Uncontrolled Manifold Research Articles

Identifying control structure of multi-joint coordination in dart throwing: the effect of distance constraint

Background: This study used the uncontrolled manifold (UCM) approach to study joint coordination underlying the control of task-related variables important for success at dart throwing skill. Success at a task can be achieved, in principle, by always adopting a particular joint combination. In contrast, we adopt a more selective control strategy: variations of the joint configuration that leave the values of essential task variables unchanged are predicted to be less controlled (i.e., stabilized to a lesser degree) than joint configuration changes that shift the values of the task variables. Objectives: How this abundance of motor solutions is managed by the nervous system and whether and how the throwing in different distances affects the solution to joint coordination was investigated in this study. Methods: Our experimental task involved dart throwing to a target under three conditions (standard, short and long distance) that it performed by fifteen dart professional and semiprofessional athletes. The four joint angles of the arm were obtained from the recorded positions of markers on the limb segments. The variability of joint configurations was decomposed into components lying parallel to those sets and components lying in their complement with respect to control of the path of the arm’s center of mass and spatial position of the hand. Results: When performing the task in all three different conditions, fluctuations of joint configuration that affected arm’s center of mass and spatial position variables were much reduced compared with fluctuations that did not affect these variables. The UCM principle applied to arm’s center of mass and spatial position thus captures the structure of the motor control system across different parts of joint configuration space as the movement evolves in time. Moreover, constraints representing an invariant arm’s center of mass or the spatial position structured joint configuration variability in the early and mid-portion of the movement trajectory, but not at the time of throwing. This specific control strategy indicate a target can be hit successfully also by controlling irrelevant directions in joint space equally to relevant ones. Conclusion: The results suggests a specific control strategy in which changes of joint configuration that are irrelevant to success at the task are selectively released from control. As a result, the method can be successfully used to determine the structure of coordination in joint space that underlies the control of the essential variables for a given task.

Evaluation of Finger Force Control Ability in terms of Multi-finger Synergy.

In this study, finger force control abilities are quantified by the concept of multi-finger synergy in conjunction with uncontrolled manifold (UCM) analysis. Two indices, named repeatability and flexibility, representing features of multi-finger synergy were proposed to overcome the limitation of previously introduced indices, such as floor effects and distortion problems. The proposed indices were applied to stroke patients and healthy adults through specifically designed experiments. The experimental results showed a clear difference between stroke patients and healthy adults. Also, interestingly, there was a difference in outcome between two stroke patient subgroups: stroke patients in whom the dominant hand was affected and non-dominant hand was affected groups.

Age-related changes to motor synergies in multi-joint and multi-finger manipulative skills: a meta-analysis

PurposeThe aim of the current meta-analysis was to examine the extent to which there are differences in upper extremity motor synergies across different age groups in manipulative tasks.MethodsThe studies that used the uncontrolled manifold method to examine the effect of age on motor synergies in multi-joint and multi-finger tasks were selected. Sixteen relevant studies from 1154 articles were selected for the meta-analysis—4 and 12 studies considered multi-joint kinematics and multi-finger kinetic tasks respectively.ResultsThe results of the meta-analysis suggested reduced strength of synergies in multi-finger task in older adults, but this was not the case for synergies in multi-joint task. Part of this age-related difference in finger function is related to the increased variability in total force in grasping tasks. However, reductions in the strength of multi-finger synergies in hand functions following ageing appear to depend on the characteristics of the task.ConclusionsThese findings indicate that the cooperation among fingers to stabilise the total required force to apply for grasping and other fine motor skills is less efficient in older adults that might affect the quality of manipulative tasks.

Differentiating Successful and Unsuccessful Single-Leg Drop Landing Performance Using Uncontrolled Manifold Analysis.

Biomechanical analysis can effectively identify factors associated with task performance and injury risk, but often does not account for the interaction among the components that underlie task execution. Uncontrolled manifold (UCM) analyses were applied to data from 38 female, adolescent athletes performing single-leg drop landings and were used to differentiate successful and unsuccessful task performance by examining the frontal plane joint variance within the UCM (VUCM) that stabilized the horizontal center of mass position (VUCM) and within the orthogonal subspace (VORT). The UCM revealed stronger coordination, indicated by the VUCM/VORT ratio, in the successful condition. This may inform future research examining reduced motor coordination in failed movement tasks and its relation to injury risk and allow for targeted interventions that consider coordination processes rather than joint-specific outcomes.

The relation between limb segment coordination during walking and fall history in community-dwelling older adults

Control of the swing foot during walking is important to prevent falls. The trajectories of the swing foot are adjusted by coordination of the lower limbs, which is evaluated with uncontrolled manifold (UCM) analysis. A previous study that applied this analysis to walking revealed that older adults with fall history had compensatorily great segment coordination to stabilize the swing foot during normal walking. However, it is unknown whether the increase in segment coordination helps for preventing incident falls in the future. At baseline measurement, 30 older adults walked for 20 times at a comfortable speed. UCM analysis was performed to evaluate how the segment configuration in the lower limbs contributes to the swing foot stability. One year after the baseline visit, we asked the subjects if there were incident falls through a questionnaire. The univariate and multivariable logistic regression analyses were performed to assess the association between the index of segment coordination and incident falls with and without adjustment for gait velocity. Twenty-eight older adults who responded to the questionnaire were classified into older adults (n = 12) who had the incident fall and those (n = 16) who did not have falls. It was revealed that older adults who increased the segment coordination associated with swing foot stability tended to experience at least one fall within one year of measurement. The index of the UCM analysis can be a sensitive predictor of incident falls.

Evaluation of Finger Force Control Ability in Terms of Multi-Finger Synergy.

In this study, finger force control abilities are quantified by the concept of multi-finger synergy in conjunction with uncontrolled manifold (UCM) analysis. Two indices, namely, repeatability and flexibility, representing features of multi-finger synergy were proposed to overcome the limitation of previously introduced indices, such as floor effects and distortion problems. The proposed indices were applied to stroke patients and healthy adults through specifically designed experiments. The experimental results showed a clear difference between stroke patients and healthy adults. Also, interestingly, there was a difference in an outcome between two-stroke patient subgroups: stroke patients in whom the dominant hand was affected and non-dominant hand was affected groups.

Stroke survivors exhibit stronger lower extremity synergies in more challenging walking conditions

The aim of this study was to examine how kinematic synergies are utilised as compensatory movements to stabilise foot positions under different walking task constraints in people with stroke. Ten (Males = 6, Females = 4) hemiplegic chronic stroke survivors volunteered to participate in this study, recruited from a rehabilitation centre. They completed a consent form and participated in treadmill walking tasks; flat, uphill, and crossing over a moving obstacle. The uncontrolled manifold method was used to quantify kinematic synergies in the paretic and non-paretic legs during their swing phase. The results of this study showed the strength of synergies was significantly greater in the obstacle task than in the uphill walking tasks at mid and terminal swing phases. In conclusion, the results suggest that walking in the challenging situations caused people with stroke to control step stability with greater compensation between lower extremity joints. Participants adapted to the increased challenge by increasing the amount of 'good variability', which could be a strategy to reduce the risks of falling.

Neuromechanical control of leg length and orientation in children and adults during single-leg hopping.

Adult-like fine control of cyclical motor patterns found in locomotion develops into adolescence. Single-leg hopping in place is one such motor pattern where children have demonstrated a reduced capacity to control horizontal motion and match metronome cues. These developmental differences might arise from immature inter-segment coordination strategies and variability regulation. Therefore, the purpose of this study was to use an uncontrolled manifold (UCM) analysis to evaluate the control of segment angle variance (i.e., local variables) to stabilize leg length and leg orientation (i.e., task variables) in the sagittal plane between young adults and children aged 5-11years old while hopping at different frequencies. The UCM space and its orthogonal space were constructed and segment angle variance was partitioned into these two spaces. Increased variance in the UCM space represents the stabilization of a task variable, while increased variance in its orthogonal space indicates a greater deviation of a task variable from its mean value. Our results indicated that children have developed an adult-like inter-segment coordination strategy of stabilizing leg length at mid-stance and leg orientation during flight. However, children might have an underdeveloped capacity to modulate leg length at take-off from cycle-to-cycle. Moreover, when increasing hopping frequency, children showed limited capacity to selectively increase leg-length stabilization. When decreasing hopping frequency, children illustrated an increased stabilization of leg orientation over the entire stance phase. Mid-stance leg-length stabilization might emerge with the motor skill; however, other inter-segment coordination strategies might continue to develop beyond 11-years of age.

Influence of fatigue on running coordination: A UCM analysis with a geometric 2D model and a subject-specific anthropometric 3D model

Although fatigue is a central issue in endurance sports little is known about the effects of fatigue on coordination. The uncontrolled manifold (UCM) approach has been widely used in recent studies to examine coordination in human movement; however, it has not been used to study the effects of fatigue on running. Therefore, the aim of this study was to analyze the effects of fatigue on the synergy structure stabilizing the center of mass (CoM) trajectory in experienced runners during high-intensity running using the UCM approach.A total of 13 healthy young experienced runners participated in the study. Based on a lactate threshold testing undertaken one week prior to the measurements, participants were asked to run on a treadmill at their individual “fatigue-speed” until exhaustion. The kinematics of 20 consecutive gait cycles were recorded at the beginning (rested) and at the end (fatigue) of the protocol. The effects of fatigue on the synergy structure were investigated using a geometric 2D model and a subject-specific anthropometric 3D model. Specifically, the variance affecting the CoM trajectory (UCM⊥), the variance not affecting the CoM trajectory (UCM‖), and their ratio (UCMRatio) were analyzed for different gait cycle phases (absorption, propulsion and flight phase).Three-way repeated-measures ANOVA tests revealed differences between the two models. Fatigue-induced changes in the UCM structure could only be detected using the 3D model. UCMRatio did not change, but UCM⊥ increased during flight phase. In the 2D model, UCMRatio and both components were higher during the propulsion phase than during the absorption phase in both the rested and the fatigued state.Using a current concept for analyzing motor coordination, the UCM approach, only minor changes with fatigue were detected using the 3D subject-specific model. This indicates that the runners were able to control the trajectory of their CoM when fatigued. As the 2D model was not able to detect these changes, our study emphasizes that future studies on the effects of fatigue should focus on 3D analyses.

Instability Resistance Training Decreases Motor Noise During Challenging Walking Tasks in Older Adults: A 10-Week Double-Blinded RCT.

Locomotor stability is challenged by internal perturbations, e.g., motor noise, and external perturbations, e.g., changes in surface compliance. One means to compensate for such perturbations is to employ motor synergies, defined here as co-variation among a set of elements that acts to stabilize, or provide similar trial-to-trial (or step-to-step) output, even in the presence of small variations in initial conditions. Whereas evidence exists that synergies related to the upper extremities can be trained, the extent to which lower limb synergies, such as those which may be needed to successfully locomote in complex environments, remains unknown. The purpose of this study was to evaluate if resistance training (RT) in unstable environments could promote coordination patterns associated with stronger synergies during gait. Sixty-eight participants between the age of 65 and 80 were randomly assigned to one of three different RT modalities: stable whole-limb machine-based RT (S-MRT), instability free-weight RT (I-FRT), and stable machine-based adductor/abductor RT (S-MRTHIP). Before and after RT, participants walked across an even lab floor and a more challenging uneven surface with and without holding a weighted bag. The uncontrolled manifold control analysis (UCM) was used to calculate the synergy index (i.e., strength of the kinematic synergy) related to stabilization of our performance variable, the mediolateral trajectory of the swing foot, under each condition. Regardless of RT group, there was no effect of RT on the synergy index when walking across the even lab floor. However, the synergy index during the two uneven surface conditions was stronger after I-FRT but was not affected by the other RT modalities. The stronger synergy index for the I-FRT group was due to improved coordination as quantified by an overall increase in variability in elemental variable space but a decrease in the variability that negatively affects performance. The unstable environment offered by I-FRT allows for exploration of motor solutions in a manner that appears to transfer to challenging locomotor tasks. Introducing tasks that promote, rather than limit, exploration of motor solutions seems to be a valuable exercise modality to strengthen kinematic synergies that cannot be achieved with traditional strengthening paradigms (e.g., S-MRT).Clinical Trial Registration: www.ClinicalTrials.gov, identifier NCT03017365.

A process account of the uncontrolled manifold structure of joint space variance in pointing movements

In many situations, the human movement system has more degrees of freedom than needed to achieve a given movement task. Martin et al. (Neural Comput 21(5):1371–1414, 2009) accounted for signatures of such redundancy like self-motion and motor equivalence in a process model in which a neural oscillator generated timed end-effector virtual trajectories that a neural dynamics transformed into joint virtual trajectories while decoupling task-relevant and task-irrelevant combinations of joint angles. Neural control of muscle activation and the biomechanical dynamics of the arm were taken into account. The model did not address the main signature of redundancy, however, the UCM structure of variance: Many experimental studies have shown that across repetitions, variance of joint configuration trajectories is structured. Combinations of joint angles that affect task variables (lying in the uncontrolled manifold, UCM) are much more variable than combinations of joint angles that do not. This finding has been robust across movement systems, age, and tasks and is often preserved in clinical populations as well. Here, we provide an account for the UCM structure of variance by adding four types of noise sources to the model of Martin et al. (Neural Comput 21(5):1371–1414, 2009). Comparing the model to human pointing movements and systematically examining the role of each noise source and mechanism, we identify three causes of the UCM effect, all of which, we argue, contribute: (1) the decoupling of motor commands across the task-relevant and task-irrelevant subspaces together with “neural” noise at the level of these motor commands; (2) “muscle noise” combined with imperfect control of the limb; (3) back-coupling of sensed joint configurations into the motor commands which then yield to the sensed joint configuration within the UCM.

Recommendation for the minimum number of steps to analyze when performing the uncontrolled manifold analysis on walking data

The uncontrolled manifold (UCM) analysis quantifies the extent to which co-variation among a set of variables facilitates consistent performance by partitioning variance in those variables into two components then calculating their normalized difference (i.e., the synergy index). Although UCM-derived measures are thought to depend on the number of data points analyzed, the minimum number needed to reasonably approximate true values of these measures is unknown. For each of two performance variables related to mechanical stability of gait, we evaluated changes in UCM-derived measures when increasing the number of analyzed points, here steps. Fourteen older adults walked on a treadmill while motion capture tracked movement. For each subject, n steps (where n = 2–99) were randomly sampled from the first 100, then used to calculate UCM-derived variables. For each subject, variables were expressed as a percent of the subject-specific value with n = 100 and averaged across 50 simulations. For each n, 95% confidence intervals (CIs) were calculated from group data. The minimum number of steps to “reasonably approximate” a variables was defined as the value of n for which the lower CI was >90% of the value with n = 100. Regardless of performance variable, reasonable approximations of the synergy index were attained with n = 16 steps, whereas n = 50 steps were needed for each of the variance components However, the differences between using 16 steps and 50 steps were small. Collecting 15–20 steps is recommended for a reasonable approximation of the synergy indices considered herein, particularly when data collection is constrained to a limited number of steps.

Joint Angle Variation in Intentional Sit-to-Stand Transitions

Abstract Human motion is highly variable due to the effects of interaction with the environment and the intentionality of movement. Current assistive device control systems struggle to support this variable human motion as they restrict typically uncontrolled degrees of freedom resulting in unnatural, mechanistic and highly repetitive (i.e., artificially invariable) motions. In this paper we provide an analysis of variability in the human joint configuration while performing intentional sit-to-stand (STS) tasks. We use the Uncontrolled Manifold (UCM) which indicates that, for a sit-to-stand transition, the natural variability in movement can be accounted for through the reciprocal compensation (i.e., variation of movement trajectories) of joints in the lower kinetic chain (ankle, knee and hip) to modulate the body’s Center of Mass (CoM) trajectory in the sagittal plane. Our results suggest that the task space variability differs across participants, which is reflected in the joint configuration variability, to complete the relatively less constrained intentional task (e.g. STS-to-reach) as opposed to a relatively constrained intentional task (e.g. STS). These results can be helpful in devising task specific and personalized strategies in order to control assistive devices modelled as redundant manipulators.

Movement variability response to change in the rate of hopping

The purpose of this study was to compare two methods of measuring movement variability that provide information at the task level, and their capacities to illuminate the neuromotor control system's response to change in hopping rate. The typical task-level movement variability measure of the standard deviation of vertical limb length was compared to uncontrolled manifold analysis. We examined the relationship between change scores in deviation from spring-mass model-type behavior and these two variability measures for the shift from typical (2.3 Hz) to slow (1.7 Hz) hopping. The change scores for deviation from spring-mass model-type behavior and vertical limb length standard deviation demonstrated no correlation ( p = 0.784, R = 0.051). In contrast, the change scores for deviation from spring-mass model-type behavior and the uncontrolled manifold analysis measure demonstrated a moderate correlation ( p = 0.004, R = 0.502). Uncontrolled manifold analysis considers not just variability in the sense of error, but illustrates how the neuromotor control system distributes movement variability into performance-irrelevant and performance-destabilizing subspaces. As such, this type of analysis may be more effective at illuminating global control aspects of movement variability than the typical variability measure of limb length standard deviation.

Mediolateral footpath stabilization during walking in people following stroke.

Community dwelling stroke survivors most often fall while walking. Understanding how post-stroke individuals control mediolateral footpath during walking may help elucidate the mechanisms that contribute to walking instability. By applying the Uncontrolled Manifold (UCM) approach, we investigated (1) how post-stroke individuals coordinate lower-extremity joint motions to stabilize mediolateral footpath of the swing leg, and (2) how the inter-joint coordination in footpath stabilization correlates to their walking stability. Nine stroke subjects and nine healthy controls walked on a treadmill at four different speeds. UCM analysis partitions the variance of kinematic configurations across gait cycles into “good variance” (i.e., the variance component leading to a consistent footpath) or “bad variance” (i.e., the variance component leading to an inconsistent footpath). We found that both groups had a significantly greater “good” than “bad” variance (p<0.05) for most of the swing phase, suggesting that mediolateral footpath is an important variable stabilized by the central nervous system during walking. Stroke subjects had significantly greater relative variance difference (ΔV) (i.e. normalized difference between “good” and “bad” variance) (p<0.05), indicating a stronger kinematic synergy in footpath stabilization, than the controls. In addition, the kinematic synergy in mediolateral footpath stabilization is strongest during mid-swing but weakest during late swing in healthy gait. However, this phase-dependent strategy is preserved for mid-swing but not for late swing in stroke gait. Moreover, stroke and healthy subjects demonstrated different relationships between UCM and walking stability measures. A stronger kinematic synergy in healthy gait is associated with better walking stability whereas having more “good variance” or stronger kinematic synergy in stroke gait is associated with less walking stability. The current findings suggest that walking with too much “good variance” in people following stroke, despite no effect on the footpath, may adversely affect their walking stability to some extent.

Flexibility in joint coordination remains unaffected by force and balance demands in young and old adults during simple sit-to-stand tasks

PurposeWe examined the possibility that old adults use flexibility in joint coordination as a compensatory mechanism for the age-related decline in muscle strength when performing the sit-to-stand (STS) task repeatedly under high force and balance demands.MethodYoung (n = 14, 22.4 ± 2.1) and old (n = 12, 70 ± 3.2) healthy adults performed repeated STSs under high and low force and balance demands. The balance demand was manipulated by reducing the base of support and the force demand by increasing body weight with a weight vest. Uncontrolled manifold analysis was used to quantify age differences in motor flexibility.ResultsWhile there were age-typical differences in kinematic STS strategies, flexibility in joint coordination was independent of age and task difficulty during repeated STSs.DiscussionThat simple manipulations of force and balance demands did not affect flexibility in joint coordination in old and young adults suggests that motor flexibility acts as a compensatory mechanism only at the limits of available muscle strength and balance abilities during STS movements. Intervention studies should identify how changes in specific neuromuscular functions affect flexibility in joint coordination during activities of daily living such as STS.

Not all brawn, but some brain. Strength gains after training alters kinematic motor abundance in hopping.

BackgroundThe effects of resistance training on a muscle’s neural, architectural, and mechanical properties are well established. However, whether resistance training can positively change the coordination of multiple motor elements in the control of a well-defined lower limb motor performance objective remains unclear. Such knowledge is critical given that resistance training is an essential and ubiquitous component in gait rehabilitation. This study aimed to investigate if strength gains of the ankle and knee extensors after resistance training increases kinematic motor abundance in hopping.MethodsThe data presented in this study represents the pooled group results of a sub-study from a larger project investigating the effects of resistance training on load carriage running energetics. Thirty healthy adults performed self-paced unilateral hopping, and strength testing before and after six weeks of lower limb resistance training. Motion capture was used to derive the elemental variables of planar segment angles of the foot, shank, thigh, and pelvis, and the performance variable of leg length. Uncontrolled manifold analysis (UCM) was used to provide an index of motor abundance (IMA) in the synergistic coordination of segment angles in the stabilization of leg length. Bayesian Functional Data Analysis was used for statistical inference, with a non-zero crossing of the 95% Credible Interval (CrI) used as a test of significance.ResultsDepending on the phase of hop stance, there were significant main effects of ankle and knee strength on IMA, and a significant ankle by knee interaction effect. For example at 10% hop stance, a 1 Nm/kg increase in ankle extensor strength increased IMA by 0.37 (95% CrI [0.14–0.59]), a 1 Nm/kg increase in knee extensor strength decreased IMA by 0.29 (95% CrI [0.08–0.51]), but increased the effect of ankle strength on IMA by 0.71 (95% CrI [0.10–1.33]). At 55% hop stance, a 1 Nm/kg increase in knee extensor strength increase IMA by 0.24 (95% CrI [0.001–0.48]), but reduced the effect of ankle strength on IMA by 0.71 (95% CrI [0.13–1.32]).DiscussionResistance training not only improves strength, but also the structure of coordination in the control of a well-defined motor objective. The role of resistance training on motor abundance in gait should be investigated in patient cohorts, other gait patterns, and its translation into functional improvements.

The effects of fall history on kinematic synergy during walking

To prevent falls, control of the swing foot during walking is crucial. Recently, some studies demonstrated that the coordinated movement of lower limbs by kinematic synergy is important for stable walking. However, no study has been carried out to reveal the relation between falls and kinematic synergy, and it is unclear whether fall history alters the kinematic synergy. Thus, the purpose of this study was to test the effects of fall history on kinematic synergy using uncontrolled manifold (UCM) analysis. Older adults were divided into two groups: older adults without fall history (non-fallers, n = 14) and older adults with fall history of at least one fall in the 12 months prior to the measurements (fallers, n = 10). Subjects walked at their own comfortable speed on a pathway and kinematic data were collected. UCM analysis was performed to assess how variability of segmental configurations in the frontal plane, the mediolateral and vertical directions, affects the frontal trajectory of the swing foot. Fallers had a greater variability of segmental configurations than non-fallers in all phases. In the mediolateral direction, the kinematic synergy in fallers was significantly greater than that in non-fallers during the early and late swing phases. On the other hands, fallers continuously had greater kinematic synergy compared to non-fallers in the vertical direction. The results revealed that fall history increased the kinematic synergy, although fallers needed a greater variability of segmental configurations as a compensatory strategy to ensure kinematic synergy.

Bearded capuchin monkeys use joint synergies to stabilize the hammer trajectory while cracking nuts in bipedal stance.

The transition from occasional to obligate bipedalism is a milestone in human evolution. However, because the fossil record is fragmentary and reconstructing behaviour from fossils is difficult, changes in the motor control strategies that accompanied this transition remain unknown. Quadrupedal primates that adopt a bipedal stance while using percussive tools provide a unique reference point to clarify one aspect of this transition, which is maintaining bipedal stance while handling massive objects. We found that while cracking nuts using massive stone hammers, wild bearded capuchin monkeys (Sapajus libidinosus) produce hammer trajectories with highly repeatable spatial profiles. Using an uncontrolled manifold analysis, we show that the monkeys used strong joint synergies to stabilize the hammer trajectory while lifting and lowering heavy hammers. The monkeys stringently controlled the motion of the foot. They controlled the motion of the lower arm and hand rather loosely, showing a greater variability across strikes. Overall, our findings indicate that while standing bipedally to lift and lower massive hammers, an arboreal quadrupedal primate must control motion in the joints of the lower body more stringently than motion in the joints of the upper body. Similar changes in the structure of motor variability required to accomplish this goal could have accompanied the evolutionary transition from occasional to obligate bipedalism in ancestral hominins.

Individual preferences in motor coordination seen across the two hands: relations to movement stability and optimality.

The framework of the uncontrolled manifold (UCM) hypothesis was used to explore variables related to stability of task performance in the two hands of young healthy individuals. Fourteen young adults performed four-finger accurate constant force production tasks interrupted by a voluntary quick force pulse production and by an externally imposed displacement of all fingers. Three groups of variables were used to quantify stability of steady force production: (1) indices of the inter-trial variance were computed within the UCM and orthogonal to the UCM; (2) indices of motor equivalence were computed between steady-state intervals separated by the force pulse and by thefinger-lifting episode; and (3) referent coordinate and apparent stiffness were computed using the data during the ascending phase of the finger-lifting episode. In another task, the subjects performed accurate constant force production with visual feedback removal after the 8th second, and the drop in the total force after the removal was computed. There were differences between the right and left hand in some outcome variables such as variance within the UCM, and the timing of anticipatory synergy adjustments prior to the force pulse, consistent with the dynamic dominance hypothesis. There were significant correlations between the two hands for indices that were unrelated to accuracy of performance: variance within the UCM, index of motor equivalence, referent coordinate, apparent stiffness, and the drop of total force after visual feedback removal. We interpret these findings within the concept of stability-optimality trade-off. In particular, we conclude that individual subjects select particular, person-specific solutions within the spectrum allowed by the explicit task constraints, and this choice is consistent between the two hands. We conclude with a hypothesis that selecting specific solutions within the stability-optimality trade-off may represent an individual's personal preference consistent between the two hands.