Finger synergies during multi-finger cyclic production of moment of force.

We investigated multi-finger synergies stabilizing the total moment of force and the total force when the subjects produced a quick cyclic change in the total moment of force. The seated subjects performed the task with the fingers of the dominant arm while paced by the metronome at 1.33 Hz.

Stepping from a narrow support.

The study addresses postural preparation to stepping. In particular, it tests a hypothesis that such preparation involves adjustments in the activity of ankle plantarflexors to produce shifts of the center of pressure. We investigated the initiation of a step from quiet stance when the subjects stood on boards with a decreased dimension of the support area in the anterior-posterior direction ("unstable boards").

Synergies in health and disease: relations to adaptive changes in motor coordination.

This article describes an approach to motor synergies that allows them to be quantified in people with atypical movement patterns during exercise or practice. Within this approach, motor variability may be classified with respect to a task-specific performance variable as "good" (not affecting the variable) or "bad" (changing the variable). The authors review studies of motor synergies in people with typical movement patterns, in people with Down syndrome, in patients after stroke, and in elderly people.

The role of kinematic redundancy in adaptation of reaching.

Although important differences exist between learning a new motor skill and adapting a well-learned skill to new environmental constraints, studies of force field adaptation have been used frequently in recent years to identify processes underlying learning. Most of these studies have been of reaching tasks that were each hand position was specified by a unique combination of joint angles. At the same time, evidence has been provided from a variety of tasks that the central nervous system takes advantage of the redundancy available to it when planning and executing functional movements.

Feed-forward control of a redundant motor system.

We describe a model of feed-forward control of a redundant motor system and validate it using, as examples, tasks of multi-finger force production. The model assumes the existence of two input signals at an upper level of the control hierarchy, related and unrelated to a task variable. Knowledge of the Jacobian of the system is assumed at the level of generation of elemental variables (variables at the level of effectors).

Adjustments of prehension synergies in response to self-triggered and experimenter-triggered load and torque perturbations.

Humans are known to show anticipatory adjustments in the grip force prior to a self-generated or predictable action or perturbation applied to a hand-held object. We investigated whether humans can also adjust covariation of individual finger forces (multi-finger synergies) prior to self-triggered perturbations. To address this issue, we studied adjustments in multi-digit synergies associated with applied load/torque perturbations while the subjects held a customized handle steadily.

Accurate production of time-varying patterns of the moment of force in multi-finger tasks.

We investigated the production of time profiles of the total moment of force produced in isometric conditions by the four fingers of a hand. We hypothesized that these tasks would be associated with multi-finger synergies stabilizing the time profile of the total moment across trials but not necessarily stabilizing the time profile of the total force produced by the fingers. We also expected the multi-finger synergies to prevent an increase in the moment variability with its magnitude.

Changes in postural sway and its fractions in conditions of postural instability.

We investigated changes in postural sway and its fractions associated with manipulations of the dimensions of the support area. Nine healthy adults stood as quietly as possible, with their eyes open, on a force plate as well as on 5 boards with reduced support area. The center of pressure (COP) trajectory was computed and decomposed into rambling (Rm) and trembling (Tr) trajectories.

Anticipatory adjustments of multi-finger synergies in preparation for self-triggered perturbations.

We studied changes in multi-finger synergies associated with predictable and unpredictable force perturbations applied to a finger during a multi-finger constant total force production task. The main hypothesis was that indices of multi-finger synergies can show anticipatory changes in preparation for a predictable perturbation. Subjects sat in a chair and pressed on force sensors with the four fingers of the right hand.

Muscle synergies during voluntary body sway: combining across-trials and within-a-trial analyses.

We investigated co-varied changes in muscle activity during voluntary sway tasks that required a quick shift of the center of pressure (COP). We hypothesized that multi-muscle synergies (defined as task-specific covariation of elemental variables, muscle modes) stabilize a COP location in the anterior-posterior direction prior to a voluntary COP shift and that during the shift the synergies would weaken. Standing subjects performed two tasks, a cyclic COP shift over a range corresponding to 80% of the maximal amplitude of voluntary COP shift at 1 Hz and a unidirectional quick COP shift over the same nominal amplitude.

Effects of friction at the digit-object interface on the digit forces in multi-finger prehension.

The effects of surface friction at the digit-object interface on digit forces were studied when subjects (n=8) statically held an object in a five-digit grasp. The friction conditions were SS (all surfaces are sandpaper), RR (all are rayon), SR (S for the thumb and R for the four fingers), and RS (the reverse of SR). The interaction effects of surface friction and external torque were also examined using five torques (-0.

Muscle synergies involved in preparation to a step made under the self-paced and reaction time instructions.

Objective: To investigate multi-muscle synergies during preparation to making a step and their changes with speed of stepping and method of step initiation, self-paced vs. reaction-time.

Methods: Standing healthy persons performed stepping tasks under 3 instructions, 'comfortably, self-paced', 'very quick, self-paced', and 'as fast as possible to a visual signal'.

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system.

We address issues of simultaneous control of the grasping force and the total moment of forces applied to a handheld object during its manipulation. Six young healthy male subjects grasped an instrumented handle and performed its cyclic motion in the vertical direction. The handle allowed for setting different clockwise (negative) or counterclockwise torques.

Prehension stability: experiments with expanding and contracting handle.

We studied adjustments in digit forces and moments during holding a vertically oriented handle under slow, externally imposed changes in the width of the grasp. Subjects (n = 8) grasped a customized motorized handle with five digits and held it statically in the air. The handle width either increased (expanded) or decreased (contracted) at a rate of 1.

Two kinematic synergies in voluntary whole-body movements during standing.

We used a particular computational approach, the uncontrolled manifold hypothesis, to investigate joint angle covariation patterns during whole-body actions performed by standing persons. We hypothesized that two kinematic synergies accounted for the leg/trunk joint covariation across cycles during a rhythmic whole-body motion to stabilize two performance variables, the trunk orientation in the external space and the horizontal position of the center of mass (COM). Subjects stood on a force plate and performed whole-body rhythmic movements for 45 s under visual feedback on one of the four variables, the position of the center of pressure or the angle in one of the three joints (ankle, knee, or hip).

Postural synergies and their development.

The recent developments of a particular approach to analyzing motor synergies based on the principle of motor abundance has allowed a quantitative assessment of multi-effector coordination in motor tasks involving anticipatory adjustments to self-triggered postural perturbations and in voluntary postural sway. This approach, the uncontrolled manifold (UCM) hypothesis, is based on an assumption that the central nervous system organizes covariation of elemental variables to stabilize important performance variables in a task-specific manner. In particular, this approach has been used to demonstrate and to assess the emergence of synergies and their modification with motor practice in typical persons and persons with Down syndrome.

Muscle synergies involved in shifting the center of pressure while making a first step.

We used the framework of the uncontrolled manifold (UCM) hypothesis to analyze multi-muscle synergies involved in making a step by a standing person. We hypothesized that leg and trunk muscles are organized into stable groups (muscle modes, M-modes) related to shifts of the center of pressure (COP) in the anterior-posterior and medio-lateral directions. Another hypothesis was that the magnitudes of the modes co-vary across repetitive trials to stabilize a certain magnitude of the COP shift in both directions.

Viscoelastic response of the finger pad to incremental tangential displacements.

The finger pads of eight subjects were loaded by tangential displacement (x-perpendicular to the long axis of the finger) of a contacted surface when the distal and proximal interphalangeal joints (DIP and PIP, respectively) were alternately constrained. The finger pad responded in a linearly viscoelastic manner during loading, but exhibited highly nonlinear behavior upon unloading. The observed tangential force (F(T)) relaxations were nonlinear and could be modeled well by a logarithmic function.

Internal forces during object manipulation.

Internal force is a set of contact forces that does not disturb object equilibrium. The elements of the internal force vector cancel each other and, hence, do not contribute to the resultant (manipulation) force acting on the object. The mathematical independence of the internal and manipulation forces allows for their independent (decoupled) control realized in robotic manipulators.

Anticipatory covariation of finger forces during self-paced and reaction time force production.

We tested a hypothesis that humans can change patterns of finger force covariation in a task-specific manner in preparation to a change in the total force. Subjects performed quick targeted force pulses by pressing with four fingers on force sensors from a certain background force level to a target level. In self-paced trials, finger force modes (hypothetical commands to fingers) showed changes in covariation, computed across trials, more than 100 ms before changes in the total force.

Control of single-joint movements with a reversal.

We studied the kinematic and electromyographic (EMG) patterns during single-joint elbow flexion movements with a reversal and tested two hypotheses. First, that the amplitude of the second phase of the movement (M(2)) will be controlled by two different means, a drop in the second flexor burst for a small M(2) and an increase in the integral of the extensor burst for larger M(2). Second, based on the muscle stretch-shortening cycle (SSC), that movements reversing without a delay will show a larger extensor burst, as compared to movements that reverse after a delay.

Reversals of anticipatory postural adjustments during voluntary sway in humans.

We describe reversals of anticipatory postural adjustments (APAs) with the phase of a voluntary cyclic whole-body sway movement. Subjects (n=9) held a standard load in extended arms and released it by a bilateral shoulder abduction motion in a self-paced manner at different phases of the sway. The load release task was also performed during quiet stance in three positions: in the middle of the sway range and close to its extreme forward and backward positions.

The emergence and disappearance of multi-digit synergies during force-production tasks.

We analyzed patterns of covariation among forces produced by the five digits of the human hand during tasks that required the production of a pattern of the total force consisting of ramp-up, constant force, and ramp-down segments with the time of the ramps ranging from 0 to 3000 ms. Patterns of the variance of the total force and the sum of the variances of individual digit forces were compared over sets of 12 trials at each task. The initiation of the ramp-up segment was associated with positive covariation of digit forces.

A central back-coupling hypothesis on the organization of motor synergies: a physical metaphor and a neural model.

We offer a hypothesis on the organization of multi-effector motor synergies and illustrate it with the task of force production with a set of fingers. A physical metaphor, a leaking bucket, is analyzed to demonstrate that an inanimate structure can show apparent error compensation among its elements. A neural model is developed using tunable back-coupling loops as means of assuring error compensation in a task-specific way.

Prehension synergies: trial-to-trial variability and principle of superposition during static prehension in three dimensions.

We performed three-dimensional analysis of the conjoint changes of digit forces during prehension (prehension synergies) and tested applicability of the principle of superposition to three-dimensional tasks. Subjects performed 25 trials at statically holding a handle instrumented with six-component force/moment sensors under seven external torque conditions; -0.70, -0.