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PubMed1999

Three-dimensional kinematic analysis of influence of hand orientation and joint limits on the control of arm postures and movements.

The problems related to kinematic redundancy in both task and joint space were investigated for arm prehension movements in this paper. After a detailed analysis of kinematic redundancy of the arm, it is shown that the redundancy problem is ill posed only for the control of hand orientation. An experiment was then designed to investigate the influence of hand orientation on the control of arm movements. Since movements must be made within the limits of the joints, the influence of these limits was also analyzed quantitatively. The results of the experiment confirm that the increase of movement time because of the change of object orientation is due to the lengthening of the deceleration phase disproportionately to the rest of the movement. The variation of hand path due to the change of object orientation was observed as being surprisingly small for some subjects as opposed to the large range of object orientation, implying that hand path and hand orientation could be controlled separately, thus simplifying the computational problem of inverse kinematics. Moreover, the observations from the present experiment strongly suggest that a functional segmentation of the proximal and distal joints exists and that the control of wrist motion is dissociated from the rest of joint motions. The contribution of each joint in the control of arm movements could be determined through the principle of minimum energy and minimum discomfort under the constraints of the joint limits. A simplified inverse kinematics model was tested. It shows that these hypotheses can be easily implemented in a geometric algorithm and be used to predict arm prehension postures reasonably well under the constraints of joint limits.

Adult↗
PubMed1980

Optimal and adaptive control in canine postural regulation.

For analytic purposes, dogs trained to stand quietly on an oscillating platform can be likened to a fixed-length inverted pendulum with a point mass. Describing function analysis permitted derivation of torque and error values as functions of phase and gain relative to platform movement. A phase criterion was determined for minimization of either control torque at a given error amplitude or error at a given control torque amplitude. Describing functions for dogs with and without vision approached optimal phase. Stretch reflex control involving proportional-plus-rate feedback is not sufficient to account for the approach to optimal phase. Blindfolded labyrinthectomized dogs did not exhibit optimal behavior and the phase constraint for stretch reflex control was satisfied at most frequencies. The observed behavior is best accounted for by a model involving both otolith and visual feedforward (pursuit-precognitive) control processes. Reductions in phase lag by blindfolded dogs during the first few cycles of platform motion provide evidence of adaptive control.

Animals↗
PubMed1989

Control mechanisms for restoring posture and movements in paraplegics.

The control mechanisms underlying undisturbed movements were analysed in two series of experiments: (1) normal physiological responses were investigated in neurologically intact subjects; (2) an artificial motor control system for paraplegic patients using functional neuromuscular stimulation (FNS) of the paralysed leg muscles was developed and tested. In both series of experiments standing-up from a chair and sitting-down were studied. A three-link model of the human body was used for recording and processing biomechanical data. In 5 normal subjects ground reaction forces and the surface electromyogram of different leg muscles were also recorded. Basic physiological aspects of FNS such as muscle force regulation and fatigue could be documented. For the standing-up and sitting-down experiments in 2 paraplegic patients the gluteal and quadriceps muscles were stimulated. The best results were achieved with a combination of open-loop and closed-loop stimulation with position and velocity feedback. The importance of feedforward and feedback control during undisturbed movements is discussed for natural and artificial motor control systems. It is concluded that the control of knee joint angle during standing-up and sitting-down represents an unstable system which cannot be controlled open-loop only. Different aspects of sensory feedback including the regulated variables, gain and stability of the system are discussed on the basis of the experimental data and the literature.

Electric Stimulation Therapy↗
PubMed2004

Effects of hand posture on preparatory control processes and sensory modulations in tactile-spatial attention.

OBJECTIVE: Event-related brain potentials (ERPs) were measured to investigate spatial coordinate systems involved in the control of preparatory tactile-spatial orienting, and in subsequent attentional modulations of somatosensory processing. METHODS: On each trial, a visual precue directed attention to the left or right hand, where infrequent tactile targets had to be detected. Hands were positioned either close together or wide apart. ERPs were recorded in the cue-target interval and in response to attended and unattended tactile non-targets. RESULTS: A frontal anterior directing attention negativity (ADAN) and a posterior late directing attention positivity (LDAP) were elicited in the cue-target interval contralateral to the direction of an attentional shift. The ADAN was unaffected by hand posture, but the LDAP was attenuated when hands were close together. N140 amplitudes were enhanced in response to tactile stimuli presented to the attended hand, and this effect was more pronounced when hands were wide apart. CONCLUSIONS: ADAN and LDAP are linked to separable anterior and posterior attentional control systems, which use coordinate systems based on somatotopic and external space, respectively. Effects of spatial attention on somatosensory stimulus processing are affected by variations in body posture. SIGNIFICANCE: Our results demonstrate that representations of body locations in external space play a central role in the control of tactile attention.

Adult↗
PubMed2001

Analysis of the reflexive feedback control loop during posture maintenance.

In previous work it has been shown in posture experiments of the human arm that reflexive dynamics were substantial for narrow-band stochastic force disturbances. The estimated reflex gains varied substantially with the frequency content of the disturbances. The present study analyses a simplified linear model of the reflexive feedback control loop, to provide an explanation for the observed behaviour. The model describes co-activation and reflexive feedback. The task instruction 'minimize the displacements' is represented mathematically by a cost function that is minimized by adjusting the parameters of the model. Small-amplitude displacements allow the system to be analysed with a quasilinear approach. The optimization results clarify the limited effectiveness of reflexive feedback on the system's closed-loop behaviour, which emanates from the time delay present in the reflex loops. For low-frequency inputs less than 5 Hz, boundary-stable solutions with high reflex gains are predicted to be optimal. Input frequencies near the system's eigenfrequency (about 5 Hz), however, would be amplified and result in oscillatory behaviour. As long as the disturbance does not excite these frequencies, boundary stability will be optimal. The predicted reflex gains show a striking similarity with the estimated reflex gains from the experimental study. The present model analysis also provides a clear explanation for the negative reflex gains, estimated for near-sinusoidal inputs beyond 1.5 Hz.

Feedback↗
PubMed1986

Control of hindlimb posture by wind-sensitive hairs and antennae during locust flight.

Steering movements of tethered, flying locusts, Schistocerca gregaria, subjected to simulated yaw were examined under open-loop conditions. Lateral movements of hindlimbs or curling of the abdomen were monitored with a capacitive movement transducer and were interpreted as indicating the tendency of the animal to turn. Three responses to simulated yaw were noted: Yaw-correcting upwind turning tendencies (Figs. 1, 2, 3). Downwind turning tendencies (Figs. 2, 3, 4, 5), and transient adjustments of hindlimb position consistent with an upwind turning tendency occurred in animals that made either no sustained postural adjustments of hindlimbs, or that exhibited sustained downwind turning tendencies (Figs. 4, 5). Ablations of certain mechanoreceptors tested their roles in wind detection and wind angle determination. The expression of upwind turning tendencies, whether sustained or transient, depends on inputs from cephalic mechanosensory hairplates (Figs. 2, 3, 4, 5). With hairplates occluded, all locusts exhibited downwind turning tendencies. All downwind turning tendencies depend on inputs from the antennae (Figs. 2, 3). Antennae and hairplates operate in an apparent antagonism in the steering responses they produce, which may provide the control flexibility required for complex flight maneuvering.

Animals↗
PubMed2006

Lumbar spine reposition sense: the effect of a 'slouched' posture.

Proprioceptive control is considered important for spinal stability and prevention of injury. However there is evidence that proprioceptive structures, that are reflexive and viscoelastic, are challenged by commonly adopted 'slouched' postures. The aim of this study was to investigate the effect of such postures on proprioceptive control. The reliability of a flexible electrogoniometer was established (ICC=0.89). Using a repeated measures design (n=32, 80% power detecting 0.5 degrees difference at 95% significance) subjects repositioned their lumbar spine immediately (3 s) and following 300 s in a 'slouched' posture, with a 15-min interval in between. Results showed a significantly reduced lumbar spine reposition sense following 300 s in a 'slouched' posture as compared with 3 s in a 'slouched' posture (P<0.001), mean difference 3.92 degrees (SD 4.35). Based on this sample, there was evidence that a 'slouched' posture, of 5 min duration, would increase reposition error by more than 2.35 degrees and less than 5.48 degrees (n=32, CI 95%). These findings support the practice of postural education to reduce potential to proprioceptive loss and injury. The electrogoniometer shows potential for use in clinical practice.

Adolescent↗
PubMed1995

Postural and synergic control for three-dimensional movements of reaching and grasping.

1. A fundamental question about motor control is related to the nature of the representations used by the nervous system to program the movement. Theoretically, arm displacement can be encoded either in task (extrinsic) or in joint (intrinsic) space. 2. The present study investigated the organization of complex movements consisting of reaching and grasping a cylindrical object presented along different orientations in space. In some trials, object orientation was suddenly modified at movement onset. 3. At a static level, the final limb angles were highly predictable despite the wide range of possible postures allowed by articular redundancy. Moreover, when object orientation was unexpectedly modified at movement onset, the final angular configuration of the limb was identical to that obtained when the object was initially presented along the orientation reached after the perturbation. 4. At a dynamical level, a generalized synergy was observed, and tight correlations were noted between all joint angles implicated in the movement with the exception of elbow flexion. For this joint angle, which did not vary monotonically, strong partial correlations were however observed before and after movement reversal. 5. These results suggest that natural movements are mostly carried out in joint space by postural transitions.

Arm↗
PubMed1990

Visual control of balance in cerebellar and parkinsonian syndromes.

The role of vision in the control of balance in patients with Parkinson's disease (PD) and cerebellar disease (CD) was studied by measuring body sway with eyes open, closed, and in response to visual stimuli generated by discrete lateral displacements of a moveable room which enclosed the subjects. In response to room movement, normal subjects swayed by an amount intermediate between sway with eyes open and eyes closed and their response attenuated on repetition of the movement, a process depending on shifting from predominantly visual to proprioceptive control. CD patients swayed more than controls with eyes open or closed and as shown by high 'Romberg quotients' (eyes closed/eyes open sway ratio) were able to use visual information to control much of their unsteadiness. CD patients had a normal attenuation of response to repetition of the room movement. PD patients had normal sway with eyes open or closed but their responses to room movement were abnormal, being proportionately larger and failing to attenuate during successive stimuli. The results indicate that cerebellar lesions seem largely to spare the visuopostural loop and also spare the ability to shift from a visual to a proprioceptive control of postural sway. In contrast, the findings in PD suggest that the visuopostural loop is hyperactive and that its influence cannot easily be de-emphasized when visual information is misleading. The latter finding suggests that basal ganglia participation in posture is concerned with the reweighting of the various sensorimotor loops controlling posture in the process of adapting to novel situations.

Adaptation, Physiological↗
PubMedDate not supplied

Effect of weightlessness on posture and movement control during a whole body reaching task.

Here are reported preliminary results of the "Synergy" experiment performed aboard the Russian orbital station "MIR" in July 1993 (Altair Mission). The experiment was carried out before, during, and after the space flight of two astronauts (S1 and S2). The duration of the flight was 21 days for S1 and 6 month for S2. The subjects were tested during preflight, inflight and postflight. The astronaut subjects were fixed on the ground by the feet. They were asked to pick up a box in front of them on the ground. Two velocities of movement and two distances of the target to be reached were tested. The movement of several small markers placed on the body was recorded on video tape. Results show that the shape of head and hand trajectories in the sagittal plane remains roughly the same during the flight in spite of the modification of mechanical constraints. Trajectory invariance does not result in joint angular displacement invariance. These data indicate that the planning of the movement takes place in terms of head and hand trajectories rather than joint rotations as it was previously suggested for simple arm reaching movement.

Adaptation, Physiological↗
PubMed1998

Optimization-based differential kinematic modeling exhibits a velocity-control strategy for dynamic posture determination in seated reaching movements.

We proposed a velocity control strategy for dynamic posture determination that underlay an optimization-based differential inverse kinematics (ODIK) approach for modeling three-dimensional (3-D) seated reaching movements. In this modeling approach, a four-segment seven-DOF linkage is employed to represent the torso and right arm. Kinematic redundancy is resolved efficiently in the velocity domain via a weighted pseudoinverse. Weights assigned to individual DOF describe their relative movement contribution in response to an instantaneous postural change. Different schemes of posing constraints on the weighting parameters, by which various motion apportionment strategies are modeled, can be hypothesized and evaluated against empirical measurements. A numerical optimization procedure based on simulated annealing estimate the weighting parameter values such that the predicted movement best fits the measurement. We applied this approach to modeling 72 seated reaching movements of three distinctive types performed by six subjects. Results indicated that most of the movements were accurately modeled (time-averaged RMSE < 5 degrees) with a simple time-invariant four-weight scheme which represents a time-constant, inter-joint motion apportionment strategy. Modeling error could be further reduced by using less constrained schemes, but notably only for the ones that were relatively poorly modeled with a time-invariant four-weight scheme. The fact that the current modeling approach was able to closely reproduce measured movements and do so in a computationally advantageous way lends support to the proposed velocity control strategy.

Animals↗
PubMed1985

Interstitial-vestibular interaction in the control of head posture.

Experiments were performed in cats to determine whether the head tilt following a unilateral lesion of the interstitial nucleus of Cajal (INC) can be attributed to removal of interstitiospinal fibers which have direct excitatory synaptic connections with ipsilateral neck extensor (biventer cervicis-complexus) and flexor (sternocleidomastoid, SCM) motoneurons. Unilateral INC lesions were made either electrolytically or reversibly by procaine infusion into the INC, and electromyographic activity was recorded bilaterally from biventer (BIV), splenius (SP) and SCM muscles. In both groups of lesions, activity of the ipsilateral SP and BIV was higher than that of the contralateral ones. When procaine was infused into the INC of awake cats, an increase of activity of the ipsilateral SP began before the cats presented the typical head tilt to the opposite side. Bilateral INC lesions caused dorsiflexion of the head. These results indicate that the head tilt resulting from unilateral INC lesions can not be explained by simple removal of the ipsilateral, direct excitatory interstitioneck impulses. When unilateral INC lesions were combined with hemilabyrinthectomies, cats that were given labyrinthectomies on the side opposite to the previous INC lesions showed very severe head tilt, whereas cats that received labyrinthectomies on the same side did not show obvious head tilt. Furthermore, it took a much longer time for the cats of the former group to compensate the head tilt than it took those that had single lesions of the INC or labyrinth.(ABSTRACT TRUNCATED AT 250 WORDS)

Animals↗
PubMed1999

Footedness in binocular and monocular chicks.

The first foot used during bouts of ground scratching in 16-day-old chicks searching for food in the floor of an arena covered with sawdust was recorded in animals with normal binocular vision and in animals with an eye temporarily occluded by an eye-patch. Binocular chicks showed a significant right foot bias, whereas monocular chicks tended to use the foot contralateral to the eye in use. Data for monocular chicks thus suggest that the activated hemisphere (contralateral to the eye in use) is the one that takes control of posture, leaving to the other hemisphere reflex-like responses associated with ground scratching or body wiping. It is argued that footedness in chicks might have arisen from the limb that is used to maintain postural and positional control, rather than from the limb that is used during motor activities.

Journal Article↗