Biomedical subjects

P N Sabes

Publications and source records attributed to P N Sabes.

3 recordsLinked to original sources

PubMed2000

The planning and control of reaching movements.

The notion of internal models has become central to the study of visually guided reaching. Armed with this theoretical framework, researchers are gleaning insights into long-standing problems in the field, such as the ability to respond rapidly to changes in the location of a reach target and the fine control of the multi-joint dynamics of the arm. A key factor in these advances is our increased understanding of how the brain integrates feedforward control signals, sensory feedback, and predictions based on internal models of the arm.

Animals↗

PubMed1998

The role of inertial sensitivity in motor planning.

To achieve a given motor task a single trajectory must be chosen from the infinite set of possibilities consistent with the task. To investigate such motor planning in a natural environment, we examined the kinematics of reaching movements made around a visual obstacle in three-dimensional space. Within each session, the start and end points of the movement were uniformly varied around the obstacle. However, the distribution of the near points, where the paths came closest to the obstacle, showed a strong anisotropy, clustering at the poles of a preferred axis through the center of the obstacle. The preferred axes for movements made with the left and right arms were mirror symmetric about the midsagittal plane, suggesting that the anisotropy stems from intrinsic properties of the arm rather than extrinsic visual factors. One account of these results is a sensitivity model of motor planning, in which the movement path is skewed so that when the hand passes closest to the obstacle, the arm is in a configuration that is least sensitive to perturbations that might cause collision. To test this idea, we measured the mobility ellipse of the arm. The mobility minor axis represents the direction in which the hand is most inertially stable to a force perturbation. In agreement with the sensitivity model, the mobility minor axis was not significantly different from the preferred near point axis. The results suggest that the sensitivity of the arm to perturbations, as determined by its inertial stability, is taken into account in the planning process.

Avoidance Learning↗

PubMed1997

Obstacle avoidance and a perturbation sensitivity model for motor planning.

A novel obstacle avoidance paradigm was used to investigate the planning of human reaching movements. We explored whether the CNS plans arm movements based entirely on the visual space kinematics of the movements, or whether the planning process incorporates specific details of the biomechanical plant to optimize the trajectory plan. Participants reached around an obstacle, the tip of which remained fixed in space throughout the experiment. When the obstacle and the start and target locations were rotated about the tip of the obstacle, the visually specified task constraints retained a rotational symmetry. If movements are planned in visual space, as indicated from a variety of studies on planar point-to-point movements, the resulting trajectories should also be rotationally symmetric across trials. However, systematic variations in movement path were observed as the orientation of the obstacle was changed. These path asymmetries can be accounted for by a class of models in which the planner reduces the likelihood of collision with the obstacle by taking into account the anisotropic sensitivity of the arm to external perturbations or uncertainty in joint level control or proprioception. The model that best matches the experimental results uses planning criteria based on the inertial properties of the arm.

Arm↗