Nonlinear stretch reflex interaction during cocontraction

Behavioral Motor Performance

The human sensorimotor control system has exceptional abilities to perform skillful actions. We easily switch between strenuous tasks that involve brute force, such as lifting a heavy sewing machine, and delicate movements such as threading a needle in the same machine. Using a structure with different control architectures, the motor system is capable of updating its ability to perform through our daily interaction with the fluctuating environment. However, there are issues that make this a difficult computational problem for the brain to solve. The brain needs to control a nonlinear, nonstationary neuromuscular system, with redundant and occasionally undesired degrees of freedom, in an uncertain environment using a body in which information transmission is subject to delays and noise. To gain insight into the mechanisms of motor control, here we survey movement laws and invariances that shape our everyday motion. We then examine the major solutions to each of these problems in the three parts of the sensorimotor control system, sensing, planning, and acting. We focus on how the sensory system, the control architectures, and the structure and operation of the muscles serve as complementary mechanisms to overcome deviations and disturbances to motor behavior and give rise to skillful motor performance. We conclude with possible future research directions based on suggested links between the operation of the sensorimotor system across the movement stages. © 2024 American Physiological Society. Compr Physiol 14:5179-5224, 2024.

Movement predictability modulates sensorimotor processing

Introduction

An important factor for optimal sensorimotor control is how well we are able to predict sensory feedback from internal and external sources during movement. If predictability decreases due to external disturbances, the brain is able to adjust muscle activation and the filtering of incoming sensory inputs. However, little is known about sensorimotor adjustments when predictability is increased by availability of additional internal feedback. In the present study we investigated how modifications of internal and external sensory feedback influence the control of muscle activation and gating of sensory input.

Methods

Co-activation of forearm muscles, somatosensory evoked potentials (SEP) and short afferent inhibition (SAI) were assessed during three object manipulation tasks designed to differ in the predictability of sensory feedback. These included manipulation of a shared object with both hands (predictable coupling), manipulation of two independent objects without (uncoupled) and with external interference on one of the objects (unpredictable coupling).

Results

We found a task-specific reduction in co-activation during the predictable coupling compared to the other tasks. Less sensory gating, reflected in larger subcortical SEP amplitudes, was observed in the unpredictable coupling task. SAI behavior was closely linked to the subcortical SEP component indicating an important function of subcortical sites in predictability related SEP gating and their direct influence on M1 inhibition.

Discussion

Together, these findings suggest that the unpredictable coupling task cannot only rely on predictive forward control and is compensated by enhancing co-activation and increasing the saliency for external stimuli by reducing sensory gating at subcortical level. This behavior might serve as a preparatory step to compensate for external disturbances and to enhance processing and integration of all incoming external stimuli to update the current sensorimotor state. In contrast, predictive forward control is accurate in the predictable coupling task due to the integrated sensory feedback from both hands where sensorimotor resources are economized by reducing muscular co-activation and increasing sensory gating.

Stochastic optimal open-loop control as a theory of force and impedance planning via muscle co-contraction

Understanding the underpinnings of biological motor control is an important issue in movement neuroscience. Optimal control theory is a leading framework to rationalize this problem in computational terms. Previously, optimal control models have been devised either in deterministic or in stochastic settings to account for different aspects of motor control (e.g. average behavior versus trial-to-trial variability). While these approaches have yielded valuable insights about motor control, they typically fail in explaining muscle co-contraction. Co-contraction of a group of muscles associated to a motor function (e.g. agonist and antagonist muscles spanning a joint) contributes to modulate the mechanical impedance of the neuromusculoskeletal system (e.g. joint viscoelasticity) and is thought to be mainly under the influence of descending signals from the brain. Here we present a theory suggesting that one primary goal of motor planning may be to issue feedforward (open-loop) motor commands that optimally specify both force and impedance, according to noisy neuromusculoskeletal dynamics and to optimality criteria based on effort and variance. We show that the proposed framework naturally accounts for several previous experimental findings regarding the regulation of force and impedance via muscle co-contraction in the upper-limb. Stochastic optimal (closed-loop) control, preprogramming feedback gains but requiring on-line state estimation processes through long-latency sensory feedback loops, may then complement this nominal feedforward motor command to fully determine the limb’s mechanical impedance. The proposed stochastic optimal open-loop control theory may provide new insights about the general articulation of feedforward/feedback control mechanisms and justify the occurrence of muscle co-contraction in the neural control of movement.

This study presents a novel computational theory to explain the planning of force and impedance (e.g. viscoelasticity) in the neural control of movement. It assumes that one main goal of motor planning is to elaborate feedforward motor commands that determine both the force and the impedance required for the task at hand. These feedforward motor commands (i.e. that are defined prior to movement execution) are designed to minimize effort and variance costs considering the uncertainty arising from sensorimotor or environmental noise. A major outcome of this mathematical framework is the explanation of muscle co-contraction (i.e. the concurrent contraction of a group of muscles involved in a motor function). Muscle co-contraction has been shown to occur in many situations but previous modeling works struggled to account for it. Although effortful, co-contraction contributes to increase the robustness of motor behavior (e.g. small variance) upstream of sophisticated optimal closed-loop control processes that require state estimation from delayed sensory feedback to function. This work may have implications regarding our understanding of the neural control of movement in computational terms. It also provides a theoretical ground to explain how to optimally plan force and impedance within a general and versatile framework.

Shoulder reflexes integrate elbow information at "long-latency" delay throughout a corrective action

Previous studies have demonstrated a progression of function when healthy subjects counter a sudden mechanical load. Short-latency reflexes are linked to local stretch of the particular muscle and its antagonist. Long-latency reflexes integrate stretch information from both local sources and muscles crossing remote joints appropriate for a limb's mechanical interactions. Unresolved is how sensory information is processed throughout the corrective response, since capabilities at some time can be produced by circuits acting at that delay and at briefer delays. One possibility is that local abilities are always expressed at a short-latency delay and integrative abilities are always expressed at a long-latency delay. Alternatively, the neural circuits may be altered over time, leading to a temporal shift in expressing certain abilities; a refractory period could retard integrative responses to a second perturbation, whereas priming could enable integrative responses at short latency. We tested between these three hypotheses in a shoulder muscle by intermixing trials of step torque with either torque pulses ( experiment 1) or double steps of torque ( experiment 2). The second perturbation occurred at 35, 60, and 110 ms after the first perturbation to probe processing throughout the corrective action. The second perturbation reliably evoked short-latency responses in the shoulder muscle linked to only shoulder motion and long-latency responses linked to both shoulder and elbow motion. This pattern is best accounted by the continuous action of controllers with fixed functions. NEW & NOTEWORTHY Sudden displacement of the limb evokes a short-latency reflex, 20-50 ms, based on local muscle stretch and a long-latency reflex based on integrating muscle stretch at different joints. A novel double-perturbation paradigm tested if these abilities are temporally conserved throughout the corrective response or are shifted (retarded or delayed) due to functional changes in the responsible circuits. Multi-joint integration was reliably expressed at a long-latency delay consistent with the continuous operation of circuits with fixed abilities.

Impedance control: Learning stability in human sensorimotor control

The human sensorimotor control system generates movement by adapting and controlling the mechanics of the musculoskeletal system. To generate skilful movements the sensorimotor control system must be able to predict and compensate for any disturbances generated either in our own body or in the external environment. While stable and repeatable perturbations can be easily adapted through iterative learning, instability and unpredictability require a different approach: impedance control. Here I outline the arguments for impedance control as a fundamental process of human adaptation as well as describe evidence suggesting the manner in which such impedance can be learned in order to ensure the stability of the neuro-mechanical system.

Task dependency of grip stiffness--a study of human grip force and grip stiffness dependency during two different tasks with same grip forces

It is widely known that the pinch-grip forces of the human hand are linearly related to the weight of the grasped object. Less is known about the relationship between grip force and grip stiffness. We set out to determine variations to these dependencies in different tasks with and without visual feedback. In two different settings, subjects were asked to (a) grasp and hold a stiffness-measuring manipulandum with a predefined grip force, differing from experiment to experiment, or (b) grasp and hold this manipulandum of which we varied the weight between trials in a more natural task. Both situations led to grip forces in comparable ranges. As the measured grip stiffness is the result of muscle and tendon properties, and since muscle/tendon stiffness increases more-or-less linearly as a function of muscle force, we found, as might be predicted, a linear relationship between grip force and grip stiffness. However, the measured stiffness ranges and the increase of stiffness with grip force varied significantly between the two tasks. Furthermore, we found a strong correlation between regression slope and mean stiffness for the force task which we ascribe to a force stiffness curve going through the origin. Based on a biomechanical model, we attributed the difference between both tasks to changes in wrist configuration, rather than to changes in cocontraction. In a new set of experiments where we prevent the wrist from moving by fixing it and resting it on a pedestal, we found subjects exhibiting similar stiffness/force characteristics in both tasks.

Experimental measure of arm stiffness during single reaching movements with a time-frequency analysis

We tested an innovative method to estimate joint stiffness and damping during multijoint unfettered arm movements. The technique employs impulsive perturbations and a time-frequency analysis to estimate the arm's mechanical properties along a reaching trajectory. Each single impulsive perturbation provides a continuous estimation on a single-reach basis, making our method ideal to investigate motor adaptation in the presence of force fields and to study the control of movement in impaired individuals with limited kinematic repeatability. In contrast with previous dynamic stiffness studies, we found that stiffness varies during movement, achieving levels higher than during static postural control. High stiffness was associated with elevated reflexive activity. We observed a decrease in stiffness and a marked reduction in long-latency reflexes around the reaching movement velocity peak. This pattern could partly explain the difference between the high stiffness reported in postural studies and the low stiffness measured in dynamic estimation studies, where perturbations are typically applied near the peak velocity point.

Influence of the behavioral goal and environmental obstacles on rapid feedback responses

The motor system must consider a variety of environmental factors when executing voluntary motor actions, such as the shape of the goal or the possible presence of intervening obstacles. It remains unknown whether rapid feedback responses to mechanical perturbations also consider these factors. Our first experiment quantified how feedback corrections were altered by target shape, which was either a circular dot or a bar. Unperturbed movements to each target were qualitatively similar on average but with greater dispersion of end point positions when reaching to the bar. On random trials, multijoint torque perturbations deviated the hand left or right. When reaching to a circular target, perturbations elicited corrective movements that were directed straight to the location of the target. In contrast, corrective movements when reaching to a bar were redirected to other locations along the bar axis. Our second experiment quantified whether the presence of obstacles could interfere with feedback corrections. We found that hand trajectories after the perturbations were altered to avoid obstacles in the environment. Importantly, changes in muscle activity reflecting the different target shapes (bar vs. dot) or the presence of obstacles were observed in as little as 70 ms. Such changes in motor responses were qualitatively consistent with simulations based on optimal feedback control. Taken together, these results highlight that long-latency motor responses consider spatial properties of the goal and environment.

Deliberation in the motor system: reflex gains track evolving evidence leading to a decision

Both decision making and sensorimotor control require real-time processing of noisy information streams. Historically these processes were thought to operate sequentially: cognitive processing leads to a decision, and the outcome is passed to the motor system to be converted into action. Recently, it has been suggested that the decision process may provide a continuous flow of information to the motor system, allowing it to prepare in a graded fashion for the probable outcome. Such continuous flow is supported by electrophysiology in nonhuman primates. Here we provide direct evidence for the continuous flow of an evolving decision variable to the motor system in humans. Subjects viewed a dynamic random dot display and were asked to indicate their decision about direction by moving a handle to one of two targets. We probed the state of the motor system by perturbing the arm at random times during decision formation. Reflex gains were modulated by the strength and duration of motion, reflecting the accumulated evidence in support of the evolving decision. The magnitude and variance of these gains tracked a decision variable that explained the subject's decision accuracy. The findings support a continuous process linking the evolving computations associated with decision making and sensorimotor control.

Computational mechanisms of sensorimotor control

In order to generate skilled and efficient actions, the motor system must find solutions to several problems inherent in sensorimotor control, including nonlinearity, nonstationarity, delays, redundancy, uncertainty, and noise. We review these problems and five computational mechanisms that the brain may use to limit their deleterious effects: optimal feedback control, impedance control, predictive control, Bayesian decision theory, and sensorimotor learning. Together, these computational mechanisms allow skilled and fluent sensorimotor behavior.

Contributions of feed-forward and feedback strategies at the human ankle during control of unstable loads

The nervous system can regulate the mechanical properties of the human ankle through feed-forward mechanisms such as co-contraction and rapid feedback mechanisms such as stretch reflexes. Though each of these strategies may contribute to joint stability, it is unclear how their relative contribution varies when ankle stability is threatened. We addressed this question by characterizing co-contraction and stretch reflexes during balance of an inverted pendulum simulated by a rotary motor configured as an admittance servo. The stability of this haptic environment was manipulated by varying the stiffness of a virtual spring supporting the pendulum. We hypothesized that co-contraction and stretch reflex amplitude would increase as the stability of the haptic load attached to the ankle was reduced. Electromyographic activity in soleus, medial and lateral gastrocnemius, and tibialis anterior was used to characterize co-contraction patterns and stretch reflex amplitude as subjects stabilized the haptic load. Our results revealed that co-contraction was heightened as stability was reduced, but that the resulting joint stiffness was not sufficient to fully counteract the imposed instability. Reflex amplitude, in comparison, was attenuated as load stability was reduced, contrary to results from upper limb studies using similar paradigms. Together these findings suggest that the nervous system utilizes feed-forward co-contraction rather than rapid involuntary feedback to increase ankle stability during simple balance tasks. Furthermore, since the stiffness generated through co-contraction was not sufficient to fully balance the haptic load, our results suggest an important role for slower, volitional feedback in the control of ankle stability during balancing tasks.

Co-contraction modifies the stretch reflex elicited in muscles shortened by a joint perturbation

Simultaneous contraction of agonist and antagonist muscles acting about a joint influences joint stiffness and stability. Although several studies have shown that reflexes in the muscle lengthened by a joint perturbation are modulated during co-contraction, little attention has been given to reflex regulation in the antagonist (shortened) muscle. The goal of the present study was to determine whether co-contraction gives rise to altered reflex regulation across the joint by examining reflexes in the muscle shortened by a joint perturbation. Reflexes were recorded from electromyographic activity in elbow flexors and extensors while positional perturbations to the elbow joint were applied. Perturbations were delivered during isolated activation of the flexor or extensor muscles as well as during flexor and extensor co-contraction. Across the group, the shortening reflex in the elbow extensor switched from suppression during isolated extensor muscle activation to facilitation during co-contraction. The shortening reflex in the elbow flexor remained suppressive during co-contraction but was significantly smaller compared to the response obtained during isolated elbow flexor activation. This response in the shortened muscle was graded by the level of activation in the lengthened muscle. The lengthening reflex did not change during co-contraction. These results support the idea that reflexes are regulated across multiple muscles around a joint. We speculate that the facilitatory response in the shortened muscle arises through a fast-conducting oligosynaptic pathway involving Ib interneurons.

Changes in muscle activity with increase in leg stiffness during hopping

While the spring-like leg behavior of legs in mammalian locomotion has been well documented, its neural basis remains ambiguous. The purpose of the present study was to examine leg stiffness control during hopping. Seven male subjects performed in place two-legged hopping at their preferred frequency with two different contact times of the stance phase, preferred and short ones (PCT and SCT, respectively). Based on a spring-mass model, leg stiffness was calculated from the subjects' body mass, ground contact and flight times. Surface electromyographic (EMG) activities of the medial gastrocnemius (MG), soleus (SOL) and tibialis anterior (TA) muscles were recorded. Leg stiffness was higher in the SCT condition than in the PCT condition. The SCT condition was characterized by high EMG activity of MG and SOL at both pre- and post-landing phases, which peaked at about 50 ms. On the other hand, the activity of TA was low throughout the contact phase as compared with those of MG and SOL, and its peak value around 50 ms after landing was significantly lower for the SCT condition than for the PCT condition. We conclude that (1) the leg stiffness is regulated by a change in centrally programmed muscle preactivation and probably also by a concomitant change in the short-latency stretch reflex response of the triceps surae muscles, and (2) the co-contraction of antagonistic TA does not play a major role in leg stiffness control.

Modulation of pre-programmed muscle activation and stretch reflex to changes of contact surface and visual input during movement to absorb impact

The purpose of this study was to examine the extent of modification of the preactivation and stretch reflex response in ankle joint muscles to different contact surfaces and visual input during movement to absorb impact. Experimental movements like landing were performed using a special sliding apparatus. Seven subjects made landings on the hard surface (Hard-S) of a metal force platform or soft surface (Soft-S) of a foam cushion with eyes open or closed. The electromyographic activities from the medial gastrocnemius (MG), soleus (Sol), and tibialis anterior (TA) muscles, contact force, and ankle joint angle were recorded. The preactivation levels of MG and TA to Hard-S increased compared to Soft-S. After foot contact, dorsiflexion velocity, impulse, and responses of the stretch reflex in MG and Sol were significantly larger on Hard-S than Soft-S. With eyes closed, there were trends of decrease in the preactivation. Although the dorsiflexion velocity and impulse showed no significant differences between both visual conditions, the stretch reflex responses with eyes closed were larger than those with eyes open for both surfaces. These results suggest that the preactivation is modulated to different surface and the reflex gain is enlarged by visual suppression.

Prehension stability: experiments with expanding and contracting handle

We studied adjustments in digit forces and moments during holding a vertically oriented handle under slow, externally imposed changes in the width of the grasp. Subjects (n = 8) grasped a customized motorized handle with five digits and held it statically in the air. The handle width either increased (expanded) or decreased (contracted) at a rate of 1.0, 1.5, or 2.0 mm/s, while the subjects were asked to ignore the handle width changes, and their attention was distracted. External torques of 0.0, 0.25, and 0.5 Nm were applied to the handle in two directions. Forces and moments at the digit tips were measured with six-component sensors. The analysis was performed at the virtual finger (VF) and individual finger (IF) levels (VF is an imagined finger that produces the same wrench, i.e., the force and moment, as several fingers combined). In all the tasks, the normal VF and thumb forces increased with the handle expansion and decreased with the handle contraction. Similar behavior was seen for the thumb tangential force. In contrast, the VF tangential force decreased with the handle expansion and increased with the handle contraction. The changes in the tangential forces assisted the perturbations in the tasks requiring exertion of the supination moments and annulled the perturbation in the pronation effort tasks. In the former tasks, the equilibrium was maintained by the changes of the moments of normal forces, whereas in the latter tasks, the equilibrium was maintained by the changes of the moments of the tangential forces. Analysis at the IF level has shown that the resultant force and moment exerted on the object could arise from dissimilar adjustments of individual fingers to the same handle width change. The complex adjustments of digit forces to handle width change may be viewed as coming from two sources. First, there are local spring-like adjustments of individual digit forces and moments caused by both mechanical properties of the digits and the action of spinal reflexes. These stiffness-like reactions mainly assist in perturbing the rotational equilibrium of the object rather than in maintaining it. Second, there are tilt-preventing adjustments defined by the common task constraints that unite the digits into a task-specific synergy. The "virtual springs theory" developed in robotics literature is insufficient for describing the phenomena observed in human grasping.

Phase-dependent and task-dependent modulation of stretch reflexes during rhythmical hand tasks in humans

Phase-dependent and task-dependent modulation of reflexes has been extensively demonstrated in leg muscles during locomotory activity. In contrast, the modulation of reflex responses of hand muscles during rhythmic movement is poorly documented. The objective of this study was to determine whether comparable reflex modulation occurs in muscles controlling finger motions during rhythmic, fine-motor tasks akin to handwriting. Twelve healthy subjects performed two rhythmic tasks while reflexes were evoked by mechanical perturbations applied at various phases of each task. Electromyograms (EMGs) were recorded from four hand muscles, and reflexes were averaged during each task relative to the movement phase. Stretch reflexes in all four muscles were found to be modulated in amplitude with respect to the phase of the rhythmic tasks, and also to vary distinctly with the tasks being conducted. The extent and pattern of reflex modulation differed between muscles in the same task, and between tasks for the same muscle. Muscles with a primary role in each task showed a higher correlation between reflex response and background EMG than other muscles. The results suggest that the modulation patterns observed may reflect optimal strategies of central-peripheral interactions in controlling the performance of fine-motor tasks. As with comparable studies on locomotion, the phase-dependency of the stretch reflexes implies a dynamically fluctuating role of proprioceptive feedback in the control of the hand muscles. The clear task-dependency is also consistent with a dynamic interaction of sensory feedback and central programming, presumably adapted to facilitate the successful performance of the different fine-motor tasks.

Reflex regulation of antagonist muscles for control of joint equilibrium position

A systems model of spinal neuro-musculo-skeletal system (alpha - gamma model) is developed to investigate the plausible roles of spinal proprioceptive feedback in movement control. The model is composed of a joint, a pair of antagonist muscles, length and velocity feedback from muscle spindle, as well as spinal stretch reflex, reciprocal inhibition and recurrent inhibition of Renshaw cells. A descending command modulates the background activation of alpha motoneuron pools in combination with these reflex activities. A static gamma command controls the fusimotor contraction of the spindle. Simulation results reveal that the equilibrium joint angle is linearly correlated to the level of static gamma fusimotor activity of the spindle for a wide range of external loading conditions and reflex gains, suggesting that these spinal reflexes may contribute to regulate the equilibrium position of the joint. Sensitivity analysis further shows that reflex gains and other central commands alter the quasi-linear relation in regular fashions. The reciprocal inhibition gain changes the slope of the linear theta(eq) - gamma curve; and the descending alpha excitation, the stretch reflex gain, and the external load all shift the theta(eq) - gamma curve in parallel. These results imply that reflex gains and descending alpha commands may be coordinated to maintain a unique theta(eq) - gamma curve while providing the flexibility to counteract external loads, to execute a movement, or to regulate additional muscle variables. Dynamic simulation suggests that control of a class of movements can be achieved with a triphasic, alpha pulse and a continuous gamma signal. The model study supports the notion of a dual strategy for controlling trajectories via a feedforward alpha command and for regulating the final equilibrium positions via a feedback gamma command.

Stretch reflex gain in cat triceps surae muscles with compliant loads

The triceps surae (TS) stretch reflex was measured in decerebrate cats during crossed extensor stimulation (tonic contractions) and after spinalization during rhythmic locomotor activity. The TS reflex force in response to a short pulse stretch measured during tonic contractions at low level of background activity was greater than when more background activity was present at the time of application of stretch. In contrast, the reflex force measured during rhythmic contractions was very small at low level of background force (flexion phase) and increased at moderate and high levels of background activity (extension phase). Thus, even in reduced preparations, a task modulation of the stretch reflex occurs. Throughout the experimental procedure, the torque motor used to stretch the muscles behaved like a spring of a preset compliance (from isometric to very compliant). A reflex model was used to simulate the responses obtained experimentally. The gain of the stretch reflex loop was estimated for each load condition and both behavioural tasks. The reflex loop gain was significantly larger as the compliance of the external load increased for both tonic and rhythmic contractions, although to a lesser extent in the phasically activated muscles. During rhythmic locomotor contractions the gain was less than 1, assuring stability of the system. In contrast, during tonic contractions against a compliant load the gain exceeded 1, consistent with the instability (oscillations, clonus) seen at times under these load conditions. However, the high gain and instability was only transient, since repeated stretch reduced the gain. Thus, non-linearities in the system assured vigorous responses at the onset of perturbations, but then weaker responses to ongoing perturbations to reduce the chance of feedback instability (clonus).

Identification of intrinsic and reflexive components of human arm dynamics during postural control

In this study a new methodology to quantify reflexive feedback gains from the mechanical behavior of the human arm during posture maintenance is proposed. Disturbance experiments were carried out on human subjects using continuous random force inputs. The task instruction was 'minimize displacements', prescribing a maximum performance task. For the separation of intrinsic and reflexive components, system identification in the frequency domain is applied. From the time records of position and force, frequency response functions (FRFs) are estimated. Given a model structure and an appropriate estimate of the intrinsic component, an estimate of the reflex gains for length and velocity are obtained from the FRFs. The feedback gains vary considerably with the frequency content of the disturbance signal. The results show that reflexive dynamics are substantial for narrow-band and especially low-frequency input signals. It is likely that high reflex gains are most effective for low-frequency inputs (< 3 Hz) that do not excite the closed-loop system's eigenfrequency. Also significant negative reflex gains are estimated for near-sinusoidal inputs (> 1.5 Hz). It is concluded that this new methodology can offer interesting insights into the ability of the central nervous system to modulate reflexive feedback gains.

Stretch-reflex mechanical response to varying types of previous muscle activities

This study was designed to examine the effects of varying types of background muscle activity on the stretch-reflex mechanical response. A rapid stretch was applied to the calf muscles after an isometric (pre-ISO), shortening (pre-SHO) and lengthening contraction (pre-LEN) with several pre-contraction levels, respectively. The stretch perturbation was applied with the tibio-tarsal joint angle at 90 degrees. The ankle joint torque elicited by the stretch showed a first peak (non-reflex torque: NRT), a transient drop and a second peak (reflex torque: RT). The muscle activities before the stretch clearly influenced the stretch-reflex mechanical response. The NRT reached the largest peak with the longest duration in pre-ISO. The peak NRT increased with the pre-contraction level in pre-ISO and pre-LEN, whereas it remained unchanged in pre-SHO. The RT responded to the stretch-reflex EMG response most quickly and reached the largest peak in pre-ISO. Pre-ISO generated the mechanical response most efficiently against the size of the stretch-reflex EMG response. Pre-SHO showed lower peak RT than pre-ISO in spite of the similar size of stretch-reflex EMG response. The peak RT was closely related to the peak NRT in all conditions. Consequently, the peak RT also increased with the pre-contraction level in pre-ISO and pre-LEN, whereas it remained unchanged in pre-SHO. In conclusion, a stretch after an isometric contraction evoked a larger stretch-reflex mechanical response more efficiently than that after phasic contractions when a given effort was being maintained.

Influence of leg stiffness and its effect on myodynamic jumping performance

The purposes of this study are: a) to examine the possibility of influencing the leg stiffness through instructions given to the subjects and b) to determine the effect of the leg stiffness on the mechanical power and take-off velocity during the drop jumps. A total of 15 athletes performed a series of drop jumps from heights of 20, 40 and 60 cm. The instructions given to the subjects were a) "jump as high as you can" and b) "jump high a little faster than your previous jump". The jumps were performed at each height until the athlete could not achieve a shorter ground contact time. The ground reaction forces were measured using a "Kistler" force plate (1000 Hz). The athletes body positions were recorded using a high speed (250 Hz) video camera. EMG was used to measure muscle activity in five leg muscles. The data was divided into 5 groups where group 1 was made up of the longest ground contact times of each athlete and group 5 the shortest. The leg and ankle stiffness values were higher when the contact times were shorter. This means that by influencing contact time through verbal instructions it is possible to control leg stiffness. Maximum center of mass take-off velocity the can be achieved with different levels of leg stiffness. The mechanical power acting on the human body during the positive phase of the drop jumps had the highest values in group 3. This means that there is an optimum stiffness value for the lower extremities to maximize mechanical power.

Damping actions of the neuromuscular system with inertial loads: soleus muscle of the decerebrate cat

A transient perturbation applied to a limb held in a given posture can induce oscillations. To restore the initial posture, the neuromuscular system must provide damping, which is the dissipation of the mechanical energy imparted by such a perturbation. Despite their importance, damping properties of the neuromuscular system have been poorly characterized. Accordingly, this paper describes the damping characteristics of the neuromuscular system interacting with inertial loads. To quantitatively examine damping, we coupled simulated inertial loads to surgically isolated, reflexively active soleus muscles in decerebrate cats. A simulated force impulse was applied to the load, causing a muscle stretch, which elicited a reflex response. The resulting deviation from the initial position gave rise to oscillations, which decayed progressively. Damping provided by the neuromuscular system was then calculated from the load kinetics. To help interpret our experimental results, we compared our kinetic measurements with those of an analogous linear viscoelastic system and found that the experimental damping properties differed in two respects. First, the amount of damping was greater for large oscillation amplitudes than for small (damping is independent of amplitude in a linear system). Second, plots of force against length during the induced movements showed that damping was greater for shortening than lengthening movements, reflecting greater effective viscosity during shortening. This again is different from the behavior of a linear system, in which damping effects would be symmetrical. This asymmetric and nonlinear damping behavior appears to be related to both the intrinsic nonlinear mechanical properties of the soleus muscle and to stretch reflex properties. The muscle nonlinearities include a change in muscle force-generating capacity induced by forced lengthening, akin to muscle yield, and the nonlinear force-velocity property of muscle, which is different for lengthening versus shortening. Stretch reflex responses are also known to be asymmetric and amplitude dependent. The finding that damping is greater for larger amplitude motion represents a form of automatic gain adjustment to a larger perturbation. In contrast, because of reduced damping at small amplitudes, smaller oscillations would tend to persist, perhaps contributing to normal or "physiological" tremor. This lack of damping for small amplitudes may represent an acceptable compromise for postural regulation in that there is substantial damping for larger movements, where energy dissipation is more critical. Finally, the directional asymmetry in energy dissipation provided by muscle and reflex properties must be reflected in the neural mechanisms for a stable posture.

Characterization of multijoint finger stiffness: dependence on finger posture and force direction

The two-dimensional static stiffness of the index finger was measured with the interphalangeal joints in flexed and extended postures. The stiffness of the relaxed finger was compared with the stiffness when voluntary force was exerted in different directions. The finger stiffness was found to be anisotropic, with the direction of greatest stiffness being approximately parallel to the proximal phalange of the finger. This direction was relatively unaffected by finger posture or direction of finger force. Finger stiffness was more anisotropic when the interphalangeal joints were extended than flexed. The stiffness was most anisotropic when the interphalangeal joints were extended and force was being exerted in the direction of pointing, while it was least anisotropic when the interphalangeal joints were flexed and force was being exerted in directions normally associated with pinching and tapping actions. The stiffness of the individual finger joints was computed and the relation between stiffness and joint torque was examined. Previous studies, which examined single finger joints in isolation, had found that joint stiffness varied in a linear fashion with net joint torque. In contrast, we did not find a monotonic relation between joint stiffness and net joint torque, which we attributed to the need to vary the amount of cocontraction of antagonistic muscles when controlling the direction of finger force.

Grasp stiffness as a function of grasp force and finger span

The purpose of this study was to determine whether direct measurements of grasp stiffness agreed with stiffness inferred from the slopes of isovolitional force-space characteristics derived from previous grasp-effort matching data. Grasp stiffness for three-finger pinch was measured as a function of initial force and finger span using step displacements applied in a do-not-intervene paradigm. Subjects pinched a free-floating, motorized manipulandum in each hand and squeezed both with equal effort; one of the hands was perturbed at random. Stiffness was calculated from the initial and final steady-state values of force and span. The effects of step amplitude, rise-time, and initial load stiffness were investigated; grasp stiffness decreased significantly for larger steps, increased slightly for longer rise-times, and was unaffected by load stiffness. Grasp stiffness then was measured as a function of initial force and span using a single set of step parameters. Stiffness increased significantly in proportion to force but was changed only slightly by span. It was concluded that the perturbation and effort-matching measures of stiffness are not equivalent and represent different components of motor behavior.

Simultaneous and nonlinear identification of mechanical and reflex properties of human elbow joint muscles

The naturally coexisting intrinsic mechanical and reflex properties of the human elbow joint were identified simultaneously using nonlinear, time-delay, continuous-time, and dynamic models. Angular random perturbations of small amplitude and low bandwidth were applied to the joint using a computer-controlled servomotor, while the subject maintained various levels of mean background muscle torque. Joint neuromuscular dynamics were identified from the measured elbow angle and torque. Stretch reflexes were modeled nonlinearly with both dynamic and static reflex gains. A continuous-time system identification method was developed to estimate parameters of the nonlinear models directly from sampled data while retaining realistic physical or physiological interpretations. Results from six subjects showed that dynamic stretch reflex gains, joint stiffness, and viscosity generally increased with mean background muscle torque; and that dynamic stretch reflex gain was higher during muscle stretch than that during muscle shortening. More importantly, the study provided realistic simultaneous estimates of the relative contributions of intrinsic mechanical and reflex actions to net joint torque. In particular, reflexively-mediated stiffness generated a significant portion of the total joint stiffness and the percentage varied systematically with background muscle torque.

Task-dependence of muscle afferent monosynaptic inputs to human extensor carpi radialis motoneurones

The task-dependence of homonymous muscle afferent inputs was investigated in motor units of the extensor carpi radialis muscles during voluntary isometric contraction involving either the activation of agonist extensor muscles (wrist extension) or the co-activation of antagonist extensor and flexor muscles (hand clenching). The effectiveness of the muscle afferent monosynaptic inputs was tested by delivering either tendon taps or electrical stimulation to the radial nerve. In both cases, the motor unit responses, which took the form of narrow peaks in the peri-stimulus time histograms, were found to be significantly greater during hand clenching. The parallel enhancement of the responses to both mechanical and electrical stimulations observed during hand clenching could not be explained in terms of changes in the muscle spindle responsiveness. The enhancement of the motor units' responsiveness was apparent during the first 0.5 ms of the peaks in the peri-stimulus time histograms, taken to be uncontaminated by any polysynaptic components. It may therefore have reflected an increase in the amplitude of the excitatory monosynaptic potentials generated by the muscle spindle primary afferents. This is interpreted in terms of changes in the presynaptic inhibition, which might be depressed as the result of the large-scale activation of palm and finger cutaneous afferents liable to occur during hand clenching.

Muscle activation in the elbow-forearm complex during rapid elbow extension

Normal human subjects performed extensions of the elbow from an initial position to a visually defined target as rapidly and accurately as possible at different angular amplitudes (9 degrees-54 degrees) and at a constant amplitude (36 degrees) under various additional instructions. Joint angle, angular acceleration, and electromyograms (EMGs) from agonist (triceps lateralis), antagonist (biceps), and antebrachial muscles were recorded. EMGs of the antagonistic muscles showed reciprocal activation of the first triceps, and then the biceps, which was followed by the second triceps activation and coactivation of both muscles. Movement amplitude changed the reciprocal activation, whereas the coactivation was unaltered. Additional instructions changed the coactivation in amplitude, initiation, and termination, whereas the reciprocal activation was relatively preserved. Under these conditions, EMGs of antebrachial muscles were always linked with the coactivation in amplitude and timing but not with the reciprocal activation. The linkage suggests that antebrachial muscle activation serves as an indicator of the coactivation. From the indicator, we infer that the coactivation initiates from the beginning of the rapid movements and changes during the dynamic movement phase.

Central control of disynaptic reciprocal inhibition in humans

The disynaptic pathway from muscle spindle Ia afferents to motoneurones of the antagonist muscle is one of the best studied pathways in the spinal cord. Early animal studies--mainly in the cat--have provided a detailed knowledge of the pathway itself and of the integration of segmental and supraspinal convergence at the interneuronal level. Although this knowledge was used to formulate hypotheses on the function of the pathway during natural movements, the reduced animal preparation limited the possibilities of testing these ideas. However, such information has more recently been obtained from human subjects by using indirect electrophysiological techniques. In most of these experiments the disynaptic Ia inhibition was demonstrated as a short-latency depression of a monosynaptic test reflex (H-reflex) following a conditioning stimulation of the antagonist nerve. Changes in the size of this depression during voluntary tasks were then taken as evidence of a central regulation of the pathway. It has for example been demonstrated in this way that the brain regulates the Ia inhibitory interneurones in parallel with their corresponding motoneurones during extension-flexion movements, but not during co-contraction of antagonistic muscles. The importance of the central control of the pathway has also been emphasized by the finding of a disordered regulation of its activity in patients with lesions of the brain. This may possibly contribute to the inappropriate co-contraction of antagonistic muscles observed in some of these patients. It seems reasonable to expect that this kind of experiment in the future may contribute significantly to the knowledge of the central control of spinal motor mechanisms.

Segmental reflexes and ankle joint stiffness during co-contraction of antagonistic ankle muscles in man

The size of soleus H-reflexes and short-latency stretch reflexes was measured at different levels of plantar flexion or co-contraction (simultaneous activation of dorsi- and plantar flexors) in seven healthy subjects. In four of seven subjects the short-latency stretch reflex was smaller during weak co-contraction than during isolated plantar flexion at matched background electromyogram (EMG) levels in the soleus muscle. In three of these four subjects the stretch reflex was larger during strong co-contraction than during plantar flexion, whereas it had the same size during the two tasks in the last subject. In the remaining subjects the stretch reflex either had the same size or was larger at all levels of co-contraction than at similar levels of plantar flexion. In contrast, the H-reflex was found to decrease with co-contraction at all contraction levels in all subjects. The decrease in the reflexes during weak co-contraction might be caused by presynaptic inhibition of Ia afferents. It is unclear why only the H-reflex decreased during strong co-contraction. The stiffness of the ankle joint was measured from the torque increment following the stretch of the plantar flexors divided by the stretch amplitude. In all subjects the total stiffness of the ankle joint was larger during strong co-contraction than during plantar flexion of similar strength. The stiffness was smaller during weak co-contraction than during weak plantar flexion in three out of seven subjects.(ABSTRACT TRUNCATED AT 250 WORDS)

Discharge of muscle afferents during voluntary co-contraction of antagonistic ankle muscles in man

The discharge of 38 tibialis anterior (TA) muscle spindle endings was recorded at rest and during isometric voluntary contraction of the ankle joint in eight healthy human subjects. With the ankle joint in 110 degrees plantarflexion, 24 endings (61%) were tonically active in the resting subject. During weak voluntary dorsiflexion, seven additional endings were activated, so that a total of 31 endings were active (82%). 24 of these were either newly recruited or discharged at a faster rate than at rest (average discharge rate 6.6 Hz at rest, 9.7 Hz during contraction). At matched levels of TA EMG, one ending was newly recruited and 10 were more active during co-contraction of dorsi and plantar flexors than during isolated dorsiflexion. 26 endings were equally active during the two tasks and one ending decreased its firing rate with co-contraction. Four of the 11 endings, which had a higher discharge rate during co-contraction than during dorsiflexion, discharged faster during plantarflexion than at rest although slower than during co-contraction. Plantarflexion had no effect on the discharge of three endings. The remaining four endings were not investigated during plantarflexion. It is suggested that the increased discharge rate of muscle endings during co-contraction is caused either by small changes in the length of the TA muscle or by a disproportionately high fusimotor drive during co-contraction.

Optimal control of antagonistic muscle stiffness during voluntary movements

This paper presents a study on the control of antagonist muscle stiffness during single-joint arm movements by optimal control theory with a minimal effort criterion. A hierarchical model is developed based on the physiology of the neuromuscular control system and the equilibrium point hypothesis. For point-to-point movements, the model provides predictions on (1) movement trajectory, (2) equilibrium trajectory, (3) muscle control inputs, and (4) antagonist muscle stiffness, as well as other variables. We compared these model predictions to the behavior observed in normal human subjects. The optimal movements capture the major invariant characteristics of voluntary movements, such as a sigmoidal movement trajectory with a bell-shaped velocity profile, an 'N'-shaped equilibrium trajectory, a triphasic burst pattern of muscle control inputs, and a dynamically modulated joint stiffness. The joint stiffness is found to increase in the middle of the movement as a consequence of the triphasic muscle activities. We have also investigated the effects of changes in model parameters on movement control. We found that the movement kinematics and muscle control inputs are strongly influenced by the upper bound of the descending excitation signal that activates motoneuron pools in the spinal cord. Furthermore, a class of movements with scaled velocity profiles can be achieved by tuning the amplitude and duration of this excitation signal. These model predictions agree with a wide body of experimental data obtained from normal human subjects. The results suggest that the control of fast arm movements involves explicit planning for both the equilibrium trajectory and joint stiffness, and that the minimal effort criterion best characterizes the objective of movement planning and control.