Effects of unilateral stroke on multi-finger synergies and their feed-forward adjustments

We explored the changes in multi-finger synergies in patients after a single cortical stroke with mild motor impairments. We hypothesized that both synergy indices and anticipatory synergy adjustments prior to the initiation of a self-paced quick action would be diminished in the patients compared to age-matched controls. The patients with history of cortical stroke, and age-matched controls (n=12 in each group) performed one-finger and multi-finger accurate force production tasks involving both steady-state and quick force pulse production. Finger interdependence (enslaving) and multi-finger synergies stabilizing total force were quantified. The stroke patients showed lower maximal finger forces, in particular in the contralesional hand, which also showed increased enslaving indices. Multi-finger synergies during steady-state force production were, however, unchanged after stroke. In contrast, a drop in the synergy index prior to the force pulse generation was significantly delayed in the stroke patients. Our results show that mild cortical stroke leads to no significant changes in multifinger synergies, but there is impairment in feed-forward adjustments of the synergies prior to a quick action, a drop in the maximal force production, and an increase in enslaving. We conclude that studies of synergies reveal two aspects of synergic control differentially affected by cortical stroke.

Synergies in the space of control variables within the equilibrium-point hypothesis

We use an approach rooted in the recent theory of synergies to analyze possible co-variation between two hypothetical control variables involved in finger force production based on the equilibrium-point (EP) hypothesis. These control variables are the referent coordinate (R) and apparent stiffness (C) of the finger. We tested a hypothesis that inter-trial co-variation in the {R; C} space during repeated, accurate force production trials stabilizes the fingertip force. This was expected to correspond to a relatively low amount of inter-trial variability affecting force and a high amount of variability keeping the force unchanged. We used the "inverse piano" apparatus to apply small and smooth positional perturbations to fingers during force production tasks. Across trials, R and C showed strong co-variation with the data points lying close to a hyperbolic curve. Hyperbolic regressions accounted for over 99% of the variance in the {R; C} space. Another analysis was conducted by randomizing the original {R; C} data sets and creating surrogate data sets that were then used to compute predicted force values. The surrogate sets always showed much higher force variance compared to the actual data, thus reinforcing the conclusion that finger force control was organized in the {R; C} space, as predicted by the EP hypothesis, and involved co-variation in that space stabilizing total force.

Task-specific stability of abundant systems: Structure of variance and motor equivalence

Our main goal was to test a hypothesis that transient changes in performance of a steady-state task would result in motor equivalence. We also estimated effects of visual feedback on the amount of reorganization of motor elements. Healthy subjects performed two variations of a four-finger pressing task requiring accurate production of total pressing force (F TOT) and total moment of force (M TOT). In the Jumping-Target task, a sequence of target jumps required transient changes in either F TOT or M TOT. In the Step-Perturbation task, the index finger was lifted by 1cm for 0.5s leading to a change in both F TOT and M TOT. Visual feedback could have been frozen for one of these two variables in both tasks. Deviations in the space of finger modes (hypothetical commands to individual fingers) were quantified in directions of unchanged F TOT and M TOT (motor equivalent - ME) and in directions that changed F TOT and M TOT (non-motor equivalence - nME). Both the ME and nME components increased when the performance changed. After transient target jumps leading to the same combination of F TOT and M TOT, the changes in finger modes had a large residual ME component with only a very small nME component. Without visual feedback, an increase in the nME component was observed without consistent changes in the ME component. Results from the Step-Perturbation task were qualitatively similar. These findings suggest that both external perturbations and purposeful changes in performance trigger a reorganization of elements of an abundant system, leading to large ME change. These results are consistent with the principle of motor abundance corroborating the idea that a family of solutions is facilitated to stabilize values of important performance variables.

Neural control of movement stability: Lessons from studies of neurological patients

The concept of synergy provides a theoretical framework for movement stability resulting from the neural organization of multiple elements (digits, muscles, etc.) that all contribute to salient performance variables. Although stability of performance is obviously important for steady-state tasks leading to high synergy indices, a feed-forward drop in synergy indices is seen in preparation to a quick action (i.e., anticipatory synergy adjustments, ASAs). We review recent studies of multi-finger and multi-muscle synergies that show decreased indices of synergies and ASAs in patients with Parkinson's disease (PD) or multisystem atrophy. In PD, the impairments in synergies and ASAs are partially reversed by dopaminergic drugs, and changes in synergy indices are present even in PD patients at earliest diagnosis. Taken together, these results point at subcortical structures that are crucial for proper control of movement stability. It is timely to introduce the concept of impaired control of stability as an objective, quantifiable, and theory-based clinical descriptor of movement disorders that can increase our understanding of the neural control of movement with all of its implications for clinical practice.

Moving a hand-held object: Reconstruction of referent coordinate and apparent stiffness trajectories

This study used the framework of the referent configuration hypothesis and slow changes in the external conditions during vertical oscillation of a hand-held object to infer the characteristics of hypothetical control variables. The study had two main objectives: (1) to show that hypothetical control variables, namely, referent coordinates and apparent stiffness of vertical hand position and grip force can be measured in an experiment; and (2) to establish relation(s) between these control variables that yield the classic grip-force-load-force coupling. Healthy subjects gripped a handle and performed vertical oscillations between visual targets at one of five metronome-prescribed frequencies. A HapticMaster robot was used to induce slow changes in the vertical force applied to the handle, while the size of the handle was changed slowly leading to changes in the grip aperture. The subjects were instructed not to react to possible changes in the external forces. A linear, second-order model was used to reconstruct the referent coordinate and apparent stiffness values for each phase of the vertical oscillation cycle using across-cycle regressions. The reconstructed time profiles of the referent coordinates and apparent stiffness showed consistent trends across subjects and movement frequencies. To validate the method, these values were used to predict the vertical force and the grip force applied to the handle for movement cycles that were not utilized in the reconstruction process. Analysis of the coupling between the four variables, two referent coordinates and two apparent stiffness values, revealed a single strong constraint reflecting the coupling between the grip force and vertical force. We view these data as providing experimental support for the idea of controlling natural, multi-muscle actions with shifts in a low-dimensional set of referent coordinates.

Intentional and unintentional multi-joint movements: their nature and structure of variance

We tested predictions of a hierarchical scheme on the control of natural movements with referent body configurations. Subjects occupied an initial hand position against a bias force generated by a HapticMaster robot. A smooth force perturbation was applied to the hand consisting of an increase in the bias force, keeping it at a new level for 5s, and decreasing it back to the bias value. When the force returned to the bias value, the arm stopped at a position different from the initial one interpreted as an involuntary movement. We then asked subjects to make voluntary movements to targets corresponding to the measured end-position of the unintentional movements. No target for hand orientation was used. The joint configuration variance was compared between intentional and unintentional movements within the framework of the uncontrolled manifold hypothesis. Our central hypothesis was that both unintentional and intentional movements would be characterized by structure of joint configuration variance reflecting task-specific stability of salient performance variables, such as hand position and orientation. The analysis confirmed that most variance at the final steady states was compatible with unchanged values of both hand position and orientation following both intentional and unintentional movements. We interpret unintentional movements as consequences of back-coupling between the actual and referent configurations at the task level. The results suggested that both intentional and unintentional movements resulted from shifts of the body referent configuration produced intentionally or as a result of the hypothesized back-coupling. Inter-trial variance signature reflects similar task-specific stability properties of the system following both types of movements, intentional and unintentional.

Electromechanical delay: An experimental artifact

The time delay between the onset of muscle activation and the onset of force or motion is commonly referred to as electromechanical delay, motor time, or motor execution time. This time has been used in the study of reaction time, of physiological properties of muscle, and of population differences. In this study, we show that electromechanical delay is comprised of two components. The first is transport time (t(t)) which is very brief (perhaps 10 ms). The second is the time to generate detectable changes in force (t(f)). The absolute duration of electromechanical delay is usually dominated by the second component which is influenced by four separate factors that are related in the following way: [Formula: see text] That is, t(f) is a function (g) of the product of two ratios. One is between the threshold T of the measuring device and the rate R at which muscle force rises. The other is the ratio of the mechanical impedances of the measuring device (Z(d)) and the muscle (Z(m)). We conclude that the measured absolute value of electromechanical delay has no physiological or psychological meaning and that task and performance induced changes need great care in their interpretation.

An equilibrium-point model of electromyographic patterns during single-joint movements based on experimentally reconstructed control signals

The purpose of this work has been to develop a model of electromyographic (EMG) patterns during single-joint movements based on a version of the equilibrium-point hypothesis, a method for experimental reconstruction of the joint compliant characteristics, the dual-strategy hypothesis, and a kinematic model of movement trajectory. EMG patterns are considered emergent properties of hypothetical control patterns that are equally affected by the control signals and peripheral feedback reflecting actual movement trajectory. A computer model generated the EMG patterns based on simulated movement kinematics and hypothetical control signals derived from the reconstructed joint compliant characteristics. The model predictions have been compared to published recordings of movement kinematics and EMG patterns in a variety of movement conditions, including movements over different distances, at different speeds, against different-known inertial loads, and in conditions of possible unexpected decrease in the inertial load. Changes in task parameters within the model led to simulated EMG patterns qualitatively similar to the experimentally recorded EMG patterns. The model's predictive power compares it favourably to the existing models of the EMG patterns.

Instruction-dependent muscle activation patterns within a two-joint synergy: separating mechanics from neurophysiology

The following issue was addressed in the present study. Can instruction modify the involvement of different muscles when mechanical conditions and characteristics of a motor task remain unchanged? Subjects (N = 9) produced force by pressing their right hands against a fixed pad and were asked, in different trials, to predominantly use muscles that control either their elbows or their wrists. Force characteristics remained the same. In some trials, the setup was unexpectedly released so that a flexion movement occurred. Instruction changes induced changes in the muscle activation patterns and in preprogrammed reactions seen in unexpectedly released trials. The authors conclude that there may be different neurophysiological solutions to a specific mechanical task and that patterns of muscle activation may reflect features of both the explicit motor task and the subject's intention that may have no obvious mechanical correlate.

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.

Learning motor synergies by persons with Down syndrome

Persons with Down syndrome are frequently described as 'clumsy'. The recent progress in the development of quantitative approaches to motor synergies has allowed researchers to move towards an understanding of 'clumsiness' at the level of underlying control mechanisms. This progress has also offered an opportunity to quantify changes in motor synergies that accompany improvement in the performance of motor tasks. Previous studies of our group have shown, in particular, that persons both with and without Down syndrome are able to show improvements in indices of their multi-finger synergies in tasks that require accurate production of finger forces. In particular, 3 days of practice has been shown to lead to significant improvements in indices of multi-finger synergies that stabilize the time patterns of the total force produced by the fingers of a hand. Persons with Down syndrome showed a qualitative change in their synergies that failed to stabilize the total force altogether prior to practice and became able to do so after practice. In addition, the studies have also shown that variable practice is more beneficial for the improvement of motor synergies than blocked practice. I would like to draw an optimistic conclusion that persons with Down syndrome are not inherently 'clumsy', but have a vast potential for an improvement of their motor performance. The current state of the area of motor control allows researchers and practitioners to tap into these reserves, and to use quantitative indices of changes in motor synergies with practice to optimize motor performance of these individuals.

Vertical posture and head stability in patients with chronic neck pain

OBJECTIVE

To evaluate postural performance and head stabilization of patients with chronic neck pain.

DESIGN

A single-blind comparative group study.

SUBJECTS

Patients with work-related chronic neck pain (n = 9), with chronic whiplash associated disorders (n = 9) and healthy subjects (n = 16).

METHODS

During quiet standing in different conditions (e.g. 1 and 2 feet standing, tandem standing, and open and closed eyes) the sway areas and the ability to maintain the postures were measured. The maximal peak-to-peak displacement of the centre of pressure and the head translation were analysed during predictable and unpredictable postural perturbations.

RESULTS

Patients with chronic neck pain, in particular those with whiplash-associated disorders, showed larger sway areas and reduced ability to successfully execute more challenging balance tasks. They also displayed larger sway areas and reduced head stability during perturbations.

CONCLUSION

The results show that disturbances of postural control in chronic neck pain are dependent on the aetiology, and that it is possible to quantify characteristic postural disturbances in different neck pain conditions. It is suggested that the dissimilarities in postural performance are a reflection of different degrees of disturbances of the proprioceptive input to the central nervous system and/or of the central processing of such input.

An equilibrium-point model for fast, single-joint movement: II. Similarity of single-joint isometric and isotonic descending commands

The model for isotonic movements introduced in the preceding article in this issue is used to account for isometric contractions. Isotonic movements and isometric contractions are analyzed as consequences of one motor program acting under different peripheral conditions. Differences in isotonic and isometric EMG patterns are analyzed theoretically. Computer simulation of the EMG patterns was performed both with and without the inclusion of possible effects of reciprocal inhibition. A series of experiments was performed to test the model. The subjects made fast isotonic movements that were unexpectedly blocked at the very beginning in some of the trials. The observed differences in the EMG patterns between blocked and unblocked trials corresponded to the model's predictions. The results suggest that these differences are due to the action of a tonic stretch reflex rather than to preprogrammed reactions. The experimental and simulation findings, and also the data from the literature, are discussed in the framework of the model and the dual-strategy hypothesis. They support the hypothesis that the motor control system uses one of a few standardized subprograms, specifying a small number of parameters to match a specific task.

Prehension synergies: effects of object geometry and prescribed torques

We studied the coordination of forces and moments exerted by individual digits in static tasks that required balancing an external load and torque. Subjects ( n=10) stabilized a handle with an attachment that allowed for change of external torque. Thumb position and handle width systematically varied among the trials. Each subject performed 63 tasks (7 torque values x 3 thumb locations x 3 widths). Forces and moments exerted by the digit tips on the object were recorded. Although direction and magnitude of finger forces varied among subjects, each subject used a similar multidigit synergy: a single eigenvalue accounted for 95.2-98.5% of the total variance. When task parameters were varied, regular conjoint digital force changes (prehension synergies) were observed. Synergies represent preferential solutions used by the subjects to satisfy mechanical requirements of the tasks. In particular, chain effects in force adjustments to changes in the handle geometry were documented. An increased handle width induced the following effects: (a). tangential forces remained unchanged, (b). the same tangential forces produced a larger moment T (t), (c). the increased T (t) was compensated by a smaller moment of the normal forces T(n), and (d). normal finger forces were rearranged to generate a smaller moment. Torque control is a core component of prehension synergies. Observed prehension synergies are only mechanically necessitated in part. The data support a theory of hierarchical organization of prehension synergies.

EMG discharge patterns during human grip movement are task-dependent and not modulated by muscle contraction modes: a transcranial magnetic stimulation (TMS) study

Our previous study revealed that, during tonic muscle contraction, remarkable functional differences among intrinsic and extrinsic muscles were observed during two different grip movements, i.e., precision and power grips. To verify whether this evidence is true even under the phasic muscle contraction, magnetic stimulation was delivered over the left scalp while a normal human subject performed phasic precision or power grip responses of the right-hand fingers in a simple reaction time (SRT) paradigm. Magnetic stimulation delivered during the latent period revealed different cortico-motoneuronal excitations between the two grip responses. In particular, the contributions of extensor carpi radialis (ECR) muscle were definitely different between the two grip responses, although motor-evoked potentials (MEPs) of first dorsal interosseous (FDI) prior to, and after EMG onset of movement initiation, were not different. These results were similar to previous results obtained during tonic muscle contraction. Thus, we have concluded that the task-dependent EMG discharge pattern in finger manipulation could not be modulated by muscle contraction modes.

Bilateral deficit and symmetry in finger force production during two-hand multifinger tasks

A comprehensive study of patterns of finger forces during one-hand and two-hand multifinger maximal force production trials was performed with particular emphasis on differences between tasks involving symmetrical and asymmetrical finger groups (symmetrical and asymmetrical tasks). Twelve healthy right-handed subjects performed maximal voluntary force production tasks with different finger combinations. Force deficit (FD) for a finger group within a hand was defined as a drop in peak force in a multifinger task as compared to the sum of individual finger peak forces in single-finger tasks. FD showed a dependence on both the number of fingers within the hand and the number of fingers in the other hand. An additional drop in peak finger forces was seen in two-hand tests (bilateral deficit, BD). BD summed over two hands was independent of the number of fingers involved in the two-hand tasks, but dependent on the distribution of fingers between the two hands. BD for a hand was larger for tasks involving fewer fingers within the hand and more fingers in the other hand. It was higher for asymmetrical tasks than for symmetrical tasks. The difference between asymmetrical and symmetrical tasks was due to the different behavior of asymmetrically involved fingers. FD was larger for asymmetrical master (explicitly involved) fingers, while forces produced involuntarily by asymmetrical slave (explicitly non-involved) fingers were larger. These differences brought down the total moment produced by both hands in the frontal plane. FD and BD are phenomena of different origin whose effects sum up. The observations have led to further development of a previously proposed double-representation, mirror-image (DoReMi) hypothesis and refinement of the neural network underlying the two-hand finger interaction.

Structure of motor variability in marginally redundant multifinger force production tasks

The framework of the uncontrolled manifold hypothesis (UCM hypothesis) was applied to the analysis of the structure of finger force variability during oscillatory force production tasks. Subjects produced cycles of force with one, two (index and middle), or three (index, middle, and ring) fingers acting in parallel against force sensors mounted inside a small frame. The frame could be placed on the top of a table (stable conditions) or on a 4-mm-wide supporting surface (unstable conditions). Subjects were less variable when they used two fingers than when using one finger; adding the third finger did not change indices of variability of the performance. Components of finger force variance that did (VUN) or did not (VCOMP) change the value of a particular functional variable were computed for two control hypotheses: (1) at each time, the subjects tried to stabilize the total value of force (force-control); and (2), at each time, the subjects tried to stabilize the total moment produced with respect to an axis parallel to the hand/forearm (moment-control). Most subjects showed selective stabilization of moment and destabilization of force throughout most of the force cycle, in both stable and unstable conditions. The shapes of VUN and VCOMP suggested a possibility of selective compensation of timing errors across fingers within force cycles. One subject showed different relations between VUN and VCOMP, suggesting that these relations did in fact reflect particular central strategies of solving the tasks. The UCM method is applicable to force production tasks. It allows the comparison of control hypotheses in a quantitative way and unveils central strategies of control of redundant motor systems. Within this approach, redundancy (rather, abundance) is not a problem but an inherent part of a solution for natural motor tasks.

Bilateral multifinger deficits in symmetric key-pressing tasks

Maximal voluntary force during simultaneous bilateral and multifinger exertion has been shown to be smaller than the sum of unilateral or single-finger exertions. The goal of this study was to study the force deficit associated with bilateral multifinger tasks. Eight normal college students performed four types of maximal isometric key-pressing tasks: (1) unilateral single-finger, (2) bilateral single-finger, (3) unilateral multifinger, and (4) bilateral multifinger. Forces produced by the index (I), middle (M), ring (R), and little (L) fingers and surface electromyography (EMG) of extrinsic finger flexors were recorded. Multifinger deficit (MFD) was defined as the percentage difference between the force (or EMG) produced by a set of fingers and the sum of the forces (or EMGs) produced by the individual fingers in their unilateral single-finger tasks. Bilateral deficit (BLD) was defined as the percentage difference between the force (or EMG) produced by a set of fingers and the sum of the forces (or EMGs) produced by the finger subsets of the left and right hands. Significant BLD and MFD in force and EMG were found for all bilateral multifinger tasks and some of the bilateral single-finger tasks. Both BLD and MFD were dependent on the number of fingers involved. BLD ranged from 3% to 22.7% for force and from 8.9% to 31.0% for EMG, including bilateral single-finger and bilateral multifinger tasks. MFDs in force during bilateral I-, IM-, IMR-, and IMRL-finger tasks were 13.2%, 37.8%, 53.2%, 52.3%, respectively; and the corresponding MFDs in EMG were 11.7%, 51.3%, 67.6%, and 71.0%, respectively. BLD and MFD in EMG were found to vary in parallel with the corresponding force deficits. It was suggested that the neural ceiling effect remains the most plausible mechanism underlying the observed deficits. The central nervous system is unable to activate maximally a large number of muscle groups at the same time during tasks involving multiple body parts. During bilateral multifinger tasks, the ceiling effect may be organized hierarchically: (1) a certain limited neural drive is shared bilaterally, leading to a BLD; (2) at each hand, a certain limited neural drive is shared by multiple fingers, leading to MFD within a hand; (3) the deficits at bilateral and unilateral multifinger levels are cumulative during bilateral multifinger tasks, leading to a higher deficit associated with the tasks.

The effect of finger extensor mechanism on the flexor force during isometric tasks

The role of the intrinsic finger flexor muscles was investigated during finger flexion tasks. A suspension system was used to measure isometric finger forces when the point of force application varied along fingers in a distal-proximal direction. Two biomechanical models, with consideration of extensor mechanism Extensor Mechanism Model (EMM) and without consideration of extensor mechanism Flexor Model (FM), were used to calculate forces of extrinsic and intrinsic finger flexors. When the point of force application was at the distal phalanx, the extrinsic flexor muscles flexor digitorum profundus, FDP, and flexor digitorum superficialis, FDS, accounted for over 80% of the summed force of all flexors, and therefore were the major contributors to the joint flexion at the distal interphalangeal (DIP), proximal interphalangeal (PIP), and metacarpophalangeal (MCP) joints. When the point of force application was at the DIP joint, the FDS accounted for more than 70% of the total force of all flexors, and was the major contributor to the PIP and MCP joint flexion. When the force of application was at the PIP joint, the intrinsic muscle group was the major contributor for MCP flexion, accounting for more than 70% of the combined force of all flexors. The results suggest that the effects of the extensor mechanism on the flexors are relatively small when the location of force application is distal to the PIP joint. When the external force is applied proximally to the PIP joint, the extensor mechanism has large influence on force production of all flexors. The current study provides an experimental protocol and biomechanical models that allow estimation of the effects of extensor mechanism on both the extrinsic and intrinsic flexors in various loading conditions, as well as differentiating the contribution of the intrinsic and extrinsic finger flexors during isometric flexion.

Anticipatory postural adjustments during load catching by standing subjects

OBJECTIVES

(1) To study differences in the generation of anticipatory postural adjustments (APAs) in arm and trunk/leg muscles prior to catching a load released either by the subject him-/herself or by the experimenter. (2) To study the importance of different mechanical characteristics of the load at impact for the generation of APAs prior to load catching.

METHODS

Standing subjects were asked to catch loads dropped onto the left hand from different heights either by the experimenter or by the subject's right hand. The load mass and release height were manipulated to keep either the mass or the momentum of the load at impact constant. APAs were quantified with integral electromyographic indices.

RESULTS

APAs were observed in leg, trunk and arm muscles prior to load impact for both self- and experimenter-release trials. Kinetic energy showed higher correlations with the magnitude of APA than momentum, but only in experimenter-release trials.

CONCLUSIONS

Subjects can generate APAs in both arm and trunk/leg muscles in the absence of an explicit voluntary action. The relative importance of kinetic energy and momentum for defining the magnitude of APAs can reflect the difference in the sources of information used to prepare for the forthcoming perturbation during self- and experimenter-released load catch.

The role of action in postural preparation for loading and unloading in standing subjects

The main purpose of the present study has been to find an answer to the question: Can the subject generate anticipatory postural adjustments (APAs) when a predictable postural perturbation occurs in the absence of a voluntary action? Answering this question would allow us to distinguish between two competing hypotheses on the relation between APAs and voluntary movements. One hypothesis considers both APAsigma and voluntary "focal" movements different peripheral patterns associated with a single control process, while the alternative hypothesis considers them outcomes of two parallel control processes. Healthy subjects performed series of loading and unloading trials that included: (1) catching a falling load onto another load held in extended hands; (2) catching a falling load onto a tray attached to the trunk; (3) allowing a falling load to hit another load out of the extended hands, causing an unloading; and (4) releasing a load held in extended hands by a voluntary shoulder movement. In series 1, precautions were taken to avoid possible small hand movements prior to the impact of the falling load. Available visual information on the trajectory of the falling load was manipulated. In all conditions, except when the subject's eyes were closed, APAs were seen with patterns that were adequate for counteracting expected perturbations. Quantitative electromyographic indices of APAs depended on the availability of visual information and particular methods of introducing postural perturbations despite the fact that the magnitude of the perturbation was always the same. Our findings support a hypothesis that control processes resulting in APAs can be different from control processes associated with focal voluntary movements.

Anticipatory postural adjustments associated with lateral and rotational perturbations during standing

We studied the role of different leg and trunk muscle groups in the generation of anticipatory postural adjustments (APAs) prior to lateral and rotational perturbations associated with predictable and self-triggered postural perturbations during standing. Postural perturbations were induced by a variety of manipulations including catching and releasing a load with the right hand extended either in front of the body or to the right side, performing bilateral fast shoulder movements in different directions, and applying brief force pulses with a hand against the wall. Perturbations in a frontal plane ("lateral perturbations") were associated with significant asymmetries in APAs seen in the right and left distal (soleus and tibialis anterior) muscles; these asymmetries dependent on the direction of the perturbation. Rotational perturbations about the vertical axis of the body generated by fast movements of the two shoulders in the opposite directions were also associated with direction-dependent asymmetries in the APAs in soleus muscles. However, rotational perturbations generated by an off-body-midline force pulse application were accompanied by direction-dependent asymmetries in proximal muscle groups, but not in the distal muscles. We conclude that muscles controlling the ankle joint play an important role in the compensation of lateral and rotational perturbations. The abundance of muscles participating in maintaining vertical posture allows the control system to use different task-dependent strategies during the generation of APAs in anticipation of rotational perturbation.

Identifying the control structure of multijoint coordination during pistol shooting

The question of degrees of freedom in the control of multijoint movement is posed as the problem of discovering how the motor control system constrains the many possible combinations of joint postures to stabilize task-dependent essential variables. Success at a task can be achieved, in principle, by always adopting a particular joint combination. In contrast, we propose a more selective control strategy: variations of the joint configuration that leave the values of essential task variables unchanged are predicted to be less controlled (i.e., stabilized to a lesser degree) than joint configuration changes that shift the values of the task variables. Our experimental task involved shooting with a laser pistol at a target under four conditions. The seven joint angles of the arm were obtained from the recorded positions of markers on the limb segments. The joint configurations observed at each point in normalized time were analyzed with respect to trial-to-trial variability. Different hypotheses about relevant task variables were used to define sets of joint configurations ("uncontrolled manifolds" or UCMs) that, if realized, would leave essential task variables unchanged. The variability of joint configurations was decomposed into components lying parallel to those sets and components lying in their complement. The orientation of the gun's barrel relative to a vector pointing from the gun to the target was the task variable most successful at showing a difference between the two components of joint variability. This variable determines success at the task. Throughout the movement, not only while the gun was pointing at the target, fluctuations of joint configuration that affected this variable were much reduced compared with fluctuations that did not affect this variable. The UCM principle applied to relative gun orientation thus captures the structure of the motor control system across different parts of joint configuration space as the movement evolves in time. This suggests a specific control strategy in which changes of joint configuration that are irrelevant to success at the task are selectively released from control. By contrast, constraints representing an invariant spatial position of the gun or of the arm's center of mass structured joint configuration variability in the early and mid-portion of the movement trajectory, but not at the time of shooting. This specific control strategy is not trivial, because a target can be hit successfully also by controlling irrelevant directions in joint space equally to relevant ones. The results indicate that the method can be successfully used to determine the structure of coordination in joint space that underlies the control of the essential variables for a given task.

The organization of quick corrections within a two-joint synergy in conditions of unexpected blocking and release of a fast movement

OBJECTIVE

Within this study, we tested a hypothesis that common organization of central commands to the elbow and the wrist joints within a two-joint synergy is associated with a similar organization of pre-programmed corrections to unexpected changes in the external conditions.

DESIGN AND METHODS

The subjects (n = 7) performed series of very fast movements or isometric contractions against a pad at the level of the palm or at the level of the forearm. Some trials within a series of movements were unexpectedly blocked at the initial position leading to an isometric contraction, while some trials within a series of isometric contractions were unexpectedly released leading to a movement. Movement kinematic and electromyographic (EMG) patterns were analyzed.

RESULTS

In cases of unexpectedly blocked or unexpectedly released trials, differences in the EMG patterns between perturbed and unperturbed trials were seen at latencies between 50 and 80 ms. Two patterns were observed representing interindividual differences among subjects. One included reciprocal changes in the flexor-extensor pairs controlling both joints. The other pattern included reciprocal changes in the wrist flexor-extensor pair and unidirectional changes in the EMGs of biceps and triceps. The patterns were reproducible within each individual subject across tasks and conditions. In particular, the same pattern in the wrist flexor-extensor pair was seen when the pad was applied to the palm and when it was applied to the forearm, despite the fact that early wrist joint deviations were in opposite directions.

CONCLUSIONS

It is argued that the observed early EMG changes may be unrelated to local joint kinematics and stretch reflexes, and represent consequences of control patterns for fast corrective movements that are organized with respect to the motion of the endpoint of the limb similarly to the organization of voluntary movements. Within this framework, the organization of joints of a multi-joint limb into a synergy implies a simultaneous, automatic organization of pre-programmed reactions into a similarly organized synergy.

30 years later: On the problem of the relation between structure and function in the brain from a contemporary viewpoint (1996), part II

In the first half of the present paper, which appeared in vol. 3, issue 4 issue of Motor Control, the authors elaborated on Bernstein's (1935/1967) idea of the ambiguity of the relationship between the central command and the peripheral effect. The authors presented maybe the strongest statement so far: It is because the means are variant that the results can be invariant. As in Bernstein's 1935 paper, this was taken as evidence that there is no one-to-one relationship between structure and function in the brain. The authors discussed the history of localization theories, pointing out that neither strong localizationism nor strong anti-localizationism (as in Lashley's equipotentiality) would help understand the relation between brain structure and function. In order to understand the nature of a "brain center" for a function, the authors argued, one has to understand the concept of "function" itself. The development of "function" does not imply that the organism learns to (re)act in a stereotyped fashion, but that a control matrix is established, with non-single-valued relationships, allowing the organism to (re)act differently every time, in accordance with the need and actual situation. At the end of the first part of the paper, the authors emphasized the importance of a new basic logic of neurophysiology. In that sense, there are certain parallels between neurophysiology in the 60s (and also today, the present editors would add) and physics around the turn of the century, when Maxwell, Boltzmann, Planck, and others, created a completely new framework for theoretical physics.

The effect of fatigue on multifinger co-ordination in force production tasks in humans

1. This study investigated the effects of fatigue, induced by production of maximal isometric force for 60 s with four fingers, upon indices of multifinger co-ordination. 2. Measurements of individual finger forces were performed during single- and multifinger maximal force production (maximal voluntary contraction, MVC) for two sites of force application, the middle of the distal or the middle of the proximal phalanxes. Two fatiguing exercises were used, involving force production at the distal phalanxes and at the proximal phalanxes. Fourteen subjects were tested. 3. The total force in four-finger tasks dropped by about 43 % when it was produced at the site involved in the fatiguing exercise. During force production at the other site, MVC dropped by 23 %. During single-finger MVC tests, force drop with fatigue was similar across all four fingers (about -25 % of their corresponding MVCs). 4. Force production by one finger was accompanied by involuntary force production by other fingers (enslaving). Enslaving remained unchanged by fatigue when measured during force generation at the site involved in the fatiguing exercise, but increased during force production at the other site. 5. The total MVC of four fingers acting in parallel was smaller than the sum of the MVCs of these fingers in single-finger tasks (force deficit). The force deficit increased with fatigue. Force-sharing patterns during four-finger tasks showed only minor changes under fatigue. 6. These results indicate that the effects of fatigue were not limited to changes in the force-generating capabilities of the muscles. In particular, fatigue could lead to a reorganisation at a neural level that defines commands to individual fingers.

Contribution of the extrinsic and intrinsic hand muscles to the moments in finger joints

OBJECTIVE

The purpose of this current work is to develop a method of estimating force produced by the extrinsic and intrinsic hand muscles, and to estimate the contribution of these muscles to the finger joint moments.

DESIGN

Experimental methods and a biomechanical model were developed for the estimation of (a) moments produced at finger joints, and (b) contribution of the intrinsic and extrinsic muscles to the moments, (c) forces of the extrinsic and intrinsic muscles within individual fingers.

BACKGROUND

Because of the differential insertions of the extrinsic flexors, it is possible to isolate their mechanical effect at finger joints.

METHODS

During the experiment, the location of force application was varied in parallel along individual fingers. The points of force application were on the distal phalanx, at the distal interphalangeal joint, or at the proximal interphalangeal joint.

RESULTS

When the point of force application was varied in the proximal direction from the distal phalanx to the proximal interphalangeal joint the moment at a given joint decreased. The intrinsic and extrinsic muscle forces were dependent on the experimental conditions. The extrinsic muscles were the major contributors in counterbalancing finger joint moments when the point of force application was distal beyond the proximal interphalangeal joint.

CONCLUSION

This current work provides both an experimental protocol and a biomechanical model that allows estimation of the contribution of the intrinsic and extrinsic muscles to finger joint moments.

RELEVANCE

This study suggests ways of identifying the source of functional deficiency in the hand.

Modulation of simple reaction time on the background of an oscillatory action: implications for synergy organization

The hypothesis put forward here is that simple reaction time (SRT) modulation on the background of an oscillatory motor action is due to central neural coupling between signals to the effectors involved in the focal and the oscillatory action. The strength of the coupling may be defined by various factors ranging from anatomy to personal lifetime practice or to a particular task context. In one experiment, subjects performed an SRT task (ipsi or contralateral elbow flexion or ipsilateral ankle plantar flexion) in response to a visual imperative signal presented during a continuous oscillatory movement of the right wrist. Discrete elbow movements lead to nearly simultaneous large bursts of activity in both biceps and the wrist flexor of the arm. Strong modulation of premotor time (peak to peak changes of about 80 ms) with the phase of oscillatory action (f(OSC)) was seen in both biceps and wrist flexor when the two movements were performed by joints of the same limb but not when they were performed by joints of different limbs. The order of recruitment of proximal and distal muscles was also dependent on the phase of oscillatory action: the typical proximal-to-distal order was seen at relatively long premotor times (PMTs) while simultaneous muscle activation was seen at the shortest PMTs. In the second experiment, the subjects held a cylindrical plastic cup in the left hand and applied sine-like isometric force to the bottom of the cup with the other hand. The SRT in the task requiring a quick increase in the grip force in response to a visual imperative stimulus was modulated with the phase of the oscillatory action. This modulation disappeared when the right hand applied similarly modulated force to another surface. The conclusion is that an interaction between control signals for the focal and oscillatory actions at a supraspinal level led to the observed modulation of the SRT during the phase of oscillatory action. The possible role of cortical and subcortical mechanisms is discussed.

Enslaving effects in multi-finger force production

When a person produces isometric force with one, two, or three fingers, the other fingers of the hand also produce a certain force. Enslaving is the involuntary force production by fingers not explicitly involved in a force-production task. This study explored the enslaving effects (EE) in multi-finger tasks in which the contributions of the flexor digitorum profundus (FDP), flexor digitorum superficialis (FDS), and intrinsic muscles (INT) were manipulated. A new experimental technique was developed that allows the redistribution of the muscle activity between the FDP, FDS, and INT muscles. In the experiment, ten subjects were instructed to perform maximal voluntary contractions with all possible one-, two-, three-, and four-finger combinations. The point of force application was changed in parallel for the index, middle, ring, and little fingers from the middle of the distal phalanx, to the distal interphalangeal joint, and then to the proximal interphalangeal joint. It was found that: (1) the EE of similar amplitude were present in various experimental conditions that involved different muscle groups for force production; (2) the EE were large on average--the slave fingers could produce forces reaching 67.5% of the maximal forces produced by themselves in a single-finger task; (3) the EE were larger for neighboring fingers; and (4) the EE were non-additive--in most cases, the EE from two or three fingers were smaller than the EE from at least one finger. EE among different muscles suggest a widespread neural interaction among the structures controlling flexor muscles in the hand as the main mechanism of finger enslaving.

Reconstruction of equilibrium trajectories during whole-body movements

The framework of the equilibrium-point hypothesis was used to reconstruct equilibrium trajectories (ETs) of the ankle, hip and body center of mass during quick voluntary hip flexions ('Japanese courtesy bow') by standing subjects. Different spring loads applied to the subject's back were used to introduce smooth perturbations that are necessary to reconstruct ETs based on a series of trials at the same task. Time patterns of muscle torques were calculated using inverse dynamics techniques. A second-order linear model was employed to calculate the instantaneous position of the spring-like joint or center of mass characteristic at different times during the movement. ETs of the joints and of the center of mass had significantly different shapes from the actual trajectories. Integral measures of electromyographic bursts of activity in postural muscles demonstrated a relation to muscle length corresponding to the equilibrium-point hypothesis.

Changes in the force-sharing pattern induced by modifications of visual feedback during force production by a set of fingers

We investigated force-sharing among three fingers which acted in parallel and produced ramp profiles of total force from zero to the maximal voluntary force. The feedback to the subject was provided by a visual signal on the monitor and could correspond to the sum of forces of all the fingers or to the sum of forces of two fingers, while the force of the third finger was added with a coefficient 2 or 0.5. If the subjects did not know about the distorted feedback, they showed a template-sharing pattern within the whole range of total force values. This pattern did not depend on which finger force was multiplied and by which coefficient. If the subjects knew in advance how the feedback signal would be calculated, they tried to perform the task using either only the finger whose force was multiplied by 2 or two fingers when the force of the third one was multiplied by 0.5. Further into the trial, however, they were unable to track the ramp pattern using only one or two fingers and demonstrated a search activity that could continue until the end of the trial or lead eventually to a three-finger sharing pattern similar to the template pattern used in cases of undistorted feedback. We conclude that the limited number of preferred sharing pattern within the studied task reflects an organization of the fingers into a structural unit (involving one, two, or all three fingers) by the central nervous system. The availability of structural units defines the presence of stable solutions available for the system.

On the problem of adequate language in motor control

An adequate language is a prerequisite for progress in any area of science, including movement science. Notions of structural units and synergies and the principle of minimal interaction are revisited, discussed, and illustrated with a few examples from recent studies. Equilibrium-point hypothesis is considered an example of identifying significant variables in the control of a voluntary movement.

A principle of error compensation studied within a task of force production by a redundant set of fingers

Based on previous studies, we formulated a principle of error compensation as a major principle of synergy organization during motor tasks performed by a redundant set of effectors. Within the present study, we tested the principle by an investigation of the performance of individual fingers during isometric force production when another task was performed simultaneously. Subjects were asked to press at about 30% of the maximal contraction force with three fingers (index, middle, and ring) acting in parallel. Then, they were required to perform a series of taps at 2 Hz with one of the fingers. In all the tasks, nontapping fingers changed their force production without a time delay with the changes in the force by the tapping finger. During tapping with the index and with the middle finger, both nontapping fingers showed changes in their force negatively correlated with changes in force of the tapping finger. During tapping with the ring finger, two types of behavior could be seen in different subjects with the force of the middle finger going out of phase (group 1) or in phase (group 2) with the force of the ring finger. In both cases, the force of the index finger was out of phase with the force of the ring finger. These changes, on average, induced a compensation for the expected drop in finger force during tapping, ranging in different conditions from 94% to 102%. The ratio of forces produced by the nontapping fingers did not change during the tapping in all the cases except group 2 during ring-finger tapping, when the index finger started to generate significantly higher force as compared to the middle finger. We interpret the data as results of the action of a feed-forward central mechanism leading to parallel changes in forces produced by fingers united into a structural unit.

Motor redundancy during maximal voluntary contraction in four-finger tasks

The goal of the study was to investigate force-sharing patterns in multi-finger tasks. Maximal normal force (MNF) as well as the force-time curves produced by individual fingers were measured in 10 young male subjects in three tasks: (1) holding an instrumented handle in a pad opposition with the thumb at seven different locations, from opposing the index finger (L0) to opposing the little finger (L6); (2) holding the handle in a pad opposition with the thumb at an individually selected comfortable location; and (3) pressing with the four fingers against the same handle fixed to the external support. We found that: (1) The moment due to the normal finger forces changed systematically when the thumb position varied from L0 to L5/ L6, and it was equal to zero at a certain middle position of the thumb, the neutral position. At this position, the shear force produced by the fingers was zero. (2) The total MNF changed in an ascending-descending manner when the thumb position varied from L0 to L5/L6. The highest value of the maximal total normal force was produced at a position of the thumb that was preferred as the most comfortable position in the grip task. (3) In the press task, the neutral line - the line with respect to which the moment generated by the four fingers equals zero - was at the same location as the preferred thumb position in the grip tasks. (4) Larger total normal force corresponded to smaller total shear forces. (5) In grip tasks, with the thumb in a comfortable position, the force-force relationships among fingers were approximately linear. Hence, in these thumb positions, the force-sharing pattern was established at the beginning of the trial. At the extreme positions of the thumb, irregular patterns of the force-force relationships were observed. (6) In trials with different thumb locations, a significant correlation was found between the maximal force produced by the index and small fingers. (7) Peak force exerted by individual fingers in the multi-finger tasks was much smaller than the maximal force displayed by the same fingers in the single-finger tasks. The peak force depended on the thumb position and varied from 11.3% to 65.2% of the maximal force exerted by the same finger in the single-finger task. With the thumb in the comfortable position, the relative peak force for all fingers was approximately at the same level, 50-55%. The data are in agreement with the hypothesis that the total force is shared among individual fingers, minimizing the moment with respect to the functional hand axis.

Anticipatory postural adjustments in conditions of postural instability

OBJECTIVES

The purpose of this study was to investigate anticipatory postural adjustments (APAs) in standing subjects who performed a standard motor action triggering a standard postural perturbation (releasing a 2.2 kg load from extended arms) in conditions of different stability requirements.

METHODS

The degree of stability was varied either by balancing on special boards with long and narrow support beams or by instructions to the subjects. In the first series of experiments 13 subjects stood on the board facing either perpendicular to the beam (instability in a sagittal plane) or along the beam (instability in frontal plane); different widths of the beam were used to vary the degree of instability. During the second series of experiments (6 subjects) inclined and one-legged postures were used to induce instability in sagittal and frontal planes respectively. EMG activity of rectus abdominis, erector spinae, rectus femoris, biceps femoris, tibialis anterior, and soleus muscles were recorded. Statistical methods included repeated measures analysis of variance (ANOVA) with direction of instability and level of instability being major factors, descriptive statistics, and post hoc Student's t tests.

RESULTS

The integral measure of changes in the background electromyographic activity of postural muscles during APAs depended on two factors related to the postural task: (1) standing on a platform with a narrow support area led to an attenuation of the APAs; and (2) these effects were stronger when instability was in a sagittal rather than in the frontal plane. The anticipatory component in the displacement of the center of pressure did not show a clear attenuation that would depend on the direction of instability.

CONCLUSIONS

We suggest a hypothesis that, in conditions of high stability demands, the central nervous system may suppress APAs as a protection against their possible destabilizing effects. These effects are more pronounced when the direction of an expected perturbation is in the plane of instability.

Coordinated force production in multi-finger tasks: finger interaction and neural network modeling

During maximal voluntary contraction (MVC) with several fingers, the following three phenomena are observed: (1) the total force produced by all the involved fingers is shared among the fingers in a specific manner (sharing); (2) the force produced by a given finger in a multi-finger task is smaller than the force generated by this finger in a single-finger task (force deficit); (3) the fingers that are not required to produce any force by instruction are involuntary activated (enslaving). We studied involuntary force production by individual fingers (enslaving effects, EE) during tasks when (an)other finger(s) of the hand generated maximal voluntary pressing force in isometric conditions. The subjects (n = 10) were instructed to press as hard as possible on the force sensors with one, two, three and four fingers acting in parallel in all possible combinations. The EE were (A) large, the slave fingers always producing a force ranging from 10.9% to 54.7% of the maximal force produced by the finger in the single-finger task; (B) nearly symmetrical; (C) larger for the neighboring fingers; and (D) non-additive. In most cases, the EE from two or three fingers were smaller than the EE from at least one finger (this phenomenon was coined occlusion). The occlusion cannot be explained only by anatomical musculo-tendinous connections. Therefore, neural factors contribute substantially to the EE. A neural network model that accounts for all the three effects has been developed. The model consists of three layers: the input layer that models a central neural drive; the hidden layer modeling transformation of the central drive into an input signal to the muscles serving several fingers simultaneously (multi-digit muscles); and the output layer representing finger force output. The output of the hidden layer is set inversely proportional to the number of fingers involved. In addition, direct connections between the input and output layers represent signals to the hand muscles serving individual fingers (uni-digit muscles). The network was validated using three different training sets. Single digit muscles contributed from 25% to 50% of the total finger force. The master matrix and the enslaving matrix were computed; they characterize the ability of a given finger to enslave other fingers and its ability to be enslaved. Overall, the neural network modeling suggests that no direct correspondence exists between neural command to an individual finger and finger force. To produce a desired finger force, a command sent to an intended finger should be scaled in accordance with the commands sent to the other fingers.

Anticipatory postural adjustments during self-paced and reaction-time movements

We studied the changes in the anticipatory postural adjustments (APAs), associated with dropping a load from extended arms and during fast bilateral shoulder flexion movements, when movements were performed in a self-paced manner and under a simple reaction-time instruction. The latter instruction applied time pressure and did not allow the regular pattern of APAs to be used. In particular, the following questions were asked: (1) are there changes in the relative timing of APAs under the reaction time condition; (2) are changes in the relative timing of APAs associated with changes in APAs themselves; (3) can different postural strategies be used to maintain stability under self-paced and reaction time conditions; and (4) are changes in APAs related to actual reaction time or to a change in the instruction? In particular, under reaction-time conditions, APAs occurred later in time, typically simultaneously with the initiation of the focal movement. Additional changes in electromyographic (EMG) patterns in postural muscles included an increase in the amplitude of EMG bursts and "speeding-up" some of the tri-phasic patterns in postural dorsal-ventral muscle pairs. This was accompanied by a smaller early shift of the center of pressure followed by its more rapid delayed displacement. There was considerable variability in the changes of EMG and dynamic characteristics across subjects. Some of the changes in the EMG patterns in postural muscles depended on actual reaction time, while others were related to a change in the instruction and occurred even if actual reaction times were long enough to allow for the typical self-paced APA patterns to occur. These findings can be interpreted as supporting the parallel control hypothesis for the focal movement and postural adjustments. Alternatively, they can be interpreted within a framework that implies the generation of a single control function, which is transformed into two components, one directed at the focal muscles/joints and the other directed at postural muscles/joints.

Learning a motor task involving obstacles by a multi-joint, redundant limb: two synergies within one movement

In this study, we investigated the hypothesis that the problem of motor redundancy could be solved using synergies representing rules for relative joint involvement to ensure a desired endpoint trajectory which may be context-dependent and may change with practice. Subjects practised a planar movement 'as fast as possible' from an initial to a final position, avoiding three round obstacles. The improvement in motor performance included a decrease in movement time and in the error scores. It was accompanied by the emergence of two distinct synergies. The first one involved elbow and shoulder movements and was used to move from the initial position to the first obstacle, and from obstacle to obstacle, whereas the second, involving the wrist, was used while going around the obstacles. The first synergy was seen before practice and showed an increase in joint coupling with practice. The second synergy was not seen prior to practice; it could not be explained by the pseudo-inverse transformation. We concluded that the central nervous system (CNS) has options for solving the redundancy problem, and that the solutions may be chosen based on such considerations as accuracy requirements, inertial properties of segments, and efficacy of particular joints to move the endpoint along a desired trajectory.

Changes in the symmetry of rapid movements. Effects of velocity and viscosity

Five subjects made rapid, discrete elbow flexion movements over different distances, against different inertial loads, as well as under distance and load combinations that kept movement time constant. The results demonstrated that an increase in peak movement velocity was associated with an increase in the temporal symmetry ratio of the movement (acceleration time divided by deceleration time), as well as with an increase in both agonist electromyographic (EMG) burst duration and antagonist EMG latency. Since an increase in peak movement velocity is associated with faster agonist muscle shortening, as well as with faster stretching of the antagonist muscle, we hypothesize that the velocity-related changes in movement symmetry can be viewed as, at least partially, a consequence of muscle viscosity. Viscosity increasingly resists the shortening agonist and assists the lengthening antagonist when movement velocity increases. Therefore, the agonist muscles require more time to produce the required impulse, while the antagonist muscle can brake the movement in a shorter period of time. In order to test the hypothesis that viscosity is responsible for the velocity-associated changes in the symmetry ratio, we performed a second experiment with distance and load combinations identical to those of the first experiment, but with different external viscous loads, which resisted the slower and assisted the faster movements. The results demonstrated that the movements became more symmetrical in the presence of the viscous load. There were also changes in agonist duration and antagonist latency. We conclude that changes in the symmetry associated with changes in movement velocity may be due to the effects of either muscle viscosity or changes in how muscles are activated to account for differences in viscous force.

Force sharing among fingers as a model of the redundancy problem

The aim of this study was to test Bernstein's idea that motor synergies provide solutions to the motor redundancy problem. Forces produced by individual fingers of one hand were recorded in one-, two-, three-, and four-finger tasks. The subjects (n=10) were asked to produce maximal total force (maximal voluntary contraction, MVC) and to match a ramp total force profile using different combinations of fingers. We found that individual finger forces were smaller in multifinger MVC tasks than in single-finger tasks. The deficit increased with the number of fingers involved. A saturation effect was observed: when several effectors were involved, adding a new effector did not significantly change the total force output. The data confirmed the idea that the central neural drive arriving at the level of synergies has a certain limit, a ceiling, that cannot be exceeded. The central nervous system cannot maximally activate the muscles serving all the fingers at the same time. Secondly, during the course of ramp trials, forces produced by individual fingers were linearly related to each other. Hence, a force sharing pattern was established at the beginning of the trial and did not change during the ramp period. A hypothesis is suggested that force distribution among fingers may be organized so as to minimize unnecessary rotational moment with respect to the functional longitudinal axis of the hand. Finally, in the four-finger trials, variance of the total maximal force output in ten consecutive attempts was smaller than the sum of variances of the maximal individual finger forces. The finding suggests that the control system of the motor tasks studied involves at least two levels, a central neural drive level and a synergy level. At the synergy level, an intercompensation in individual finger force production is observed.

Anticipatory postural adjustments during standing in below-the-knee amputees

OBJECTIVE: We studied the role of adaptive changes within the central nervous system in anticipatory postural adjustments seen in unilateral below-the-knee amputees. DESIGN: Changes in electromyographic and mechanical variables were compared during standardized tasks performed by standing subjects. BACKGROUND: Anticipatory postural adjustments represent an important mechanism of postural control which was expected to be changed in amputees because of both mechanical and secondary, neurological reasons. METHODS: Six patients after a below-the-knee amputation and six control subjects stood on a force platform and performed fast bilateral shoulder movements and also dropped or caught a load from (into) extended hands. Anticipatory changes in the background activity of postural muscles were analysed. RESULTS: In amputees, there were cases of marked asymmetry in anticipatory changes of the background muscle activity which were larger on the intact side of the body but were commonly small or absent on the side of the amputation. This asymmetry could lead to larger mediolateral forces and displacements of the centre of pressure. CONCLUSIONS: We suggest that asymmetrical patterns of anticipatory postural adjustments reflect central adaptive changes secondary to the amputation. Rehabilitation approaches would benefit from understanding and taking advantage of the adaptive changes within the central nervous system. RELEVANCE: We demonstrated asymmetries in patterns of anticipatory postural adjustments during voluntary arm movements and load manipulations by standing unilateral amputees. This finding is of potential importance for rehabilitation of amputees and their prosthetic training.

Anticipatory postural adjustments during self-initiated perturbations of different magnitude triggered by a standard motor action

The purpose of the study was to define whether anticipatory postural adjustments scale with the magnitude of a self-triggered postural perturbation when a standard motor action triggers the perturbation. Standing subjects generated vertical forces of different magnitude with their extended arms against a bar connected through a rigid cord to the floor. They released the bar with a standard bilateral shoulder abduction. Anticipatory postural adjustments were seen as changes in the level and/or timing of the background activation of postural muscles. Muscles of the dorsal part of the legs and of the trunk demonstrated an anticipatory decrease in the level of activation, commonly leading to its complete disappearance. There was no relation between the magnitude of the unloading and the timing of the changes in the background activity of these muscles. Muscles of the frontal part of the legs and of the trunk demonstrated an anticipatory increase in their activity whose timing and amplitude correlated positively with the magnitude of the perturbation. We conclude that anticipatory postural adjustments can be scaled with respect to the magnitude of a self-triggered perturbation.

Organization of a simple two-joint synergy in individuals with Down syndrome

Subjects with Down syndrome and age- and gender-matched control subjects performed discrete elbow or wrist, flexion or extension movements in a sagittal plane, moving one of the joints as fast as possible. The hand was either pronated or supinated. In control subjects, alternating bursts of activity were seen in the agonist-antagonist muscle pair controlling the nonfocal joint. Subjects with Down syndrome, in most series, demonstrated simultaneous bursts of activity in the flexor and extensor muscles controlling both joints. This group difference was particularly pronounced for the muscles controlling the nonfocal joint. We assume that the central nervous system may use two strategies to avoid flapping of a postural joint. The more universal co-contraction strategy in Down syndrome may be viewed as an adaptive feature reflecting a general tendency of these persons to trade efficacy for safety.

Are there deficits in anticipatory postural adjustments in Parkinson's disease?

We studied anticipatory postural adjustments in patients with Parkinson's disease who dropped a load from extended arms while standing. Anticipatory postural adjustments were seen when load dropping was induced by a fast, bilateral shoulder abduction but not when it was induced by pressing a trigger with the right thumb. We conclude that anticipatory postural adjustments in patients with Parkinson's disease can change with the magnitude of an action which is used to trigger a predictable postural perturbation. Thus, the described deficits in anticipatory postural adjustments in patients with Parkinson's disease are likely to be of quantitative rather than qualitative nature.

Motor control research in rehabilitation medicine

Progress in rehabilitation medicine requires an understanding of the basic rules of motor coordination, as well as of the contribution of adaptive processes within the central nervous system to the patterns of impaired movements. We assume that patterns of voluntary movements reflect rules of coordination that are used by the intact central nervous system of healthy persons. In pathological conditions that may include cognitive, central neurological, and peripheral disorders, the central nervous system may reconsider these rules leading to different peripheral patterns of voluntary movements. In such conditions, changed motor patterns may be considered adaptive to a primary disorder. They may even be viewed as optimal for a given state of the system of movement production. We suggest that the emphasis of therapeutic approaches must be placed not on restoring the motor patterns to 'as close to normal as possible', but on assisting the central nervous system to develop optimal adaptive reactions to the original underlying problem.

Changes in voluntary motor control induced by intrathecal baclofen in patients with spasticity of different etiology

We studied the effects of intrathecal baclofen upon voluntary movements. Eleven patients with spasticity of different etiology and one patient with idiopathic dystonia were studied. Six patients participated in a double-blind trial. Kinematic/dynamic and electromyographic (EMG) patterns were recorded during attempts at single-joint elbow or ankle voluntary movements and isometric contractions. Reflex responses were also recorded. Baclofen suppressed spastic signs in 10 patients: it eliminated clonus and decreased the co-contraction of antagonist and distant muscle groups. Baclofen could induce weakness, particularly in patients with cerebral palsy (CP). Patients with hemi-syndromes did not notice any effects of baclofen in their 'unaffected' limbs. Intrathecal baclofen could improve voluntary movements in some patients with spasticity resulting in better walking and usage of arms. We hypothesize that spasticity induces an adaptive reaction at a segmental level that includes an increase in the number and/or affinity of GABA-sensitive receptors.

Paradoxical effects of practice of fast single-joint movements

We studied the effects of extensive practice of fast, unidirectional, single-joint elbow flexions against a small extending torque bias upon the kinematic and electromyographic (EMG) characteristics of the movements as well as upon the reconstructed hypothetical control patterns (equilibrium trajectories). The subjects were tested at different distances, both with and without the bias torque prior to and after the practice sessions. The basic finding was paradoxical: The subjects did not improve their performance at the practiced task (against the bias) and at other distances in the same condition; however, they showed an increase in movement speed and a decrease in movement time at all distances in unpracticed conditions (without the bias). Changes in the EMG patterns were similar in both conditions. We hypothesize that the principle of learning the dynamics of interaction with the experimental setup in combination with a very steep learning curve form the basis for the observed paradoxical effects of practice. The equilibrium-point hypothesis of movement control provides the least controversial description of these effects as compared to the force-control and EMG-control approaches.