Biomedical subjects

G L Gottlieb

Publications and source records attributed to G L Gottlieb.

At least 37 records · Page 2Linked to original sources

PubMed1996

Muscle compliance: implications for the control of movement.

We suggest in this review that compliant properties of the neuromuscular system influence and must be considered at every level of motor function. These properties emerge from the combined operation of many physiological mechanisms. At the behavioral level, no aspect of the compliant response can be attributed to muscles or reflexes alone. Furthermore, for all but the slowest movements, all three mechanical properties must be taken into account. Although we have considered only reactions to external forces and the implications for normal voluntary movements, there are many other areas of relevance that we have not discussed. In particular, clinically important problems such as the control of orthotic/prosthetic devices, functional electrical stimulation, and the effects on muscle tone of neuromuscular pathologies like Parkinsonism are all issues in which compliant behavior is either the cause of problems or must at least be well characterized to allow successful treatment. These are all issues worthy of further study.

Animals↗

PubMed1995

Analysis of kinematic invariances of multijoint reaching movement.

There is a no unique relationship between the trajectory of the hand, represented in cartesian or extrinsic space, and its trajectory in joint angle or intrinsic space in the general condition of joint redundancy. The goal of this work is to analyze the relation between planning the trajectory of a multijoint movement in these two coordinate systems. We show that the cartesian trajectory can be planned based on the task parameters (target coordinates, etc.) prior to and independently of angular trajectories. Angular time profiles are calculated from the cartesian trajectory to serve as a basis for muscle control commands. A unified differential equation that allows planning trajectories in cartesian and angular spaces simultaneously is proposed. Due to joint redundancy, each cartesian trajectory corresponds to a family of angular trajectories which can account for the substantial variability of the latter. A set of strategies for multijoint motor control following from this model is considered; one of them coincides with the frog wiping reflex model and resolves the kinematic inverse problem without inversion. The model trajectories exhibit certain properties observed in human multijoint reaching movements such as movement equifinality, straight end-point paths, bell-shaped tangential velocity profiles, speed-sensitive and speed-insensitive movement strategies, peculiarities of the response to double-step targets, and variations of angular trajectory without variations of the limb end-point trajectory in cartesian space. In humans, those properties are almost independent of limb configuration, target location, movement duration, and load. In the model, these properties are invariant to an affine transform of cartesian space. This implies that these properties are not a special goal of the motor control system but emerge from movement kinematics that reflect limb geometry, dynamics, and elementary principles of motor control used in planning. All the results are given analytically and, in order to compare the model with experimental results, by computer simulations.

Animals↗

PubMed1995

Relations between joint torque, motion, and electromyographic patterns at the human elbow.

Voluntary movements may be considered kinematic actions resulting from the neural control patterns that activate the motoneuron pools. One school of thought proposes that specific features of the intended kinematic trajectory such as the duration of acceleration are used by the central nervous system to plan muscle activation patterns. Our own experience suggests that it is the intended force trajectory that is directed by muscle activation patterns. Although under many circumstances these two approaches lead to indistinguishable behavior patterns, examples of movements that are incompatible with the former but not the latter approach are presented in this manuscript.

Biomechanical Phenomena↗

PubMed1995

Organizing principles for voluntary movement: extending single-joint rules.

1. Four subjects performed fast flexions of the elbow or shoulder over three different distances. Elbow flexions were performed both in a horizontal, single-degree-of-freedom manipulandum and in a sagittal plane with the limb unconstrained. Shoulder flexions were only performed in the sagittal plane by the unconstrained limb. We simultaneously recorded kinematic and electromyographic (EMG) patterns at the "focal" joint, that which the subject intentionally flexed, and at the other, "nonfocal" joint that the subject had been instructed to not flex. 2. Comparisons of the elbow EMG patterns across tasks show that agonist and antagonist muscles were similar in pattern but not size, reflecting the net muscle torque patterns. Comparisons at the shoulder also revealed similar EMG patterns across tasks that reflected net muscle torques. 3. Comparisons of EMG patterns across joints show that elbow and shoulder flexors behaved similarly. This was not true of the extensors. The triceps EMG burst was delayed for longer distances but the posterior deltoid had an early, distance-invariant onset. 4. Similarities in EMG reflect torque demands required at the focal joint to produce flexion and at the nonfocal joint to reduce extension induced by dynamic interactions with the focal, flexing joint. These similarities appear despite very different kinematic intentions and outcomes. This argues against a strong role for length-sensitive reflexes in their generation. 5. These results support the hypothesis that movements are controlled by muscle activation patterns that are planned for the expected torque requirements of the task. This general rule is true whether we are performing single-joint or multiple-joint movements, with or without external constraints. The similarities between single-joint and multijoint movement control may be a consequence of ontogenetic development of multijoint movement strategies that prove useful and are therefore also expressed under the constrained conditions of specialized tasks such as those performed in single-joint manipulanda.

Adult↗

PubMed1995

The sense of effort and two models of single-joint motor control.

Two sets of experiments were carried out. In the first set, human subjects were asked to make the same effort with the elbow flexors at different joint angles under isometric conditions. In some experiments, the subjects were standing with the arm in a vertical (parasagittal) plane; in others, they were seated with the arm in a horizontal (transverse) plane. When muscular torque at a given effort level (ordinate) was plotted as a function of elbow joint angle (abscissa), the resulting isoeffort torque-angle profiles tended to be flat or negatively sloping over a range from 45 degrees to 135 degrees, and they were often nonmonotonic. Increases in effort up to near-maximal levels caused the isoeffort torque-angle profiles to shift upward with little alteration in shape. In the second set of experiments, seated subjects with the arm horizontal resisted baseline torques produced by a motor that acted to extend the elbow joint. Unexpected increases and decreases in torque were superimposed on the baseline torque. The subjects either were instructed to intervene and return the elbow to the initial (90 degree) position, or were told, "Do not intervene voluntarily; let the motor move your arm." Effort was reported both under baseline conditions and after the changes in torque. It was found that changes in effort were a function of the changes in torque opposed by the elbow flexors, and were similar whether the subject had repositioned the arm or allowed it to be moved by the motor. In the latter case, the arm came to rest after displacements that were a function of the size and direction of the torque change. For individual subjects, the largest angular displacements ranged from +/- 10 degrees to +/- 20 degrees for changes in torque of +/- 10 N.m. There was no evidence for any angular dependence of the effort judgements at a given torque over this angular range. Depending on whether effort is primarily an efferent perception proportional to voluntary motor activity or also has a significant afferent (involuntary) component, different models of motor control are supported by these data.

Adult↗

PubMed1994

The effects of practice on movement distance and final position reproduction: implications for the equilibrium-point control of movements.

Predictions of two views on single-joint motor control, namely programming of muscle force patterns and equilibrium-point control, were compared with the results of experiments with reproduction of movement distance and final location during fast unidirectional elbow flexions. Two groups of subjects were tested. The first group practiced movements over a fixed distance (36 degrees), starting from seven different initial positions (distance group, DG). The second group practiced movements from the same seven initial positions to a fixed final location (location group, LG). Later, all the subjects were tested at the practiced task with their eyes closed, and then, unexpectedly for the subjects, they were tested at the other, unpracticed task. In both groups, the task to reproduce final position had lower indices of final position variability than the task to reproduce movement distance. Analysis of the linear regression lines between initial position and final position (or movement distance) also demonstrated a better (more accurate) performance during final position reproduction than during distance reproduction. The data are in a good correspondence with the predictions of the equilibrium-point hypothesis, but not with the predictions of the force-pattern control approach.

Adult↗

PubMed1994

The generation of the efferent command and the importance of joint compliance in fast elbow movements.

We describe the effects of changing an elastic or inertial load on the trajectory and EMG patterns during fast, voluntary elbow flexions. These effects depend upon whether the load is known to the subject in advance of the movement or is only determined as the movement is performed. The EMG patterns change in a well-defined manner when the load is known in advance. When the load change is unexpected, the change in the EMG patterns is smaller and later and the effects on the trajectory are greater. In neither case did the loads used here have large effects. We show that joint compliant properties are responsible for minimizing the effects of external load changes on the trajectory. We conclude that there is no evidence for a large contribution by length-sensitive stretch reflexes to this process.

Elbow↗

PubMed1994

Biomechanical and reflex responses to joint perturbations during electrical stimulation of muscle: instrumentation and measurement techniques.

A test device is developed to measure ankle joint compliance and muscle activity when the ankle is subjected to perturbations in angular position (or torque) from bias positions achieved volitionally or via electrical stimulation. The ankle measurement system uses a pivoting footplate and is operable with the subject sitting or supine. A companion platform for the knee is developed that uses a rotary arm and attached leg brace and is operable with the subject's leg in the horizontal or vertical plane. The knee fixture's pivoting arm can slide to account for the cam-like movement of the knee during rotation. The devices use similar hardware and share common instrumentation and control. Precise torque or position perturbations are delivered by a computer-controlled torque motor to the ankle or knee. Angular displacement, torque, acceleration, knee fixture moment arm and electromyographic data are collected on analogue tape and simultaneously digitised and stored. A special stimulator/recording amplifier permits the recording of electromyographic signals from the stimulated muscle. Experimental data indicate that the ankle and knee devices, operated horizontally, are purely inertial systems. Sample ankle and knee joint responses to perturbations are presented.

Ankle Joint↗

PubMed1994

Task dependent patterns of muscle activation at the shoulder and elbow for unconstrained arm movements.

1. Six subjects performed three series of pointing tasks with the unconstrained arm. Series one and two required subjects to move as fast as possible with different weights attached to the wrist. The first required flexion at both shoulder and elbow joints. The second required shoulder flexion and elbow extension. The third series required flexion at both joints and subjects were intentionally instructed to vary movement speed. These three pointing tasks were selected as the simplest progression from single to multiple degree of freedom movements in which different patterns of motoneuron excitation are required depending on whether movements are made against different loads or at different intended speeds. 2. Changes in load and changes in intended speed both produced systematic but different changes in the patterns of muscle activity and joint torque in both the elbow and shoulder muscles. These patterns are the same found during constrained, single-joint elbow flexion movements. The changes are expressed in the rates of rise, durations, and latencies of the electromyographic (EMG) bursts and in the rates of rise of torque that have specific dependencies based on the force requirements of the task. 3. A consistent, almost linear relationship is observed between muscle torque at the shoulder and at the elbow for all three tasks. Similar systematic changes were not seen in the kinematic description of joint angles.(ABSTRACT TRUNCATED AT 250 WORDS)

Adult↗

PubMed1993

Principles for learning single-joint movements. I. Enhanced performance by practice.

This study investigated changes in myoelectric and mechanical variables for movements made "as fast as possible" as a function of practice in the context of the dual-strategy hypothesis of motor control (Gottlieb et al. 1989b). Five male subjects made 1400 rapid elbow flexion movements in ten blocks of 20 trials over seven experimental sessions. Improved performance was defined as increased peak movement velocity, decreased peak velocity variability, increased acceleration and deceleration, a proportionately greater increase in peak deceleration than peak acceleration, and greater consistency in terminal location. The changes observed over experimental sessions were very similar to (but larger and more consistent than) those seen for the first experimental session, with the partial exception of the timing of the antagonist electromyogram (EMG). In general, the increases in the values of the measured mechanical variables covary with myoelectric measures in the same way as when subjects are asked to intentionally change speed in accordance with the rules of the speed-sensitive strategy (Corcos et al. 1989). However, there are differences between subjects in the extent to which speed changes can be attributable to the agonist muscle, the antagonist muscle, or in the timing between the muscles. In one of the five subjects, the latency of the antagonist EMG decreased over blocks on the 1st day but increased over experimental sessions and was consequently activated proportionately later in the movement. This suggests that extended practice can give at least some subjects flexibility in modifying the motor programs that underlie movement.

Adult↗

PubMed1993

Principles for learning single-joint movements. II. Generalizing a learned behavior.

The previous paper in this series showed that changes both within and between experimental sessions can be understood in the framework of the dual-strategy hypothesis of motor control, with a modification sometimes required for the timing of the antagonist muscle. The present paper extends these findings by determining how practicing movements at one distance generalizes to changes in performance at other distances. Five subjects made elbow flexion movements over five different distances (pretest). They then performed 1400 movements (seven sessions of ten blocks of 20 trials) at only one of those distances. The subjects then repeated the flexion movements over the five different distances (posttest). On the posttest, subjects decreased their average movement time by 20 ms. In addition, their movements became less variable. The electromyographic pattern of the faster movements was characterized by a more rapidly rising electromyogram, for three of the subjects, and an antagonist latency that decreased.

Adult↗

PubMed1993

Delirium.

Explore the source record for details and available documents.

Aged↗

PubMed1993

Kinematic description of variability of fast movements: analytical and experimental approaches.

Analysis of variability of fast aimed movements predicts the properties of trajectory variance. The analysis is based on a kinematic model with nonlinear changes in "internal time". The purpose of the work was to identify different sources of variability and their influence on the trajectory variance. An analytical expression for the speed-accuracy trade-off is introduced. Experiments were performed with subjects making single-joint elbow flexion movements over different distances as fast as possible with their eyes closed to memorized targets. Standard deviation of movement trajectory increased during the first part of the movement and subsequently decreased. The variance peaked after the time of peak velocity, close to the time of peak deceleration. A dependence of the trajectory variance on movement distance (speed-accuracy trade-off) was seen during the movement (at times of peak velocity and peak deceleration) but not after the movement termination. We conclude that the previously reported drop in the variability of movement trajectory during the deceleration phase does not necessarily mean a compensation by the control system but may result from purely kinematic properties of the movement. The importance of the time of measurement for analysis of the speed-accuracy trade-offs is emphasized.

Biomechanical Phenomena↗

PubMed1993

Development of the stretch reflex in the newborn: reciprocal excitation and reflex irradiation.

The stretch reflex is a spinal cord pathway between a muscle's stretch receptors and its own motor units. This reflex is thought to play an important role in normal motor function, because it is unique as a monosynaptic pathway, and because its hyperactivity is a hallmark of many motor disorders. We previously reported a difference in the stretch reflexes in healthy newborn infants and nonambulatory individuals with cerebral palsy (CP): these reflexes are characterized by responses from the stretched muscle and from the reciprocal or antagonist muscle. We proposed the existence of a functional spinal cord pathway that connects both agonist and antagonist muscles at a single joint. We hypothesized that this "reciprocal excitation" is a functional pathway of all newborn infants, which during the normal course of development of motor skills in infants is eliminated. If the CNS is damaged at birth, as in CP, the pathway of reciprocal excitation endures and is reinforced. In the current study of newborns, we recorded stretch reflex responses from all major muscle groups of the lower limb. This "irradiation of reflexes" is a normal phenomenon of the newborn CNS. This pathway becomes suppressed during normal maturation and control of coordinated limb movements.

Achilles Tendon↗

PubMed1992

Basic functions of variability of simple pre-planned movements.

A model of a pre-planned single joint movements performed without feedback is considered. Modifications of this movement result from transformation of a trajectory pattern f(t) in space and time. The control system adjusts the movement to concrete external conditions specifying values of the transform parameters before the movement performance. The pre-planned movement is considered to be simple one, if the transform can be approximated by an affine transform of the movement space and time. In this case, the trajectory of the movement is x(t) = Af (t/tau + s) + p, were A and l/tau are space and time scales, s and p are translations. The variability of movements is described by time profiles of variances and covariances of the trajectory x(t), velocity v(t), and acceleration a(t). It is assumed that the variability is defined only by parameters variations. From this assumption follows the main finding of this work: the variability time profiles can be expanded on a special system of basic functions corresponding to established movement parameters. Particularly, basic functions of variance time profiles, reflecting spatial and temporal scaling, are x2(t) and t2v2(t) for trajectory, v2(t) and (v(t)+t.a(t))2 for velocity, and a2(t) and (2a(t)+t.j(t))2, where j(t) = d3x(t)/dt3, for acceleration. The variability of a model of a reaching movement was studied analytically. The model predicts certain peculiarities of the form of time profiles (e.g., the variance time profile of velocity is bi-modal, the one of acceleration is tri-modal, etc.). Experimental measurements confirmed predictions. Their consistence allows them to be considered invariant properties of reaching movement. A conclusion can be made, that reaching movement belongs to the type of simple pre-planned movements. For a more complex movement, time profiles of variability are also measured and explained by the model of movements of this type. Thus, a movement can be attributed to the type of simple pre-planned ones by testing its variability.

Elbow Joint↗

PubMed1992

Virtual trajectories of single-joint movements performed under two basic strategies.

The framework of the equilibrium point hypothesis has been used to analyse motor control processes for single-joint movements. Virtual trajectories and joint stiffness were reconstructed for different movement speeds and distances when subjects were instructed either to move "as fast as possible" or to intentionally vary movement speed. These instructions are assumed to be associated with similar or different rates of change of hypothetical central control variables (corresponding to the speed-sensitive and speed-insensitive strategies). The subjects were trained to perform relatively slow, moderately fast and very fast (nominal movement times 800, 400 and 250 ms) single-joint elbow flexion movements against a constant extending torque bias. They were instructed to reproduce the motor command for a series of movements while ignoring possible changes in the external torque which could slowly and unpredictably increase, decrease, or remain constant. The total muscle torque was calculated as a sum of external and inertial components. Fast movements over different distances were made with the speed-insensitive strategy. They were characterized by an increase in joint stiffness near the midpoint of the movements which was relatively independent of movement amplitude. Their virtual trajectories had a non-monotonic N-shape. All three arms of the N-shape scaled with movement amplitude. Movements over one distance at different speeds were made with a speed-sensitive strategy. They demonstrated different patterns of virtual trajectories and joint stiffness that depended on movement speed. The N-shape became less apparent for moderately fast movements and virtually disappeared for the slow movements. Slow movements showed no visible increase in joint stiffness.(ABSTRACT TRUNCATED AT 250 WORDS)

Adolescent↗

PubMed1992

Functional status outcomes of a nursing intervention in hospitalized elderly.

This paper examines the effectiveness of a nursing intervention for elderly hospitalized patients (N = 235) as measured by functional outcomes. A nursing intervention targeted at factors which influence acute confusion or delirium employed strategies to educate nursing staff, mobilize patients, monitor medication and make environmental and sensory modifications. Subjects who received the intervention were more likely to improve in functional status from admission to discharge than subjects who did not receive the intervention.

Activities of Daily Living↗

PubMed1992

Organizing principles for single joint movements: V. Agonist-antagonist interactions.

1. Normal human subjects made discrete elbow flexions in the horizontal plane under different task conditions of initial or final position, inertial loading, or instruction about speed. We measured joint angle, acceleration, and electromyographic signals (EMGs) from two agonist and two antagonist muscles. 2. For many of the experimental tasks, the latency of the antagonist EMG burst was strongly correlated with parameters of the first agonist EMG burst defined by a single equation, expressed in terms of the agonist's hypothetical excitation pulse. Latency is proportional to the ratio of pulse duration to pulse intensity, making it proportional to movement distance and inertial load and inversely proportional to planned movement speed. However, these rules are not sufficient to define the timing of every possible single joint movement. 3. For movements described by the speed-insensitive strategy, the quantity of both antagonist and agonist muscle activity can be uniformly associated with selected kinetic measures that incorporate muscle force-velocity relations. 4. For movements collectively described by the speed-sensitive strategy, (i.e., that have direct or indirect constraints on speed), no single rule can describe all the combinations of agonist-antagonist coordination that are used to perform these diverse tasks. 5. Estimates of joint viscosity were made by calculating the amount of velocity-dependent torque used to terminate movements on target. These estimates are similar to those that have previously been made of limb viscosity during postural maintenance. They imply that a significant component of muscle activity must be used to overcome these forces. 6. These and previous results are all consistent with a dual-strategy hypothesis for those single-joint movements that are sufficiently fast to require pulse-like muscle activation patterns. The major features of such patterns (pulse intensities, durations, and latencies) are determined by central commands programmed in advance of movement initiation. The selection between speed-insensitive or speed-sensitive rules of motoneuron pool excitation is implicitly specified by the nature of speed constraints of the movement task.

Electromyography↗