Postural adjustments for online corrections of arm movements in standing humans

The aim of this study was to investigate how humans correct ongoing arm movements while standing. Specifically, we sought to understand whether the postural adjustments in the legs required for online corrections of arm movements are predictive or rely on feedback from the moving limb. To answer this question we measured online corrections in arm and leg muscles during pointing movements while standing. Nine healthy right-handed subjects reached with their dominant arm to a visual target in front of them and aligned with their midline. In some trials, the position of the target would switch from the central target to one of the other targets located 15°, 30°, or 45° to the right of the central (midline) target. For each target correction, we measured the time at which arm kinematics, ground reaction forces, and arm and leg muscle electromyogram significantly changed in response to the target displacement. Results show that postural adjustments in the left leg preceded kinematic corrections in the limb. The corrective postural muscle activity in the left leg consistently preceded the corrective reaching muscle activity in the right arm. Our results demonstrate that corrections of arm movements in response to target displacement during stance are preceded by postural adjustments in the leg contralateral to the direction of target shift. Furthermore, postural adjustments preceded both the hand trajectory correction and the arm-muscle activity responsible for it, which suggests that the central nervous system does not depend on feedback from the moving arm to modify body posture during voluntary movement. Instead, postural adjustments lead the online correction in the arm the same way they lead the initiation of voluntary arm movements. This suggests that forward models for voluntary movements executed during stance incorporate commands for posture that are produced on the basis of the required task demands.     

Use of the trunk for reaching targets placed within and beyond the reach in adult hemiparesis

Multijoint movements such as reaching are impaired after brain lesions involving sensorimotor areas and pathways. However, the mechanisms by which such lesions affect motor control are not fully understood. Direct effects of the lesion may be partly compensated by both the system's redundancy and its plasticity. Indeed stroke patients with limited arm movement can reach objects placed within the reach of the arm by using a compensatory strategy involving trunk recruitment. A similar strategy is observed in healthy individuals reaching for objects placed beyond the reach of the arm. Determining the control mechanism(s) governing this compensatory strategy in stroke patients was the goal of this study. Kinematics of reaching movements in hemiparetic and healthy participants to targets placed within and beyond the length of the arm were analysed. Targets were placed sagittally in front of the midline of the body. Two targets (targets 1 and 2) were within reaching distance defined as the length of the stretched arm from axilla to wrist crease. Two others were beyond arm's reach so that one required a forward trunk inclination (target 3) and the other required body raising to a semi-standing position (target 4). Healthy participants used minimal trunk displacement for reaches to targets 1 and 2. For reaches to targets 3 and 4, trunk displacement increased with target distance. Whenever the trunk was involved, there was a stereotyped sequential recruitment of the arm and trunk in that the trunk began moving simultaneously with or before the hand and stopped moving after the end of hand movement. This suggested that the control system predicts that the trunk movement will be needed to extend the reach and includes the trunk, in an anticipatory way, into the reach. In contrast, most hemiparetic participants recruited their trunk for reaches to all four targets, even those placed close to the body. Similar to healthy individuals, the sequence of hand and trunk recruitment was stereotyped, suggesting that temporal planning aspects of the motor program underlying movement coordination were relatively unaffected. In contrast to healthy participants, the contribution of the trunk movement to the endpoint displacement was substantially higher in the hemiparetic group and occurred earlier in the reach. It is suggested that the target distance at which the trunk is integrated into the movement to extend the reach of the arm is attained around the limit of arm extension and that this limit is reduced in hemiparetic individuals.     

Kinetic analysis of arm reaching movements during voluntary and passive rotation of the torso

Reaching movements made to targets during exposure to passive constant velocity rotation show significant endpoint errors. By contrast, reaching movements made during voluntary rotation of the torso are accurate. In both cases, as a consequence of the simultaneous motion of the arm and the torso, Coriolis forces are generated on the arm tending to deflect its path. Our goal in the present paper was to determine whether during voluntary torso rotations arm movement accuracy is preserved by feed forward compensations for self-generated Coriolis forces. To test this hypothesis we analyzed and quantified the contribution of torso rotation and translation to arm dynamics and compared the kinematics and kinetics of pointing movements during voluntary and passive torso rotation. Coriolis torques at the shoulder increase nearly sixfold in voluntary turn and reach movements relative to reaches made without torso rotation, yet are equally accurate. Coriolis torques during voluntary turn and reach movements are more than double those produced by reaching movements during passive body rotation at 60°/s. Nevertheless, the endpoints of the reaches made during voluntary rotation are not deviated, but those of reaches made during passive rotation are deviated in the direction of the Coriolis forces generated during the movements. We conclude that there is anticipatory pre-programmed compensation for self-generated Coriolis forces during voluntary torso rotation contingent on intended torso motion and arm trajectory.     

Gaze anchoring to a pointing target is present during the entire pointing movement and is driven by a non-visual signal

A well-coordinated pattern of eye and hand movements can be observed during goal-directed arm movements. Typically, a saccadic eye movement precedes the arm movement, and its occurrence is temporally correlated with the start of the arm movement. Furthermore, the coupling of gaze and aiming movements is also observable after pointing initiation. It has recently been observed that saccades cannot be directed to new target stimuli, away from a pointing target stimulus. Saccades directed to targets presented during the final phase of a pointing movement were delayed until after pointing movement offset ("gaze anchoring"). The present study investigated whether ocular gaze is anchored to a pointing target during the entire pointing movement. In experiment 1, new targets were presented at various times during the duration of a pointing movement, triggered by the kinematics arm moment itself (movement onset, peak acceleration/velocity/deceleration, and offset). Subjects had to make a saccade to the new target as fast as possible while maintaining the pointing movement to the initial target. Saccadic latencies were increased by an amount of time that approximately equaled the remaining pointing time after saccadic target presentation, with the majority of saccades executed after pointing movement offset. The nature of the signal driving gaze stabilization during pointing was investigated in experiment 2. In previous experiments where ocular gaze was anchored to a pointing target, subjects could always see their moving arm, thus it was unknown whether a visual image of the moving arm, an afferent (proprioceptive) signal or an efferent (motor control related) signal produced gaze anchoring. In experiment 2 subjects had to point with or without vision of the moving arm to test whether a visual signal is used to anchor gaze to a pointing target. Results indicate that gaze anchoring was also observed without vision of the moving arm. The findings support the existence of a mechanism enforcing ocular gaze anchoring during the entire duration of a pointing movement. Moreover, such a mechanism uses an internally generated, or proprioceptive, nonvisual signal. Possible neural substrates underlying these processes are discussed, as well as the role of selective attention.     

The representation of gravitational force during drawing movements of the arm

The purpose of the present experiment was to study the way in which the central nervous system (CNS) represents gravitational force (GF) during vertical drawing movements of the arm. Movements in four different directions: (a) upward vertical (0°), (b) upward oblique (45°), (c) downward vertical (180°) and (d) downward oblique (135°), and at two different speeds, normal and fast, were executed by nine subjects. Data analysis focused upon arm movement kinematics in the frontal plane and gravitational torques (GTs) exerted around the shoulder joint. Regardless of movement direction, subjects showed straight-line paths for both speed conditions. In addition, movement time and peak velocity were not affected by movement direction and consequently changes in GT, for both speeds tested. Movement timing (evaluated through the ratio of acceleration time to total time) changed significantly, however, as a function of movement direction and speed. Upward movements showed shorter acceleration times when compared with downward movements. Concerning the four directions, movements made at 0° and 45° differed significantly from those made at 135° and 180°. Drawing movements executed at rapid speed presented similar acceleration and deceleration times compared with movements executed at normal speed, which showed greater acceleration than deceleration times. In addition, the form of velocity profiles (assessed through the ratio of maximum to mean velocities), was significantly modified only with movement speed. Results from the present study suggest that GF is efficiently incorporated into internal dynamic models that the brain builds up for the execution of arm movements. Furthermore, it seems that GF not only is a mechanical parameter to be overcome by the motor system but also constitutes a reference (vertical direction), both of which are represented by the CNS during inverse kinematic and dynamic processes. Received: 19 May 1997 / Accepted: 3 November 1997     

Target size modifies anticipatory postural adjustments and subsequent elementary arm pointing

We herein studied whether arm-pointing movements from an upright posture (i.e. Belenkii’s paradigm) toward various targets demanding a low degree of precision could influence associated anticipatory postural adjustments (APAs) and subsequent arm movements. Six subjects were asked to use their right arm to point (without finger touch) to targets of 2, 4 and 8 cm in diameter (respectively, D2, D4 and D8). APAs were measured by recording the electromyographic activity of the right anterior deltoid and biceps femoris, as well as the kinematics of the right arm. Longer APA durations and lower values for the ratio between acceleration duration and total duration of the focal movement were observed for D4 compared to D2 and D8, whereas precision was constant across all three targets. Thus, the medium target seemed to engender an optimum motor strategy for accomplishing the accuracy and velocity requirements of the task. These results emphasize that subjects build perceptual representations of their environment as well as representations of the actions to be produced. We suggest that, even in this simple movement traditionally studied from a biomechanical perspective, APAs function not only to compensate for perturbations to equilibrium, but also reflect a cognitive representation of the precision requirements of the task.     

Coordination between equilibrium and hand trajectories during whole body pointing movements

We examined the coordination between equilibrium and voluntary pointing movements executed from the standing position, using the whole body. It has previously been shown that trunk movement has little effect upon kinematic characteristics of hand pointing when movements are executed in the sitting position. The present study asked if elements of hand trajectory are modified by requirements of large trunk displacements and fine equilibrium control when pointing movements are executed from the standing position. To achieve this, center of pressure (CoP) and center of mass (CoM) displacements were analyzed along with the kinematics of the pointing hand. Results showed that the CoM was not stabilized (it displaced between 23% and 61+/-21% of the foot's length), confirming that instead of a compensation of mechanical perturbations due to arm and trunk movements, the present equilibrium strategy consisted of controlling CoM acceleration towards the target. Hand paths were curved and were not distance or speed invariant. Rather than simple inefficiencies in programming or execution, path curvature suggested that different hand movement strategies were chosen as a function of equilibrium constraints. In light of these results, we hypothesize that postural stability may play a role in the generation of hand trajectory for complex, whole-body pointing movements, in addition to constraints placed upon end-effector kinematics or the dynamic optimization of upper-limb movements. A dependent regulation of equilibrium and spatial components of the movement is proposed.     

Postural adjustments and reaching in 4- and 6-month-old infants: an EMG and kinematical study

Adequate postural control is a prerequisite for daily activities such as reaching for an object. However, knowledge on the relationship between postural adjustments and the quality of reaching movements during human ontogeny is scarce. Therefore we evaluated the development of the relationship between the kinematic features of reaching movements and the accompanying postural adjustments in young infants. Twelve typically developing (TD) infants were assessed twice, i.e. at 4 and 6 months of age, in supine and supported sitting position. Reaching was elicited by presenting toys in the midline at an arm-length distance while simultaneously surface EMG-activity was recorded from multiple arm-, neck-, trunk- and leg muscles. Concurrently kinematics of reaching were recorded with an ELITE system; kinematic analysis was restricted to the behaviour of so-called movement units, which are sub movements of reaching determined with the help of peaks in the velocity profile of the hand, maximum movement velocity and movement duration. A computer-algorithm determined significant phasic muscle activity. Activity in neck and trunk muscles (postural activity) was related to the onset of the prime mover, which was the arm muscle being activated first. The results indicated that about 50% of reaching movements in lying and sitting infants aged 4 and 6 months were accompanied by direction-specific postural adjustments. At 4 months variation dominated, but at 6 months a preference to recruit muscles in a top-down order (during sitting) and in the configuration of the complete pattern, i.e. the pattern in which all dorsal neck- and trunk muscles are activated in concert, (both conditions) emerged. Interestingly, the postural characteristics such as the presence of direction-specificity, recruitment of the complete pattern and top-down recruitment, were related to how successful the reaching was and the kinematics of reaching. It was concluded that the presence of direction-specific activity is not a prerequisite for the emergence of reaching movements. Nevertheless, already from 4 months onwards a better postural control is associated with a larger success and a better quality of reaching.     

Effects of roll visual motion on online control of arm movement: reaching within a dynamic virtual environment

Reaching toward a visual target involves the transformation of visual information into appropriate motor commands. Complex movements often occur either while we are moving or when objects in the world move around us, thus changing the spatial relationship between our hand and the space in which we plan to reach. This study investigated whether rotation of a wide field-of-view immersive scene produced by a virtual environment affected online visuomotor control during a double-step reaching task. A total of 20 seated healthy subjects reached for a visual target that remained stationary in space or unpredictably shifted to a second position (either to the right or left of its initial position) with different inter-stimulus intervals. Eleven subjects completed two experiments which were similar except for the duration of the target’s appearance. The final target was either visible throughout the entire trial or only for a period of 200 ms. Movements were performed under two visual field conditions: the virtual scene was matched to the subject’s head motion or rolled about the line of sight counterclockwise at 130°/s. Nine additional subjects completed a third experiment in which the direction of the rolling scene was manipulated (i.e., clockwise and counterclockwise). Our results showed that while all subjects were able to modify their hand trajectory in response to the target shift with both visual scenes, some of the double-step movements contained a pause prior to modifying trajectory direction. Furthermore, our findings indicated that both the timing and kinematic adjustments of the reach were affected by roll motion of the scene. Both planning and execution of the reach were affected by roll motion. Changes in proportion of trajectory types, and significantly longer pauses that occurred during the reach in the presence of roll motion suggest that background roll motion mainly interfered with the ability to update the visuomotor response to the target displacement. Furthermore, the reaching movement was affected differentially by the direction of roll motion. Subjects demonstrated a stronger effect of visual motion on movements taking place in the direction of visual roll (e.g., leftward movements during counterclockwise roll). Further investigation of the hand path revealed significant changes during roll motion for both the area and shape of the 95% tolerance ellipses that were constructed from the hand position following the main movement termination. These changes corresponded with a hand drift that would suggest that subjects were relying more on proprioceptive information to estimate the arm position in space during roll motion of the visual field. We conclude that both the spatial and temporal kinematics of the reach movement were affected by the motion of the visual field, suggesting interference with the ability to simultaneously process two consecutive stimuli.     

Coordinated turn-and-reach movements. I. Anticipatory compensation for self-generated coriolis and interaction torques

When reaching movements involve simultaneous trunk rotation, additional interaction torques are generated on the arm that are absent when the trunk is stable. To explore whether the CNS compensates for such self-generated interaction torques, we recorded hand trajectories in reaching tasks involving various amplitudes and velocities of arm extension and trunk rotation. Subjects pointed to three targets on a surface slightly above waist level. Two of the target locations were chosen so that a similar arm configuration relative to the trunk would be required for reaching to them, one of these targets requiring substantial trunk rotation, the other very little. Significant trunk rotation was necessary to reach the third target, but the arm's radial distance to the body remained virtually unchanged. Subjects reached at two speeds-a natural pace (slow) and rapidly (fast)-under normal lighting and in total darkness. Trunk angular velocity and finger velocity relative to the trunk were higher in the fast conditions but were not affected by the presence or absence of vision. Peak trunk velocity increased with increasing trunk rotation up to a maximum of 200 degrees /s. In slow movements, peak finger velocity relative to the trunk was smaller when trunk rotation was necessary to reach the targets. In fast movements, peak finger velocity was approximately 1.7 m/s for all targets. Finger trajectories were more curved when reaching movements involved substantial trunk rotation; however, the terminal errors and the maximal deviation of the trajectory from a straight line were comparable in slow and fast movements. This pattern indicates that the larger Coriolis, centripetal, and inertial interaction torques generated during rapid reaches were compensated by additional joint torques. Trajectory characteristics did not vary with the presence or absence of vision, indicating that visual feedback was unnecessary for anticipatory compensations. In all reaches involving trunk rotation, the finger movement generally occurred entirely during the trunk movement, indicating that the CNS did not minimize Coriolis forces incumbent on trunk rotation by sequencing the arm and trunk motions into a turn followed by a reach. A simplified model of the arm/trunk system revealed that additional interaction torques generated on the arm during voluntary turning and reaching were equivalent to < or =1.8 g (1 g = 9.81 m/s(2)) of external force at the elbow but did not degrade performance. In slow-rotation room studies involving reaching movements during passive rotation, Coriolis forces as small as 0.2 g greatly deflect movement trajectories and endpoints. We conclude that compensatory motor innervations are engaged in a predictive fashion to counteract impending self-generated interaction torques during voluntary reaching movements.     

Implicit advance knowledge effects on the interplay between arm movements and postural adjustments in catching

This study examined if, and how, implicit advance knowledge of upcoming ball speed influences the interplay between arm movements and concomitant postural adjustments in one-handed catching. While standing, subjects were asked to catch balls that were presented with or without implicit advance knowledge of four different ball speeds. Full body kinematics and ground reaction forces were measured, which allowed the assessment of arm movements and postural adjustments through the momentum of the arm, rest of the body and whole body. Providing implicit advance knowledge induced a forward arm raising movement scaled to ball speed in the initial transport phase. However, the accompanying backward postural adjustments were unaffected, which is suggestive of a passive control mechanism. In the subsequent grasping phase, the scaling of arm raising movement exhibited in the presence of implicit advance knowledge resulted in a reduced need for postural adjustments, particularly at the highest ball speed. Together, these findings suggest that cortical involvement based on previous experience not only shapes the arm movements but also the subsequent interplaying postural responses.     

Transformation of the kinematic characteristics of a precise movement after a change in a spatial task

The central mechanism of motor programming was studied using a model of precise horizontal flexion of the arm at the elbow joint. Training was performed in the dark to ensure that formation of the motor program was based predominantly on the use of proprioceptive afferentation. The target was not demonstrated before training: subjects determined the angle of arm flexion during training, the moment at which the target position was reached being identified by a brief LED flash. Subjects had to perform the movement as quickly and accurately as possible. The amplitude, speed, and accuracy of the movement were measured in real time. The ten subjects were divided into two groups for initial training to precise movements, using two different protocols: flexion of the elbow to 70° and to 55°. At the second stage of the experiment, each subject’s initial target position was suddenly changed (from 70° to 55° and vice versa). Training was continued until a stable accuracy in the new conditions was achieved (with errors of no more than 5% of the specified amplitude). The nature of the transformation in the kinematics of the precise movement in response to the change in the single task parameter illuminated the fundamental principle of organization of the supraspinal motor command for movements of this type. For both specified flexion amplitudes, the ratio between the acceleration and deceleration phases of the movement were identical during the period of skill fixation. On average, 70% of the total amplitude of flexion was accounted for by the acceleration phase and 30% by the deceleration phase. Adaptation of the precise movement to changes in the specified horizontal elbow flexion angle (i.e., re-achievement of the required movement accuracy in the changed conditions) during rearrangement was completed by inversion of these values. According to the results of previous studies, the most informative measure for analysis of the dynamics of the controlling central command was the acceleration of the movement. In terms of current concepts of the mechanism of motor control, the acceleration plateau can be regarded as mirroring long-term depression-the voltage plateau in Purkinje cells and motoneurons. Data processing involved calculation of the integral acceleration in both phases of the movement in relation to the angle of flexion (phase plots). These data underlie our understanding of the mechanism of transformation of movement kinematics responsible for the formation of a new central command. __________ Translated from Zhurnal Vysshei Nervnoi Deyatel’nosti imeni I. P. Pavlova, Vol. 56, No. 5, pp. 618–628, September–October, 2006.     

The effects of stance configuration and target distance on reaching

The aim of the present study was to investigate the relationship between the focal and postural components of a functional movement during the preparatory phase of a task. The contribution of the arms, trunk, and legs were varied by having subjects reach for two targets within and two beyond arm's length. In addition, the degree of postural stability was manipulated by varying the size of the base of support (BoS). Nine subjects reached and grasped a dowel placed at four locations while standing on a force plate with their feet in a parallel or step stance (right foot forward) under simple reaction-time (RT) conditions. Anticipatory postural adjustments (APAs) occurring prior to arm movement and RTs were analyzed. APAs varied depending on the demands of the task. For movements within arm's length, subjects selected different strategies to initiate the movement. However, for movements beyond arm's length, all subjects used the same strategy: the center of pressure (CoP) was shifted posteriorly, which resulted in the center of mass (CoM) moving towards the target. Target distance and BoS had no effect on the onset of APAs. In contrast, amplitude and duration of APAs increased linearly with target distance, and amplitude was always greater during the more posturally stable BoS configuration. Although wrist RT increased linearly with movement amplitude for both stance configurations, the rate of change was less under the more stable BoS. These results suggest that, during the performance of a functional task, dynamic changes that occur in the trunk and lower extremities prior to initiation of arm movement serve not only to stabilize the body, but are also used to initiate and assist whole-body reaching.     

Target and hand position information in the online control of goal-directed arm movements

The present study compared the contribution of visual information of hand and target position to the online control of goal-directed arm movements. Their respective contributions were assessed by examining how human subjects reacted to a change of the position of either their seen hand or the visual target near the onset of the reaching movement. Subjects, seated head-fixed in a dark room, were instructed to look at and reach with a pointer towards visual targets located in the fronto-parallel plane at different distances to the right of the starting position. LEDs mounted on the tip of the pointer were used to provide true or erroneous visual feedback about hand position. In some trials, either the target or the pointer LED that signalled the actual hand position was shifted 4.5 cm to the left or to the right during the ocular saccade towards the target. Because of saccadic suppression, subjects did not perceive these displacements, which occurred near arm movement onset. The results showed that modifications of arm movement amplitude appeared, on average, 150 ms earlier and reached a greater extent (mean difference=2.7 cm) when there was a change of target position than when a change of the seen hand position occurred. These findings highlight the weight of target position information to the online control of arm movements. Visual information relative to hand position may be less contributive because proprioception also provides information about limb position.     

Postural adjustments accompanying fast pointing movements in standing, sitting and lying adults

The present study evaluated the effect of different positions, which varied in the amount of bodily support, on postural control during fast pointing movements. Fourteen adult subjects were studied in standing, various sitting and lying positions. Multiple surface electromyograms (EMGs) of arm, neck, trunk and upper leg muscles and kinematics were recorded during a standard series of unilateral arm movements. Two additional series, consisting of bilateral arm movements and unilateral arm movements with an additional weight, were performed to assess whether additional task-load affected postural adjustments differently in a sitting and standing position. Two pointing strategies were used – despite identical instructions. Seven subjects showed an elbow extension throughout the movements. They used the deltoid (DE) as the prime mover (DE group). The other seven subjects performed the movement with a slight elbow flexion and used the biceps brachii (BB) as the prime mover (BB group). The two strategies had a differential effect on the postural adjustments: postural activity was less and substantially later in the BB-group than in the DE group. Anticipatory postural muscle activity was only present in the DE group during stance. In all positions and task-load conditions the dorsal postural muscles were activated before their ventral antagonists. The activation rate, the timing and – to a lesser extent – the amplitude of the dorsal muscle activity was position dependent. The position dependency was mainly found in the caudally located lumbar extensor (LE) and hamstrings (HAM) muscles. The EMG amplitude of LE and HAM was also affected by body geometry (trunk and pelvis position). Position and body geometry had only a minor effect on the activity of the neck and thoracic extensor muscles. This difference in behaviour of lower and upper postural muscles suggests that they could serve different postural tasks: the lower muscles being more involved in keeping the centre of mass within the limits of the support surface, and the upper ones in counteracting the reaction forces generated by movement onset. Increasing task-load by performing bilateral movements and – to a minor extent – during loaded unilateral movements affected the temporal and quantitative characteristics of the postural adjustments during standing and sitting in a similar way. The effect was present mainly during the early part of the response (within 100 ms after prime mover onset). This suggests that feedforward or anticipatory mechanisms play a major role in the task-specific modulation of postural adjustments. Received: 9 April 1997 / Accepted: 9 October 1997     

Superposition and modulation of muscle synergies for reaching in response to a change in target location

We have recently shown that the muscle patterns for reaching are well described by the combination of a few time-varying muscle synergies supporting the notion of a modular architecture for arm control. Here we investigated whether the muscle patterns for reaching movements involving online corrections are also generated by the combination of the same set of time-varying muscle synergies used for point-to-point movements. We recorded endpoint kinematics and EMGs from up to 16 arm muscles of 5 subjects reaching from a central location to 8 peripheral targets in the frontal plane, from each peripheral target to 1 of the 2 adjacent targets, and from the central location initially to 1 peripheral target and, after a delay of either 50, 150, or 250 ms from the go signal, to 1 of the 2 adjacent targets. Time-varying muscle synergies were extracted from the averaged, phasic, normalized EMGs of point-to-point movements and fit to the patterns of target change movements using an iterative optimization algorithm. In all subjects, three time-varying muscle synergies explained a large fraction of the data variation of point-to-point movements. The superposition and modulation of the same three synergies reconstructed the muscle patterns for target change movements better than the superposition and modulation of the corresponding point-to-point muscle patterns, appropriately aligned. While at the kinematic level the corrective trajectory for reaching during a change in target location can be obtained by the delayed superposition of the trajectory from the initial to the final target, at the muscle level the underlying phasic muscle patterns are captured by the amplitude and timing modulation of the same time-varying muscle synergies recruited for point-to-point movements. These results suggest that a common modular architecture is used for the control of unperturbed arm movement and for its visually guided online corrections.     

Stability limits modulate whole-body motor learning

Our daily movements exert forces upon the environment and also upon our own bodies. To control for these forces, movements performed while standing are usually preceded by anticipatory postural adjustments (APAs). This strategy is effective at compensating for an expected perturbation, as it reduces the need to compensate for the perturbation in a reactive manner. However, it can also be risky if one anticipates the incorrect perturbation, which could result in movements outside stability limits and a loss of balance. Here, we examine whether the margin for error defined by these stability limits affects the amount of anticipation. Specifically, will one rely more on anticipation when the margin for error is lower? Will the degree of anticipation scale with the margin for error? We took advantage of the asymmetric stability limits (and margins for error) present in the sagittal plane during upright stance and investigated the effect of perturbation direction on the magnitude of APAs. We also compared anticipatory postural control with the anticipatory control observed at the arm. Standing subjects made reaching movements to multiple targets while grasping the handle of a robot arm. They experienced forward or backward perturbing forces depending on the target direction. Subjects learned to anticipate the forces and generated APAs. Although subjects had the biomechanical capacity to adapt similarly in the forward and backward directions, APAs were reduced significantly in the backward direction, which had smaller stability limits and a smaller margin for error. Interestingly, anticipatory control produced at the arm, where stability limits are not as relevant, was not affected by perturbation direction. These results suggest that stability limits modulate anticipatory control, and reduced stability limits lead to a reduction in anticipatory postural control.     

Kinematics of fast hemiparetic aiming movements toward stationary and moving targets

The aim of the present study was to gain insight into the control that hemiparetic subjects have over fast, unimanual aiming movements. Twelve hemiparetic subjects with cerebral palsy and twelve healthy subjects were asked to hit, as quickly as possible, stationary and moving targets projected onto a frontoparallel screen. The task was performed with the nonpreferred (spastic/nondominant) and preferred (nonspastic/dominant) arm. Although the pattern of kinematics of hemiparetic subjects generally corresponded with that reported in earlier reaching and grasping studies, the commonly observed prolonged movement time of the nonpreferred arm as compared to the preferred arm was absent. The spatial variability of the lateral hand displacements toward stationary targets was highest in the spastic arm of the hemiparetic subjects, indicating diminished motion stability. Even though hemiparetic subjects were expected to be unable to adjust their movements flexibly to the position and the velocity of a moving target, they used an initial estimate of where moving targets would be hit in the same way as the healthy subjects did, i.e., they started aiming toward a position in front of the target. In both subject groups, this spatial estimate and the movement time (MT) varied as a function of target velocity, suggesting that the use of target-velocity information in hitting moving targets is unaffected in spastic hemiparetic subjects. The results are related to possible deficits in the regulation of cocontraction underlying movement stability.     

No stable arm preference during the pre-reaching period: a comparison of right and left hand kinematics with and without a toy present

Adult hand preference emerges from complex developmental changes in arm and hand use during childhood. Recent reports have highlighted the importance of understanding arm and hand use during the first year of life including the period before reach onset. This longitudinal study tested the hypothesis that significant right-left differences exist in pre-reaching arm movements. We examined right and left hand kinematics from 13 healthy infants during trials with and without a toy present from 8 weeks of age through the week of reach onset. Significant right-left differences were found, however there was no clear pattern within a condition or across conditions. Without a toy present, the right hand moved faster, yet ended further from midline, and displayed more movements during the Late phase compared to other phases. With a toy present, the right hand moved longer lengths, yet ended movements further away from the toy. When left and right hand kinematics were combined, previous findings of right hand kinematics alone were supported. Although infants begin adapting their pre-reaching kinematics many weeks before reach onset, we did not find evidence of a systematic right--left difference before reach onset in movements with or without a toy present. Our results, coupled with other reports, suggest hand asymmetries begin to emerge over the year following reach onset amid developmental changes both within the infant, and the physical and social environment.     

Additional load decreases movement time in the wrist but not in arm movements at ID 6

An experiment using reciprocal arm and wrist aiming movements with an amplitude of 16^o and target width of .5° (ID = 6) was conducted to determine the impact of adding external loads. We predicted that wrist and arm performance may be differentially impacted by the added mass. Participants were asked to flex/extend their limb/lever in a horizontal plane at the wrist (arm stabilized) or elbow joint (wrist stabilized) in an attempt to move back and forth between the two targets as quickly and accurately as possible. External loads of 0, .568, or 1.136 kg were fixed at the distal end of the limb/lever. The targets and the current position of the limb were projected on the screen in front of the participant. The results indicated significant Group × Load interactions for movement time and percent time to peak velocity. Movement time decreased as load increased for the wrist but remained stable across loads for arm movements. Percent movement time utilized to accelerate the limb increased as load increased for wrist movements but only increased from 0 to .568 kg load for the arm movements. For both groups increased load had no significant effect on endpoint variability. The present findings suggest that the additional load allowed the control advantages of the wrist muscles to be exploited.