visual feedback; this suggests that efferent information (efference copies) and/or proprioceptive information is/are responsible for the timing of agonist and antagonist activation. The asymmetry between the acceleration and deceleration phase contributes to a reduction in the relative variability in the total distance moved. The fact that the withdrawal of visual feedback affected movement variability only during the deceleration phase indicates that visual information is used in the adjustment of antagonist activity.

Control of simple arm movements in elderly humans

Eight elderly subjects (aged 68-95 years) and 6 young adults (aged 21-24 years) performed elbow flexion and extension movements in a visual step-tracking paradigm. Movement amplitudes ranging from 10 degrees-80 degrees were made under two instructions: "move at own speed" and "move fast and accurate." In a second experiment, 5 elderly subjects practiced 30 degrees movements for a total of 180 flexion and 180 extension movements under the instruction to increase movement speed, while maintaining accuracy, during practice. Movement trajectories became more variable as both movement amplitude and speed increased. Trajectory variability was greater in the elderly subjects for both the acceleratory and deceleratory phases of movements. This was due primarily to a greater rate of increase in trajectory variability during the acceleration phase in the elderly. With practice, elderly subjects could substantially reduce trajectory variability with little change in movement speed. The agonist burst initiating movements was qualitatively normal in the elderly subjects. However, there was considerable tonic cocontraction of agonist and antagonist muscles prior to and during movement. Phasic antagonist EMG activity was obviously abnormal in many elderly subjects. There was often no clear antagonist burst associated with deceleration of the movements or, if present, it was timed inappropriately early. With practice, combined agonist-antagonist EMG variability decreased. A clear antagonist burst also developed during practice in most elderly subjects, but its inappropriate timing remained in all but one subject. The results show that movement trajectories are less accurately controlled in the elderly.(ABSTRACT TRUNCATED AT 250 WORDS)

Movement Related EMGs Become More Variable During Learning of Fast Accurate Movements

Human subjects performed simple flexion and extension movements about the elbow in a visual step-tracking paradigm. Movements were self-terminated. Subjects were instructed to increase movement velocity while maintaining end-point accuracy during practice. The effects of practice on the pattern and variability of EMG activity of the biceps and triceps muscles were studied. Initial movements were performed using reciprocal phasic activation of agonist and antagonist muscles as indicated by surface EMGs. With practice, increases in movement speed were associated with larger agonist and antagonist bursts and an earlier onset of the antagonist burst. Decreased duration of the premovement antagonist silence was also observed during practice. Decreases in variability of movements during practice were not accompanied by equivalent decreases in variability of the associated EMGs. Surprisingly, both agonist and antagonist EMGs were more variable in faster, practiced movements. The combined agonist-antagonist EMG variability depended on both movement speed and trajectory variability. Lower variability in movements in the presence of greater variability in the related EMGs occurred because of linked variations in agonist and antagonist muscle activities. Variations in the first agonist burst were often compensated for by associated variations in the antagonist and late agonist bursts. These linked variations maintained the limb trajectory relatively constant in spite of large variations in the first agonist burst. Modifications to impulse-variability models are therefore needed to explain compensations for variability in accelerative impulses (produced by the first agonist burst) by linked variations in impulses for deceleration (produced by the antagonist and late agonist bursts).