Reaching Movements Research Articles

A Real-Time State Predictor in Motor Control: Study of Saccadic Eye Movements during Unseen Reaching Movements

Theoretical motor control predicts that because of delays in sensorimotor pathways, a neural system should exist in the brain that uses efferent copy of commands to the arm, sensory feedback, and an internal model of the dynamics of the arm to predict the future state of the hand (i.e., a forward model). We tested this theory under the hypothesis that saccadic eye movements, tracking an unseen reaching movement, would reflect the output of this state predictor. We found that in unperturbed reaching movements, saccade occurrence at any time t consistently provided an unbiased estimate of hand position at t + 196 msec. To investigate the behavior of this predictor during feedback error control, we applied 50 msec random-force perturbations to the moving hand. Saccades showed a sharp inhibition at 100 msec after perturbation. At approximately 170 msec, there was a sharp increase in saccade probabilities. These postperturbation saccades were an unbiased estimator of hand position at saccade time t + 150 msec. The ability of the brain to guide saccades to the future position of the hand failed when a force field unexpectedly changed the dynamics of the hand immediately after perturbation. The behavior of the eyes suggested that during reaching movements, the brain computes an estimate of future hand position based on an internal model that relies on real-time proprioceptive feedback. When an error occurs in reaching movements, the estimate of future hand position is recomputed. The saccade inhibition period that follows the hand perturbation may indicate the length of time it takes for this computation to take place.

A Modeling Study of Potential Sources of Curvature in Human Reaching Movements

The authors of this article suggest that the slight but consistent posture-dependent curvature of the spatial paths in the kinematic transformation between intrinsic and extrinsic coordinates may result in a systematic curvature of movements initially planned as straight-line trajectories toward the target. A kinematic planning model is presented that takes into account the anisotropy of the intrinsic and extrinsic transformation and tends to avoid movements that require excessive joint rotations by introducing slight deviations from a straight-line trajectory. Preliminary simulations showed reasonably good agreement with experimental data, especially considering that the current model is strictly based on kinematics. A quantitative analysis showed that the strategy used in the model achieves a favorable compromise between straight-line movements and angular joint changes: By slightly increasing the spatial length of the movement (i.e., by introducing curvature), an individual can greatly reduce the total amount of joint rotation required to produce the movement.

Functional Anatomy of Nonvisual Feedback Loops during Reaching: A Positron Emission Tomography Study

Reaching movements performed without vision of the moving limb are continuously monitored, during their execution, by feedback loops (designated nonvisual). In this study, we investigated the functional anatomy of these nonvisual loops using positron emission tomography (PET). Seven subjects had to "look at" (eye) or "look and point to" (eye-arm) visual targets whose location either remained stationary or changed undetectably during the ocular saccade (when vision is suppressed). Slightly changing the target location during gaze shift causes an increase in the amount of correction to be generated. Functional anatomy of nonvisual feedback loops was identified by comparing the reaching condition involving large corrections (jump) with the reaching condition involving small corrections (stationary), after subtracting the activations associated with saccadic movements and hand movement planning [(eye-arm-jumping minus eye-jumping) minus (eye-arm-stationary minus eye-stationary)]. Behavioral data confirmed that the subjects were both accurate at reaching to the stationary targets and able to update their movement smoothly and early in response to the target jump. PET difference images showed that these corrections were mediated by a restricted network involving the left posterior parietal cortex, the right anterior intermediate cerebellum, and the left primary motor cortex. These results are consistent with our knowledge of the functional properties of these areas and more generally with models emphasizing parietal-cerebellar circuits for processing a dynamic motor error signal.

Role of motor cortex in coordinating multi-joint movements: Is it time for a new paradigm?

Reaching movements to spatial targets require motor patterns at the shoulder to be coordinated carefully with those at the elbow to smoothly move the hand through space. While the motor cortex is involved in this volitional task, considerable debate remains about how this cortical region participates in planning and controlling movement. This article reviews two opposing interpretations of motor cortical function during multi-joint movements. On the one hand, studies performed predominantly on single-joint movement generally support the notion that motor cortical activity is intimately involved in generating motor patterns at a given joint. In contrast, studies on reaching demonstrate correlations between motor cortical activity and features of movement related to the hand, suggesting that the motor cortex may be involved in more global features of the task. Although this latter paradigm involves a multi-joint motor task in which neural activity is correlated with features of movement related to the hand, this neural activity is also correlated to other movement variables. Therefore it is difficult to assess if and how the motor cortex contributes to the coordination of motor patterns at different joints. In particular, present paradigms cannot assess whether motor cortical activity contributes to the control of one joint or multiple joints during whole-arm tasks. The final point discussed in this article is the development of a new experimental device (KINARM) that can both monitor and manipulate the mechanics of the shoulder and elbow independently during multi-joint motor tasks. It is hoped that this new device will provide a new approach for examining how the motor cortex is involved in motor coordination.

Congenitally blind individuals rapidly adapt to coriolis force perturbations of their reaching movements.

Reaching movements made to visual targets in a rotating room are initially deviated in path and endpoint in the direction of transient Coriolis forces generated by the motion of the arm relative to the rotating environment. With additional reaches, movements become progressively straighter and more accurate. Such adaptation can occur even in the absence of visual feedback about movement progression or terminus. Here we examined whether congenitally blind and sighted subjects without visual feedback would demonstrate adaptation to Coriolis forces when they pointed to a haptically specified target location. Subjects were tested pre-, per-, and postrotation at 10 rpm counterclockwise. Reaching to straight ahead targets prerotation, both groups exhibited slightly curved paths. Per-rotation, both groups showed large initial deviations of movement path and curvature but within 12 reaches on average had returned to prerotation curvature levels and endpoints. Postrotation, both groups showed mirror image patterns of curvature and endpoint to the per-rotation pattern. The groups did not differ significantly on any of the performance measures. These results provide compelling evidence that motor adaptation to Coriolis perturbations can be achieved on the basis of proprioceptive, somatosensory, and motor information in the complete absence of visual experience.

What Determines Choice of Limb for Unimanual Reaching Movements?

Currently, relatively little is known about what drives the choice of limb for goal-oriented reaching. Traditionally, the explanation has been tied predominately to motor dominance as manifested in handedness. This article offers data and an argument suggesting that handedness can be modified by attentional (spatial) information. Although motor dominance may be the controlling factor in the programming and execution of reaching movements at the midline and hemispace ipsilateral (same side) to the dominant limb, attentional information alters the programming of movements in what would be contralateral space. The general trend of behavior is characterized by reaching on the same side as the stimulus, in ipsilateral fashion, a phenomenon explained by kinesthetic efficiency and hemispheric bias.

Patterns of Arm Muscle Activation Involved in Octopus Reaching Movements

The extreme flexibility of the octopus arm allows it to perform many different movements, yet octopuses reach toward a target in a stereotyped manner using a basic invariant motor structure: a bend traveling from the base of the arm toward the tip (Gutfreund et al., 1996a). To study the neuronal control of these movements, arm muscle activation [electromyogram (EMG)] was measured together with the kinematics of reaching movements. The traveling bend is associated with a propagating wave of muscle activation, with maximal muscle activation slightly preceding the traveling bend. Tonic activation was occasionally maintained afterward. Correlation of the EMG signals with the kinematic variables (velocities and accelerations) reveals that a significant part of the kinematic variability can be explained by the level of muscle activation. Furthermore, the EMG level measured during the initial stages of movement predicts the peak velocity attained toward the end of the reaching movement. These results suggest that feed-forward motor commands play an important role in the control of movement velocity and that simple adjustment of the excitation levels at the initial stages of the movement can set the velocity profile of the whole movement. A simple model of octopus arm extension is proposed in which the driving force is set initially and is then decreased in proportion to arm diameter at the bend. The model qualitatively reproduces the typical velocity profiles of octopus reaching movements, suggesting a simple control mechanism for bend propagation in the octopus arm.

A model for learning human reaching movements

Reaching movement is a fast movement towards a given target. The main characteristics of such a movement are straight path and a bell-shaped speed profile. In this work a mathematical model for the control of the human arm during ballistic reaching movements is presented. The model of the arm contains a 2 degrees of freedom planar manipulator, and a Hill-type, non-linear mechanical model of six muscles. The arm model is taken from the literature with minor changes. The nervous system is modeled as an adjustable pattern generator that creates the control signals to the muscles. The control signals in this model are rectangular pulses activated at various amplitudes and timings, that are determined according to the given target. These amplitudes and timings are the parameters that should be related to each target and initial conditions in the work-space. The model of the nervous system consists of an artificial neural net that maps any given target to the parameter space of the pattern generator. In order to train this net, the nervous system model includes a sensitivity model that transforms the error from the arm end-point coordinates to the parameter coordinates. The error is assessed only at the termination of the movement from knowledge of the results. The role of the non-linearity in the muscle model and the performance of the learning scheme are analysed, illustrated in simulations and discussed. The results of the present study demonstrate the central nervous system's (CNS) ability to generate typical reaching movements with a simple feedforward controller that controls only the timing and amplitude of rectangular excitation pulses to the muscles and adjusts these parameters based on knowledge of the results. In this scheme, which is based on the adjustment of only a few parameters instead of the whole trajectory, the dimension of the control problem is reduced significantly. It is shown that the non-linear properties of the muscles are essential to achieve this simple control. This conclusion agrees with the general concept that motor control is the result of an interaction between the nervous system and the musculoskeletal dynamics.

The sources of visual information to the primate frontal lobe: a novel role for the superior parietal lobule.

Reaching movements are performed in order to bring the hand to targets of interest. It is widely believed that the distributed cortical network underlying visual reaching transforms the information concerning the spatial location of the target into an appropriate motor command. Modern views decompose this process into sequences of coordinate transformations between informational domains. The set of cortical areas and pathways by which the information on target location is relayed from the visual areas of the occipital lobe to the motor areas of the frontal lobe have, so far, been poorly understood. Recent data from different fields of neuroscience offer the basis for a new definition of the cortical system subserving reaching and, at the same time, for a reconsideration of the nature of the underlying visuo-to-motor transformation.

Qualitative discrepancies between trunk muscle activity and dynamic postural requirements at the initiation of reaching movements performed while sitting.

Reaching movements are associated with widespread, nonfocal muscle activity. That activity is often assumed to play a postural role. We tested this assumption for the trunk muscles at the initiation of reaching movements with the following question. Does initial trunk muscle activity play a dynamic postural role by resisting the segmental interactive effects of the arm movement on the trunk? Seated subjects performed bilateral reaching movements while target direction was systematically varied. Muscle activity was recorded from flexors and extensors of the trunk and shoulder. Trunk muscle activity was compared with trunk torques calculated from simulations of reaching movements in which the trunk was modeled to stay still. Recorded trunk muscle activity was in qualitative agreement with torque predictions for only some target directions, suggesting that the target directions to counteract postural disturbances at the initiation of reaching movements.

Modulation of Ballistic Reaching Movements in Parkinsonʼs Disease

Modulation of Ballistic Reaching Movements in Parkinsonʼs Disease

Modulation of Ballistic Reaching Movements in Parkinsonʼs Disease

Department of Physical Therapy, Hahnemann University, Mail Stop 502, Vine & Broad, Philadelphia, PA 19102-1192.

Activity in the Precentral Motor Areas After Presentation of Targets for Delayed Reaching Movements Varies with the Initial Arm Position.

We studied single unit activity in the primary motor and premotor cortex during preparation for unrestrained arm movements that the monkey made to a right or left visual target. 'Set-related' activity occurring during an instructed delay period could not only vary with the target location, but also with the initial arm posture which was changed via a motor-driven forearm support between two positions. Modulation with arm displacement of some cells was contingent upon prior instruction, i.e. it occurred only if a target for the upcoming movement was presented, and for the majority of neurons it was different from the effects caused by the same passive arm shift when being applied before the visual instruction cue. Furthermore, responses to presentation of the same target were found to depend on the starting position of the hand. These findings suggest that both kinaesthetic and visual information interact in motor cortical cells in an appropriate manner for elaborating the movement trajectory.

Internal representations of movement in the cerebral cortex as revealed by the analysis of reaching.

Reaching movements have the well-defined goal of bringing the hand to the location of an object of interest. For neuroscientists a basic problem to be solved is how the nervous system transforms the visual information concerning the location of the object in space into a pattern of muscle activity necessary to bring the hand to it. According to Descartes, spirits passing from the eyes impinge on the pineal gland, causing it to lean in one direction or another; this leaning of the gland pulls on filaments (nerves) attached to the muscles. Modern treatments, instead, tend to decompose this process into sequences of transformations between informational representations. Such transformations lead from a description of the target in visual coordinates to an expression of the movement in muscle space by way of various internal representations. The organization of such internal representations has implications for the types of transformations actually performed in the brain. Recent psychophysical, neurophysiological, and computational approaches to study the cortical representations of reaching movements are yielding complementary data on this issue.

Multi-Joint Reaching Movements and Eye-Hand Tracking in Cerebellar Incoordination: Investigation of a Patient with Complete Loss of Purkinje Cells

Performance on an eye-hand tracking task and a multi-joint reaching movement to a visual target was studied in a patient with stable cerebellar ataxia and in control subjects. The patient subsequently died and a full neuropathological examination was performed. The neuropathological findings were similar to those seen in patients with paraneoplastic cerebellar degeneration, but no tumor was found at autopsy eight years after onset of the patient's cerebellar syndrome. A severe cerebellar cortical degeneration with complete Purkinje cell loss was demonstrated, whereas cerebellar nuclei and brainstem structures showed no neuronal loss. Tracking performance by the patient was characterized by abnormally large numbers of high velocity movements and hand direction reversals, and by excessive lagging of the hand behind the target in time. In the multi-joint reaching movement, the patient showed a delay in movement onset at the elbow joint compared to movement onset at the shoulder joint. The velocity profile of the movement at the shoulder joint was abnormal. The duration of the acceleration phase was poorly correlated with both peak angular velocity and the duration of the deceleration phase. One of the most striking findings was the inability of the patient to consistently produce the same movement direction from trial to trial while reaching to the same target. Our data suggests that the cerebellar cortex is involved in multiple aspects of motor control including visuomotor integration mechanisms.

Reaching movements to visual targets: neuronal representations of sensori-motor transformations

Reaching movements can be described in many different coordinate frameworks, from the path of the hand through space, to the patterns of causative muscle contractions. It is logical, therefore, to propose that the brain contains representations of reaching movements in each of these reference frames, and controls movement by making serial transformations of movement-related signals among the coordinate frameworks. The transformation from the desired kinematic parameters of movement (direction, velocity, amplitude, etc) to the requisite parameters of movement dynamics (forces, torques, muscle activity) is a particularly complex problem in the skeletomotor system. Although our understanding of motor control processes is advancing rapidly, there is still surprisingly little conclusive evidence concerning the neuronal mechanisms of this serial hierarchical model for the planning of reaching movements. Parallel-processing mechanisms are also likely to be very important.

Development of an Infant in Grasping, Reaching and Body Movements

Development of an Infant in Grasping, Reaching and Body Movements

Development of an Infant in Grasping, Reaching and Body Movements

Development of an Infant in Grasping, Reaching and Body Movements