Unconstrained Movements Research Articles

The smoothness of unconstrained head movements is velocity-dependent

Non-smooth, irregular movements reported in persons with neck pain have been suggested to signify motor impairment. However, irregular movements are additionally observed during slow movements in healthy participants. We therefore examined whether the smoothness of head movements is related to the movement speed in 26 healthy participants. Six unconstrained small and large amplitude head movements were completed in the sagittal plane at three different self-chosen speeds. Kinematic variables were calculated from position data and overall smoothness of the movement was assessed by the normalized jerk cost (NJC). Relationship between NJC and average movement angular velocity was analyzed using a mixed factor model. Movement duration, angular velocity, NJC and number of submovements differed significantly between speed conditions for all movement directions and amplitudes (all p<.05). We found a strong relationship between the average angular velocity and NJC across all movement directions and amplitudes (all p<.0001). Large amplitude movements showed higher NJC for a given movement velocity than small amplitude movements (p<.001). We have shown that the smoothness of head movements is strongly related to the movement velocity, thus fast movements are smooth while slow movements are jerky. In addition, movements of larger amplitude are less smooth than movements of smaller amplitude.

Pointing to oneself: active versus passive proprioception revisited and implications for internal models of motor system function

We re-examined the issue of active versus passive proprioception to more fully characterize the accuracy afforded by proprioceptive information in natural, unconstrained, movements in 3-dimensions. Subjects made pointing movements with their non-dominant arm to various locations with eyes closed. They then proprioceptively localized the tip of its index finger with a prompt pointing movement of their dominant arm, thereby bringing the two indices in apposition. Subjects performed this task with remarkable accuracy. More remarkably, the same subjects were equally accurate at localizing the index finger when the arm was passively moved and maintained in its final position by an experimenter. Two subjects were also tested with eyes open, and they were no more accurate than with eyes closed. We also found that the magnitude of the error did not depend on movement duration, which is contrary to a key observation in support of the existence of an internal forward model-based state-reconstruction scheme. Three principal conclusions derive from this study. First, in unconstrained movements, proprioceptive information provides highly accurate estimates of limb position. Second, so-called active proprioception does not provide better estimates of limb position than passive proprioception. Lastly, in the active movement condition, an internal model-based estimation of limb position should, according to that hypothesis, have occurred throughout the movement. If so, it did not lead to a better estimate of final limb position, or lower variance of the estimate, casting doubt on the necessity to invoke this hypothetical construct.

Comparing kinematic changes between a finger-tapping task and unconstrained finger flexion–extension task in patients with Parkinson’s disease

Repetitive finger tapping is a well-established clinical test for the evaluation of parkinsonian bradykinesia, but few studies have investigated other finger movement modalities. We compared the kinematic changes (movement rate and amplitude) and response to levodopa during a conventional index finger-thumb-tapping task and an unconstrained index finger flexion-extension task performed at maximal voluntary rate (MVR) for 20s in 11 individuals with levodopa-responsive Parkinson's disease (OFF and ON) and 10 healthy age-matched controls. Between-task comparisons showed that for all conditions, the initial movement rate was greater for the unconstrained flexion-extension task than the tapping task. Movement rate in the OFF state was slower than in controls for both tasks and normalized in the ON state. The movement amplitude was also reduced for both tasks in OFF and increased in the ON state but did not reach control levels. The rate and amplitude of movement declined significantly for both tasks under all conditions (OFF/ON and controls). The time course of rate decline was comparable for both tasks and was similar in OFF/ON and controls, whereas the tapping task was associated with a greater decline in MA, both in controls and ON, but not OFF. The findings indicate that both finger movement tasks show similar kinematic changes during a 20-s sustained MVR, but that movement amplitude is less well sustained during the tapping task than the unconstrained finger movement task. Both movement rate and amplitude improved with levodopa; however, movement rate was more levodopa responsive than amplitude.

Shaping of arm configuration space by prescription of non-Euclidean metrics with applications to human motor control

The study of the kinematic and dynamic features of human arm movements provides insights into the computational strategies underlying human motor control. In this paper a differential geometric approach to movement control is taken by endowing arm configuration space with different non-Euclidean metric structures to study the predictions of the generalized minimum-jerk (MJ) model in the resulting Riemannian manifold for different types of human arm movements. For each metric space the solution of the generalized MJ model is given by reparametrized geodesic paths. This geodesic model is applied to a variety of motor tasks ranging from three-dimensional unconstrained movements of a four degree of freedom arm between pointlike targets to constrained movements where the hand location is confined to a surface (e.g., a sphere) or a curve (e.g., an ellipse). For the latter speed-curvature relations are derived depending on the boundary conditions imposed (periodic or nonperiodic) and the compatibility with the empirical one-third power law is shown. Based on these theoretical studies and recent experimental findings, I argue that geodesics may be an emergent property of the motor system and that the sensorimotor system may shape arm configuration space by learning metric structures through sensorimotor feedback.

Naturalistic arm movements during obstacle avoidance in 3D and the identification of movement primitives

By studying human movement in the laboratory, a number of regularities and invariants such as planarity and the principle of isochrony have been discovered. The theoretical idea has gained traction that movement may be generated from a limited set of movement primitives that would encode these invariants. In this study, we ask if invariants and movement primitives capture naturalistic human movement. Participants moved objects to target locations while avoiding obstacles using unconstrained arm movements in three dimensions. Two experiments manipulated the spatial layout of targets, obstacles, and the locations in the transport movement where an obstacle was encountered. We found that all movement trajectories were planar, with the inclination of the movement plane reflecting the obstacle constraint. The timing of the movement was consistent with both global isochrony (same movement time for variable path lengths) and local isochrony (same movement time for two components of the obstacle avoidance movement). The identified movement primitives of transport (movement from start to target position) and lift (movement perpendicular to transport within the movement plane) varied independently with obstacle conditions. Their scaling accounted for the observed double peak structure of movement speed. Overall, the observed naturalistic movement was astoundingly regular. Its decomposition into primitives suggests simple mechanisms for movement generation.

The modulatory influence of end-point controllability on decisions between actions

Recent work has shown that human subjects are able to predict the biomechanical ease of potential reaching movements and use these predictions to influence their choices. Here, we examined how reach decisions are influenced by specific biomechanical factors related to the control of end-point stability, such as aiming accuracy or stopping control. Human subjects made free choices between two potential reaching movements that varied in terms of path distance and biomechanical cost in four separate blocks that additionally varied two constraints: the width of the targets (narrow or wide) and the requirement of stopping in them. When movements were unconstrained (very wide targets and no requirement of stopping), subjects' choices were strongly biased toward directions aligned with the direction of maximal mobility. However, as the movements became progressively constrained, factors related to the control of the end point gained relevance, thus reducing this bias. This demonstrates that, before movement onset, constraints such as stopping and aiming participate in a remarkably adaptive and flexible action selection process that trades off the advantage of moving along directions of maximal mobility for unconstrained movements against exploiting biomechanical anisotropies to facilitate control of end-point stability whenever the movement constraints require it. These results support a view of decision making between motor actions as a highly context-dependent gradual process in which the subjective desirability of potential actions is influenced by their dynamic properties in relation to the intrinsic properties of the motor apparatus.

Movement in a confined space: Estimating path tortuosity

Tortuosity of an animal's path may be defined in the most general sense as departure of the path from straightness and is closely related to the animal‘s behavior. For example, movement toward a destination is straighter and hence less tortuous than foraging behavior where the animal is searching locally. It has been studied most often under the assumption that an animal has complete freedom of motion, i.e. there are no constraints on the choices it makes at each step. Almost all domestic or captive wild animals, however, are constrained in their movements in that they move within bounded regions such as pens. What distinguishes animals in confined space is that the boundaries are impermeable. We perform several simulation studies to compare several measures of tortuosity or movement for a path generated by the motion of an individual subject, in a bounded region. We show that established measures, such as fractal dimension and maximum distance traveled, behave differently for confined paths when compared to unconstrained movements. We also introduce new measures of the crookedness or movement of paths. These new measures are sensitive to the shape of the bounded region in which the path is confined, and to the distribution of turning angles for the path. In fact, all of the studied measures of tortuosity were affected by the shape of the enclosure and the magnitude of turning angles, but in different ways. Of the previously defined measures, fractal dimension and mean resultant length are sensitive to simulation model parameters, have low coefficients of variation, are uncorrelated with other measures, and change little with sample size. Of the new measures of tortuosity introduced, relative loop complexity is not only informative, but also uncorrelated with current measures of tortuosity. It has greater variability than some of the other measures; however, the variance decreases with increasing sample size. One measure, straightness index, is not recommended. It has high variability, is sensitive to sample size, and cannot distinguish among levels of any of the factors under study.

On the use of information theory for detecting upper limb motor dysfunction: An application to Parkinson’s disease

Parkinson’s disease (PD) is a chronic neurodegenerative disorder characterized by a selective loss of dopaminergic neurons in the substantia nigra, decreased striatal dopamine levels, and consequent extrapyramidal motor dysfunctions. Several potential early diagnostic markers of PD have been proposed. Since they have not been validated in presymptomatic PD, the diagnosis and monitoring of the disease is based on subjective clinical assessment of cognitive and motor symptoms. In this study, we investigated interjoint coordination synergies in the upper limb of healthy and parkinsonian subjects during the performance of unconstrained linear-periodic movements in a horizontal plane using the mutual information (MI). We found that the MI is a sensitive metric in detecting upper limb motor dysfunction, thus suggesting that this method might be applicable to quantitatively evaluating the effects of the antiparkinsonian medication and to monitor the disease progression.

Wireless telesurveillance system for detecting dementia

Objective We hypothesized path tortuosity (an index of casual locomotor variability) measured by a movement telesurveillance system would be suitable for assisted living facility residents clinically diagnosed with dementia. Background We examined the relationship of dementia to path tortuosity and to movement speed and path length variability, both of which increase in dementia. Methods Daytime movements of 25 elders (19 female; 14 with dementia; average age 80.6) were monitored for 30 days using radio transponders measuring location with a maximum accuracy of 20 cm. After 30 days, the Mini Mental State Exam (MMSE) and Revised Algase Wandering Scale-Community Version (RAWS-CV) were administered. Results Fractal Dimension (Fractal D), a measure of path tortuosity, correctly classified all but 2 residents with dementia; sensitivity 0.857, specificity 0.818 while the MMSE had 6 misclassifications, a sensitivity of 0.857 and a specificity of 0.727. Individual logistic regressions of dementia diagnosis on predictors MMSE and Fractal D were significant, but a logistic regression using both predictors found Fractal D marginally predictive of dementia (p=0.055) while the MMSE was not (p=0.168). Although significantly correlated with Fractal D, rate of travel and mean path distance were not predictive of dementia. Fractal D correlated negatively with overall MMSE (r= -0.44, n=25, p<0.05) but the relationship was mediated by MMSE Geographical Orientation items. Fractal D was unrelated to the RAWS-CV. Conclusions Telesurveillance-measured path tortuosity is greater in persons diagnosed with dementia. Persons with dementia have relatively more impaired spatial memory which is required for successful navigation. Application Automatic monitoring of direction, length and speed of unconstrained movements.

Shoulder joint position sense is not enhanced at end range in an unconstrained task

Shoulder joint position sense (JPS) is important for maintaining stability and contributing to coordinated movements. It is provided by afferent and centrally-derived signals interpreted and integrated by the central nervous system (CNS) for subsequent use. Shoulder JPS is enhanced as the joint approaches end range of motion (ROM) in studies involving internal and external rotation with the arm supported, but this finding has not been confirmed in unconstrained movements. To address this issue, the present study examined the effect of shoulder position in the horizontal plane on JPS at a constant elevation. Twenty-three healthy individuals were recruited from a university campus. Subjects attempted to actively replicate various target positions in both plane and elevation. Target positions consisted of five positions in the horizontal plane, normalized to individual horizontal abduction ROM, at 90° of arm elevation. All target positions were tested three times, and average absolute and variable errors were analyzed for each position. No differences in either absolute ( p = .312) or variable ( p = .185) errors were observed between positions. These results further support the contention that the muscle spindles are a dominant source of afferent feedback regarding shoulder JPS in unconstrained movements, even approaching end ROM, when the capsuloligamentous receptors are active.

Reaching and Writing Movements: Sensitive and Reliable Tools to Measure Genetic Dystonia in Children

The aim of this study was to provide a quantitative assessment of pure dystonia in a group of children. Kinematic and muscular characteristics of unconstrained movements of the upper limb, reaching and writing, were investigated. During reaching, the distinguishing factors of dystonic movement were reduced velocity, loss of muscular activation focalization, and impairment of rest-movement modulation. Muscular parameters were able to linearly discriminate the different levels of severity. These results support the hypothesis that basal ganglia dysfunction is responsible for compromising the motor activity focusing. The handwriting movement revealed that the kinematic coordination was altered depending on dystonia severity scores. The 2 protocols revealed themselves feasible and sensitive for detecting even local and subclinical signs. Hence, this work provides a contribution toward a reliable assessment of pure dystonia, crucial for clinical characterization of patients and evaluation of the different treatment options.

Head eye co-ordination and gaze stability in subjects with persistent whiplash associated disorders

Symptoms of dizziness, unsteadiness and visual disturbances are frequent complaints in persons with persistent whiplash associated disorders. This study investigated eye, head co-ordination and gaze stability in subjects with persistent whiplash (n = 20) and asymptomatic controls (n = 20). Wireless motion sensors and electro-oculography were used to measure: head rotation during unconstrained head movement, head rotation during gaze stability and sequential head and eye movements. Ten control subjects participated in a repeatability study (two occasions one week apart).Between-day repeatability was acceptable (ICC > 0.6) for most measures. The whiplash group had significantly less maximal eye angle to the left, range of head movement during the gaze stability task and decreased velocity of head movement in head eye co-ordination and gaze stability tasks compared to the control group (p < 0.01). There were significant correlations (r > 0.55) between both unrestrained neck movement and neck pain and head movement and velocity in the whiplash group. Deficits in gaze stability and head eye co-ordination may be related to disturbed reflex activity associated with decreased head range of motion and/or neck pain. Further research is required to explore the mechanisms behind these deficits, the nature of changes over time and the tests’ ability to measure change in response to rehabilitation.

Recovery of Upper Limb Function After Cerebellar Stroke

Loss of movement coordination is the main postacute symptom after cerebellar infarction. Although the course of motor recovery has been described previously, detailed kinematic descriptions of acute stage ataxia are rare and no attempt has been made to link improvements in motor function to measures of neural recovery and lesion location. This study provides a comprehensive assessment of how lesion site and arm dysfunction are associated in the acute stage and outlines the course of upper limb motor recovery for the first 4 months after the infarction. Sixteen adult patients with cerebellar stroke and 11 age-matched healthy controls participated. Kinematics of goal-directed and unconstrained finger-pointing movements were measured at the acute stage and in 2-week and 3-month follow-ups. MRI data were obtained for the acute and 3-month follow-up sessions. A voxel-based lesion map subtraction analysis was performed to examine the effect of ischemic lesion sites on kinematic performance. In the acute stage, nearly 70% of patients exhibited motor slowing with hand velocity and acceleration maxima below the range of the control group. MRI analysis revealed that in patients with impaired motor performance, lesions were more common in paravermal lobules IV/V and affected the deep cerebellar nuclei. Stroke affecting the superior cerebellar artery led to lower motor performance than infractions of the posterior cerebellar artery. By the 2-week-follow-up, hand kinematics had improved dramatically (gains in acceleration up to 86%). Improvements between the 2-week and the 3-month-follow-ups were less pronounced. In the acute stage, arm movements were mainly characterized by abnormal slowness (bradykinesia) and not dyscoordination (ataxia). The motor signs were associated with lesions in paravermal regions of lobules IV/V and the deep cerebellar nuclei. Motor recovery was fast, with the majority of gains in upper limb function occurring in the first 2 weeks after the acute phase.

Kinematic analysis and dexterity evaluation of upper extremity in activities of daily living

The redundant kinematic structure of upper extremity (UE) provides it with increased dexterity in activities of daily living (ADL). Most functional tasks during ADL can be implemented in various positions; however, only some routine trajectories are employed in healthy humans. Exploring motion ability and analyzing dexterity are clinically helpful in understanding the motion principles of the UE during ADL. The aim of this work was to develop a qualitative and quantitative evaluation method for unconstrained movement analysis of the UE. Ten healthy male volunteers with no UE pathology were tested based on a kinematic model proposed in this paper which follows the ISB recommendations. The dexterity measure (DM) and manipulability ellipsoid (ME) were used to evaluate the dexterity distribution and motion ability in space. Representative dexterity trajectories and corresponding ellipsoids were determined for the ADL tasks. The results of the study showed that there was a most dexterous posture for each functional task. The UE movement followed an approximately optimal kinematic performance trajectory when the hand moved in front of the thorax during ADL.

Rate-dependent impairments in repetitive finger movements in patients with Parkinson's disease are not due to peripheral fatigue

Performance of repetitive finger movements is an important clinical measure of disease severity in patients with Parkinson's disease (PD) and is associated with a dramatic deterioration in performance at movement rates near 2 Hz and above. The mechanisms contributing to this rate-dependent movement impairment are poorly understood. Since clinical and experimental testing of these movements involve prolonged repetition of movement, a loss of force-generating capacity due to peripheral fatigue may contribute to performance deterioration. This study examined the contribution of peripheral fatigue to the performance of unconstrained index finger flexion movements by measuring maximum voluntary contractions (MVC) immediately before and after repetitive finger movements in patients with PD (both off- and on-medication) and matched control subjects. Movement performance was quantified using finger kinematics, maximum force production, and electromyography (EMG). The principal finding was that peak force and EMG activity during the MVC did not significantly change from the pre- to post-movement task in patients with PD despite the marked deterioration in movement performance of repetitive finger movements. These findings show that the rate-dependent deterioration of repetitive finger movements in PD cannot be explained by a loss of force-generating capacity due to peripheral fatigue, and further suggest that mechanisms contributing to impaired isometric force production in PD are different from those that mediate impaired performance of high-rate repetitive movements.

Projected range contractions of montane biodiversity under global warming

Mountains, especially in the tropics, harbour a unique and large portion of the world's biodiversity. Their geographical isolation, limited range size and unique environmental adaptations make montane species potentially the most threatened under impeding climate change. Here, we provide a global baseline assessment of geographical range contractions and extinction risk of high-elevation specialists in a future warmer world. We consider three dispersal scenarios for simulated species and for the world's 1009 montane bird species. Under constrained vertical dispersal (VD), species with narrow vertical distributions are strongly impacted; at least a third of montane bird diversity is severely threatened. In a scenario of unconstrained VD, the location and structure of mountain systems emerge as a strong driver of extinction risk. Even unconstrained lateral movements offer little improvement to the fate of montane species in the Afrotropics, Australasia and Nearctic. Our results demonstrate the particular roles that the geography of species richness, the spatial structure of lateral and particularly vertical range extents and the specific geography of mountain systems have in determining the vulnerability of montane biodiversity to climate change. Our findings confirm the outstanding levels of biotic perturbation and extinction risk that mountain systems are likely to experience under global warming and highlight the need for additional knowledge on species' vertical distributions, dispersal and adaptive capacities.

Superposition Model Predicts EEG Occipital Activity during Free Viewing of Natural Scenes

Visual event-related potentials (ERPs) produced by a stimulus are thought to reflect either an increase of synchronized activity or a phase realignment of ongoing oscillatory activity, with both mechanisms sharing the assumption that ERPs are independent of the current state of the brain at the time of stimulation. In natural viewing, however, visual inputs occur one after another at specific subject-paced intervals through unconstrained eye movements. We conjecture that during natural viewing, ERPs generated after each fixation are better explained by a superposition of ongoing oscillatory activity related to the processing of previous fixations, with new activity elicited by the visual input at the current fixation. We examined the electroencephalography (EEG) signals that occur in humans at the onset of each visual fixation, both while subjects freely viewed natural scenes and while they viewed a black or gray background. We found that the fixation ERPs show visual components that are absent when subjects move their eyes on a homogeneous gray or black screen. Single-trial EEG signals that comprise the ERP are predicted more accurately by a model of superposition than by either phase resetting or the addition of evoked responses and stimulus-independent noise. The superposition of ongoing oscillatory activity and the visually evoked response results in a modification of the ongoing oscillation phase. The results presented suggest that the observed EEG signals reflect changes occurring in a common neuronal substrate rather than a simple summation at the scalp of signals from independent sources.

Pleasure as Unconstrained Movement in Renaissance Literary Aesthetics

In this essay I show that the pleasure provided by the poem as an imaginary landscape, as evidenced in rhetorical theory (Quintilian's analysis of varietas in Virgil's Georgics ), and in exemplary poems by Du Bellay ('Romae descriptio') and Ronsard ('Elegie a Louis Des Masures'), can be identified as that of unconstrained movement. Aristotle's definition of pleasure as unimpeded activity of our natural faculties in the Nicomachean Ethics captures the aesthetic attraction yielded by descriptive variety and links it to the ethical. Poussin's heroic landscape painting is an avatar of this neoclassical, humanist pleasure.

The horizontal curvature of point-to-point movements does not depend on simply the planning space

Point-to-point movements constrained to the horizontal plane are generally straight, although they exhibit slight deviations from straightness. Unconstrained horizontal movements (i.e., movements where the hand is lifted) are more curved in their projection onto the horizontal plane than constrained movements. It has been argued that this difference in horizontal curvature is due to differences in the space in which the movements were planned (joint space versus work space, respectively). The current study challenged this explanation. We found that horizontal curvature of constrained movements increased when moving over a round surface compared to moving over a flat surface and when friction was low compared to when friction was high. Because all these movements were constrained movements this suggests that the earlier reported differences in horizontal curvature between constrained and unconstrained movements may not originate from a difference in the movements' planning space. The discussion addresses how factors related to planning and factors related to biomechanics may contribute to the magnitude of horizontal curvature in unconstrained and constrained movements.

Modeling uncertainty of moving objects on road networks via space–time prisms

Moving objects produce trajectories, which are typically observed in a finite sample of time‐stamped locations. Between sample points, we are uncertain about the moving objects's location. When we assume extra information about an object, for instance, a (possibly location‐dependent) speed limit, we can use space–time prisms to model the uncertainty of an object's location. Until now, space–time prisms have been studied for unconstrained movement in the 2D plane. In this paper, we study space–time prisms for objects that are constrained to travel on a road network. Movement on a road network can be viewed as essentially one‐dimensional. We describe the geometry of a space–time prism on a road network and give an algorithm to compute and visualize space–time prisms. For experiments and illustration, we have implemented this algorithm in MATHEMATICA. Furthermore, we study the alibi query, which asks whether two moving objects could have possibly met or not. This comes down to deciding if the chains of space–time prisms produced by these moving objects intersect. We give an efficient algorithm to answer the alibi query for moving objects on a road network. This algorithm also determines where and when two moving objects may have met.