Vestibular Influences on Postural Instability Induced by Movements of the Visual Environment and Support

Subjects were maintained in a vertical posture standing on a hard support with a limited degree of freedom in the frontal plane. The stability of the vertical posture was assessed on the basis of the standard deviations (σ) from the mean amplitude of head oscillations (in the frontal and sagittal planes) relative to the origin of the coordinate system. Sinusoidal rotations of the optokinetic cylinder in which subjects stood, sinusoidal rotations of the support, and combination of these rotations, with phase discordance between movements of the cylinder and the support, led to increases in σ in all subjects. Feedback via the vestibular input was created using transmastoid galvanic vestibular stimulation. Changes in the feedback current showed a linear function relating to the amplitude and speed of head movement. Introduction of variations in the feedback function could be used to decrease σ for lateral oscillations; increases (compared with values on calm standing in the dark) resulted from the use of any of the destabilizing treatments. Changes in σ for oscillations in the sagittal plane were not systematic. __________ Translated from Rossiiskii Fiziologicheskii Zhurnal imeni I. M. Sechenova, Vol. 91, No. 3, pp. 246–258, March, 2005.     

Prehension in the pigeon

Summary Eating in the pigeon involves a series of jaw movements some of which serve a prehensile function; i.e., they are utilized in the grasping and manipulation of objects. These prehensile behaviors are extremely brief (30–80 ms), produce an adjustment of jaw opening amplitude to the size of the food object, are mediated by an effector system involving a relatively small number of muscles and are amenable to both reflexive and voluntary control. This combination of structural simplicity and functional complexity suggests that the pigeon's jaw movements may provide a useful model system for the study of motor control mechanisms in targeted movements. The present report provides a classification of jaw opening movements occurring during eating and a preliminary determination of the extent to which each movement class is scaled to the size of the food object. Jaw movements were monitored during responses to spherical food pellets of six different sizes (3.2–11.1 mm in diameter) using a transducing system which produces a continuous record of gape (i.e., interbeak distance). Assignment to movement classes was then carried out using a computer-assisted scoring program. Functions relating jaw opening amplitude to target size were determined for each movement class. Four jaw movement classes were identified: Prepecks (just prior to pecking), Grasps (opening movements made during pecking but prior to contact with the target), Mandibulations (movements serving to position and transport the object within the buccal cavity) and Swallows. For two of these movement classes (Grasps, Mandibulations) jaw opening amplitude is scaled to pellet size but the scaling functions differ in ways that reflect the functional requirements of the two behaviors. However, for both movements, the data suggest that information about initial gape is used to control opening amplitude. It is concluded that during Grasping, the adjustment of opening amplitude to stimulus size involves visual inputs and open-loop control mechanisms, while for Mandibulation, that adjustment involves tactile input and closed-loop mechanisms.     

Prehension in the pigeon

Summary Single units were recorded, using extra-cellular glass microelectrodes, in the ventrobasal complex of the thalamus of rats under halothane-nitrous oxide anaesthesia. The animals had previously undergone a large bilateral section of the trigeminal sensory complex just above the obex to deprive the caudal part of the trigeminal sensory complex (subnucleus caudalis) of its trigeminal afferents. As observed on frontal slices our lesions impaired the whole descending tract and, in most cases, the intratrigeminal pathways between the rostral and the caudal part of the complex. Forty-seven units responding to a somatic mechanical noxious stimulation applied to the trigeminal area were recorded in these conditions. Forty-two of these had a receptive field (or at least a part of it) in or around the oral and nasal cavities, and 5 in the peripheral part of the face. These data confirm the hypothesis that the rostral part of the trigeminal sensory complex participates in pain sensory pathways, as a first relay site between nociceptive primary afferents coming from oral, perioral and perinasal areas, and the ventrobasal complex of the thalamus. In addition, they suggest that the intra-trigeminal pathways are not essential for the transmission of these nociceptive inputs, to the lateral thalamus.     

Prehension synergies in three dimensions

The goal of this study was to investigate the conjoint changes of digit forces/moments in 3 dimensions during static prehension under external torques acting on the object in one plane. The experimental paradigm was similar to holding a book vertically in the air where the center of mass of the book is located farther from the hand than the points of digit contacts. Three force and 3 moment components from each digit were recorded during static prehension of a customized handle. Subjects produced forces and moments in all 3 directions, although the external torques were exerted on the handheld object about only the Z-axis. The 3-dimensional response to a 2-dimensional task was explained by the cause-effect chain effects prompted by the noncollinearity of the normal forces of the thumb and the 4 fingers (represented by the "virtual finger"). Because the forces are not collinear (not along the same line), they generate moments of force about X- and Y-axes that are negated by the finger forces along the Y- and X-directions. The magnitudes of forces produced by lateral fingers (index and little) with longer moment arms were larger compared with the central fingers (middle and ring). At the virtual finger (an imaginary digit whose mechanical action is equivalent to the summed action of the 4 fingers) level, the relative contribution of different fractions of the resistive moment produced by subjects did not depend on the torque magnitude. We conclude that the CNS 1) solves a planar prehension task by producing forces and moments in all 3 directions, 2) uses mechanical advantage of fingers, and 3) shares the total torque among finger forces and moments in a particular way disregarding the torque magnitude.     

Voluntary Control of Systolic Blood Pressure During Postural Change

The effects of biofeedback and voluntary control procedures on systolic blood pressure and heart rate during postural change were investigated in 30 normotensive men. Systolic pressure was measured with a continuous blood pressure tracking cuff, and blood pressure feedback was provided on a beat-to-beat basis. Postural changes in pressure, and corresponding heart rate changes, were examined in three experimental groups (N = 10 each). In two groups, subjects were given feedback training to increase or to decrease systolic blood pressure. In the third group, subjects were simply asked to increase their pressure but were not given feedback about their performance. Voluntary control of systolic pressure was attempted while subjects were seated and during postural change—sitting to standing. Subjects were also instructed to maintain voluntary blood pressure control in subsequent no-feedback test trials. During postural change, voluntary control procedures caused significant alterations in tonic levels of systolic pressure, but phasic blood pressure reactivity was unaffected. With respect to postural changes in heart rate, both tonic and phasic treatment effects were observed. Implications of the findings for basic and clinical research are discussed.     

Prehension of objects oriented in three-dimensional space

 When reaching for an object, the proximity of the object, its orientation, and shape should all be correctly estimated well before the hand arrives in contact with it. We were interested in the effects of the object’s orientation on manual prehension. Subjects were asked to reach for an object at one of several possible orientations. We found that the trajectory of the hand and its rotation and opening were significantly affected by the object’s orientation within the first half of the movement. We also detected a slight delay of the wrist relative to the forearm and a small bias of the orientation of the fingers’ tips toward the orientation of the table on which the object lay. Finally, the aperture of the hand was proportional to the physical size of the object, which shows that size constancy was achieved from the variation of the object’s orientation. Taken together, these results indicate that the three components of the movement – the transport, rotation, and opening of the hand – have access to a common visual representation of the object’s orientation. Received: 31 January 1996 / Accepted: 19 October 1996     

Serial Testing of Postural Control After Acute Lateral Ankle Sprain

OBJECTIVE: To identify subjects' changes in postural control during single-leg stance in the 4 weeks after acute lateral ankle sprain. DESIGN AND SETTING: We used a 2 x 2 x 3 (side-by-plane-by-session) within-subjects design with repeated measures on all 3 factors. All tests were performed in a university laboratory. SUBJECTS: Seventeen young adults (9 men, 8 women; age, 21.8 +/- 5.9 years; mass, 74.9 +/- 10.5 kg; height, 176.9 +/- 7.1 cm) who had sustained unilateral acute mild or moderate lateral ankle sprains. MEASUREMENTS: Measures of center-of-pressure excursion length, root mean square velocity of center-of-pressure excursions (VEL), and range of center-of-pressure excursions (RANGE) were calculated separately in the frontal and sagittal planes during 5-second trials of static single-leg stance. RESULTS: We noted significant side-by-plane-by-session interactions for magnitude of center-of-pressure excursions in a given trial (PSL) (P =.004), VEL (P =.011), and RANGE (P =.009). Both PSL and VEL in the frontal plane were greater in the injured limbs compared with the uninjured limbs on day 1 and during week 2 but not during week 4, whereas sagittal-plane differences existed during all 3 testing sessions. Injured-limb, frontal-plane RANGE scores were greater than uninjured values at day 1 but not during weeks 2 or 4. No significant differences in sagittal-plane RANGE scores were seen. CONCLUSIONS: Postural control was significantly impaired in the injured limbs at day 1 and during week 2 after lateral ankle sprain but not during week 4. Consistent improvement in postural control measures on both injured and uninjured limbs was seen throughout the 4 weeks after ankle sprain.     

Prehension is really reaching and grasping

Prehension has traditionally been seen as the act of coordinated reaching and grasping. However, recently, Smeets and Brenner (in Motor Control 3:237-271, 1999) proposed that we might just as well look at prehension as the combination of two independently moving digits. The hand aperture that has featured prominently in many studies on prehension, according to Smeets and Brenner's "double-pointing hypothesis", is really an emergent property related to the time course of the positions of the two digits moving to their respective end points. We tested this double-pointing hypothesis by perturbing the end position of one of the digits while leaving the end position of the opposing digit unchanged. To this end, we had participants reach for and grasp a metallic object of which the side surfaces could be made to slide in and out. We administered the perturbation right after movement initiation. On several occasions, after perturbing the end position of one digit, we found effects also on the kinematics of the opposing digit. These findings are in conflict with Smeets and Brenner's double-pointing hypothesis.     

功能电刺激腕关节运动的自适应控制技术研究

针对功能电刺激(FES)康复技术中肌肉的时变和高度非线性的特点,提出一种实时调整FES系统输出,实现康复患者自适应训练的方法。考虑到患者间和康复各阶段肌肉对电刺激响应能力的差异,利用神经网络良好的非线性逼近能力,采用神经网络辨识器辨识相关运动肌肉的FES模型,并在此基础上,利用神经网络控制器在线调节控制策略及刺激参数,提高FES系统的自适应能力。通过人体腕关节运动控制的FES实验,验证该方法具有较高的轨迹跟踪控制精度和较强的自适应能力。     

Prehension movements and motor development in children

 The maturation of manual dexterity and other sensorimotor functions was assessed with various behavioural tests. In healthy children (age 4–5 years) and in adults, the kinematics of reaching and grasping, a bimanual task and fast repetitive tapping movements were analysed. Furthermore a comprehensive motor function score (MOT), probing agility and balance, was evaluated. In the prehension task, the straightness of the reaching trajectories increased with age. Children opened their grip relatively wider than adults, thus grasping with a higher safety margin. The speed of both tapping and bimanual movements increased with age, and higher scores were reached in the MOT. Although the different behavioural tests sensitively indicated maturational changes, their results were generally not correlated, i.e. the outcome of a particular test could not predict the results of other tasks. Hence there is no simple and uniform relationship between different behavioural data describing maturation of sensorimotor functions. Received: 20 July 1998 / Accepted: 11 December 1998     

Prehension synergies and control with referent hand configurations

We used the framework of the equilibrium-point hypothesis (in its updated form based on the notion of referent configuration) to investigate the multi-digit synergies at two levels of a hypothetical hierarchy involved in prehensile actions. Synergies were analyzed at the thumb–virtual finger (VF) level (VF is an imaginary digit with the mechanical action equivalent to that of the four actual fingers) and at the individual finger level. The subjects performed very quick vertical movements of a handle into a target. A load could be attached off-center to provide a pronation or supination torque. In a few trials, the handle was unexpectedly fixed to the table and the digits slipped off the sensors. In such trials, the hand stopped at a higher vertical position and rotated into pronation or supination depending on the expected torque. The aperture showed non-monotonic changes with a large, fast decrease and further increase, ending up with a smaller distance between the thumb and the fingers as compared to unperturbed trials. Multi-digit synergies were quantified using indices of co-variation between digit forces and moments of force across unperturbed trials. Prior to the lifting action, high synergy indices were observed at the individual finger level while modest indices were observed at the thumb–VF level. During the lifting action, the synergies at the individual finger level disappeared while the synergy indices became higher at the thumb–VF level. The results support the basic premise that, within a given task, setting a referent configuration may be described with a few referent values of variables that influence the equilibrium state, to which the system is attracted. Moreover, the referent configuration hypothesis can help interpret the data related to the trade-off between synergies at different hierarchical levels.     

Prehension synergies during smooth changes of the external torque

We studied characteristics of digit action and their co-variation patterns across trials (prehension synergies) during static holding of an object while the external torque could change slowly and smoothly. The subjects held in the air an instrumented handle with an attachment that allowed a smooth change in the external torque over about 12 s; the load was always kept constant. Series of trials were performed under three conditions: The torque could be zero throughout the trial, or it could change slowly requiring a smooth change of the effort from a non-zero pronation value to zero (PR-0) or from a non-zero supination value to zero (SU-0). The handle was kept vertical at all times. Indices of variance and co-variation of elemental variables (forces and moments of force produced by individual digits) stabilizing such performance variables as total normal force, total tangential force, and total moment of force were computed at two levels of an assumed control hierarchy. At the upper level, the task is shared between the thumb and virtual finger (an imagined digit with the mechanical action equal to that of the four fingers), while at the lower level, the action of the virtual finger is shared among the actual four fingers. We analyzed the total moment of force as the sum of the moments of force produced by the thumb and virtual finger and also as the sum of the moments of force produced by the normal forces and tangential forces. The results showed that the adjustments in the total moment of force were produced primarily with changes in the moment produced by the virtual finger and by changes in the moment produced by the normal forces. The normal force of the thumb at the final state (which was the same across conditions) was larger in the two conditions with changes in the external torque. The safety margin was significantly higher in the PR-0 condition, and it dropped with the decrease in the external torque. A co-contraction index was computed to reflect the moment of force production by the fingers acting against the total moment produced by the virtual finger. It was higher for the SU-0 condition. Most variance indices dropped with a decrease in the external torque. The co-variation indices, however, remained unchanged over the trial duration. They showed signs of a trade-off between the two levels of the assumed hierarchy: larger indices at the higher level corresponded to smaller indices at the lower level. This study and the previous one (Sun et al. in Exp Brain Res 209:571–585, 2011) document several previously unknown features of prehensile tasks. The results show that characteristics of digit action and interaction in such tasks depend not only on the magnitudes of external constraints but also on a variety of other factors including time changes in the constraints and their history.     

The Effects of Fatigue and Chronic Ankle Instability on Dynamic Postural Control

OBJECTIVE: Deficits in static postural control related to chronic ankle instability (CAI) and fatigue have been investigated separately, but little evidence links these factors to performance of dynamic postural control. Our purpose was to investigate the effects of fatigue and CAI on performance measures of a dynamic postural-control task, the Star Excursion Balance Test. DESIGN AND SETTING: For each of the 3 designated reaching directions, 4 separate 5 (condition) x 2 (time) x 2 (side) analyses of variance with a between factor of group (CAI, healthy) were calculated for normalized reach distance and maximal ankle-dorsiflexion, knee-flexion, and hip-flexion angles. All data were collected in the Athletic Training Research Laboratory. SUBJECTS: Thirty subjects (16 healthy, 14 CAI) participated. MEASUREMENTS: All subjects completed 5 testing sessions, during which sagittal-plane kinematics and reaching distances were recorded while they performed 3 reaching directions (anterior, medial, and posterior) of the Star Excursion Balance Test, with the same stance leg before and after different fatiguing conditions. The procedure was repeated for both legs during each session. RESULTS: The involved side of the CAI subjects displayed significantly smaller reach distance values and knee-flexion angles for all 3 reaching directions compared with the uninjured side and the healthy group. The effects of fatigue amplified this trend. CONCLUSIONS: Chronic ankle instability and fatigue disrupted dynamic postural control, most notably by altering control of sagittal-plane joint angles proximal to the ankle.     

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 × 3 thumb locations × 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. Electronic Publication