Hand Movement Velocity Research Articles

Research on Speed and Acceleration of Hand Movements as Command Signals for Anthropomorphic Manipulators as a Master-Slave System

Due to threats to human safety, remotely controlled manipulators are more and more often used to carry out rescue tasks in hazardous zones. To ensure high efficiency and productivity of their work, intuitive control systems are necessary, e.g., master-slave and drive systems that maximize the speed of working movements by copying the movements of the operator’s hands and are adapted to human perception and capabilities. Proper design of manipulator drive and control systems, therefore, requires knowledge of the acceleration and velocity of hand movements as signals controlling manipulators. This paper presents the results of tests of speed and acceleration in the implementation of the hand when making precise movements and moving objects over short distances (0.4–0.5 m) and during relatively long-distance reaching movements (0.73–0.93 m). Research has shown that, at short distances, the hand movements do not reach the maximum speed, while at longer distances, there is a period of constant maximal speed. In addition, studies have shown that the maximum speed of manipulation movements (longitudinal, lateral, and vertical) does not depend on the direction of movement. Moreover, precise movements were performed at a much slower velocity than reaching movements.

Neural Correlates of Executed Compared to Imagined Writing and Drawing Movements: A Functional Magnetic Resonance Imaging Study.

ObjectiveIn this study we used functional magnetic resonance imaging (fMRI) to investigate whether motor imagery (MI) of handwriting and circle drawing activates a similar handwriting network as writing and drawing itself.MethodsEighteen healthy right-handed participants wrote the German word “Wellen” and drew continuously circles in a sitting (vertical position) and lying position (horizontal position) to capture kinematic handwriting parameters such as velocity, pressure and regularity of hand movements. Afterward, they performed the same tasks during fMRI in a MI and an executed condition.ResultsThe kinematic analysis revealed a general correlation of handwriting parameters during sitting and lying except of pen pressure during drawing. Writing compared to imagined writing was accompanied by an increased activity of the ipsilateral cerebellum and the contralateral sensorimotor cortex. Executed compared to imagined drawing revealed elevated activity of a fronto–parieto-temporal network. By contrasting writing and drawing directly, executed writing induced an enhanced activation of the left somatosensory and premotor area. The comparison of the MI of these tasks revealed a higher involvement of occipital activation during imagined writing.ConclusionThe kinematic results pointed to a high comparability of writing in a vertical and horizontal position. Overall, we observed highly overlapping cortical activity except of a higher involvement of motor control areas during motor execution. The sparse difference between writing and drawing can be explained by highly automatized writing in healthy individuals.

Development of a Wearable Glove System with Multiple Sensors for Hand Kinematics Assessment.

In traditional hand function assessment, patients and physicians always need to accomplish complex activities and rating tasks. This paper proposes a novel wearable glove system for hand function assessment. A sensing system consisting of 12 nine-axis inertial and magnetic unit (IMMU) sensors is used to obtain the acceleration, angular velocity, and geomagnetic orientation of human hand movements. A complementary filter algorithm is applied to calculate the angles of joints after sensor calibration. A virtual hand model is also developed to map with the glove system in the Unity platform. The experimental results show that this glove system can capture and reproduce human hand motions with high accuracy. This smart glove system is expected to reduce the complexity and time consumption of hand kinematics assessment.

The impact of hand movement velocity on cognitive conflict processing in a 3D object selection task in virtual reality

Detecting and correcting incorrect body movements is an essential part of everyday interaction with one's environment. The human brain provides a monitoring system that constantly controls and adjusts our actions according to our surroundings. However, when our brain's predictions about a planned action do not match the sensory inputs resulting from that action, cognitive conflict occurs. Much is known about cognitive conflict in 1D/2D environments; however, less is known about the role of movement characteristics associated with cognitive conflict in 3D environment. Hence, we devised an object selection task in a virtual reality (VR) environment to test how the velocity of hand movements impacts human brain responses. From a series of analyses of EEG recordings synchronized with motion capture, we found that the velocity of the participants’ hand movements modulated the brain's response to proprioceptive feedback during the task and induced a prediction error negativity (PEN). Additionally, the PEN originates in the anterior cingulate cortex and is itself modulated by the ballistic phase of the hand's movement. These findings suggest that velocity is an essential component of integrating hand movements with visual and proprioceptive information during interactions with real and virtual objects.

One year after ischemic stroke: Changes in leg movement path stability in a speed–accuracy task but no major effects on the hands

First year after the stroke is essential for motor recovery. The main motor control strategy (i.e., faster movement production at the expense of lower movement accuracy and stability, or greater movement accuracy and stability at the expense of slower movement) selected by poststroke patients during a unilateral speed–accuracy task (SAT) remains unclear. We aimed to investigate the poststroke (12 months after stroke) effects on the trade-off between movement speed and accuracy, and intraindividual variability during a motor performance task. Healthy right-handed men (n = 20; age ∼ 66 years) and right-handed men after ischemic stroke during their post rehabilitation period (n = 20; age ∼ 69 years) were asked to perform a simple reaction task, a maximal velocity performance task and a SAT with the right and left hand, and with the right and left leg. In the hand movement trial, reaction time and movement velocity (Vmax) in the SAT were slower and time to Vmax in the SAT was longer in the poststroke group (P < .01). In the leg movement trial, poststroke participants reached a greater Vmax in the SAT than the healthy participants (P < .01). The greatest poststroke effect on intraindividual variability in movements was found for movement path in the SAT, which was significantly greater in the legs than in the hands. Poststroke patients in the first year after stroke mainly selected an impulsive strategy for speed over hand and leg motor control, but at the expense of lower movement accuracy and greater variability in movement.

Contrasting speed-accuracy tradeoffs for eye and hand movements reveal the optimal nature of saccade kinematics.

In contrast to hand movements, the existence of a neural representation of saccade kinematics is unclear. Saccade kinematics is typically thought to be specified by motor error/desired displacement and generated by brain stem circuits that are not penetrable to voluntary control. We studied the influence of instructed hand movement velocity on the kinematics of saccades executed without explicit instructions. When the hand movement was slow the saccade velocity decreased, independent of saccade amplitude. We leveraged this modulation of saccade velocity to study the optimality of saccades (in terms of velocity and endpoint accuracy) in relation to the well-known speed-accuracy tradeoff that governs voluntary movements (Fitts' law). In contrast to hand movements that obeyed Fitts' law, normometric saccades exhibited the greatest endpoint accuracy and lower reaction times, relative to saccades accompanying slow and fast hand movements. In the slow condition, where saccade endpoint accuracy suffered, we observed that targets were more likely to be foveated by two saccades resulting in step-saccades. Interestingly, the endpoint accuracy was higher in two-saccade trials, compared with one-saccade trials in both the slow and fast conditions. This indicates that step-saccades are a part of the kinematic plan for optimal control of endpoint accuracy. Taken together, these findings suggest normometric saccades are already optimized to maximize endpoint accuracy and the modulation of saccade velocity by hand velocity is likely to reflect the sharing of kinematic plans between the two effectors.NEW & NOTEWORTHY The optimality of saccade kinematics has been suggested by modeling studies but experimental evidence is lacking. However, we observed that, when subjects voluntarily modulated their hand velocity, the velocity of saccades accompanying these hand movements was also modulated, suggesting a shared kinematic plan for eye and hand movements. We leveraged this modulation to show that saccades had less endpoint accuracy when their velocity decreased, illustrating that normometric saccades have optimal speed and accuracy.

The Validation of a Paddle Power Meter for Slalom Kayaking.

The ability to quantify power within the sport of slalom kayaking would provide coaches and athletes objective data to monitor performance. This study determined the validity of a kayak paddle power meter and subsequent relationship between work rate and stroke kinetics. One participant completed multiple trials of a flat-water, straight-line sprint and a sequence of slalom gates at numerous intensities to attain the velocity:power relationship. Laboratory results identified the kayak paddles’ strain gauges were valid and reliable, and field tests presented a cubic relationship for power as a function of velocity in the straight-line sprint (R 2 =0.982) and the slalom-specific test (R 2 =0.993). Further analysis of stroke kinetics identified velocity of hand movement at individual peak force capability to be critical in the highest work rates achieved for both slalom and flat-water sprinting. It was concluded that the kayak paddle power meter tested is a valid means of recording work rate and stroke kinetics during kayaking in the field.

Predominance of Movement Speed Over Direction in Neuronal Population Signals of Motor Cortex: Intracranial EEG Data and A Simple Explanatory Model.

How neuronal activity of motor cortex is related to movement is a central topic in motor neuroscience. Motor-cortical single neurons are more closely related to hand movement velocity than speed, that is, the magnitude of the (directional) velocity vector. Recently, there is also increasing interest in the representation of movement parameters in neuronal population activity, such as reflected in the intracranial EEG (iEEG). We show that in iEEG, contrasting to what has been previously found on the single neuron level, speed predominates over velocity. The predominant speed representation was present in nearly all iEEG signal features, up to the 600–1000 Hz range. Using a model of motor-cortical signals arising from neuronal populations with realistic single neuron tuning properties, we show how this reversal can be understood as a consequence of increasing population size. Our findings demonstrate that the information profile in large population signals may systematically differ from the single neuron level, a principle that may be helpful in the interpretation of neuronal population signals in general, including, for example, EEG and functional magnetic resonance imaging. Taking advantage of the robust speed population signal may help in developing brain–machine interfaces exploiting population signals.

E3D hand movement velocity reconstruction using power spectral density of EEG signals and neural network.

Three dimensional (3D) limb motion trajectory is predictable with a non-invasive brain-computer interface (BCI). To date, most non-invasive motion trajectory prediction BCIs use potential values of electroencephalographic (EEG) signals as the input to a multiple linear regression (mLR) based kinetic data estimator. We investigated the possible improvement in accuracy of 3D hand movement prediction (i.e., the correlation of registered and reconstructed hand velocities) by replacing raw EEG potentials with spectrum power values of specific EEG bands. We also investigated if a non-linear neural network based estimator outperformed the mLR approach. The spectrum power model provided significantly higher accuracy (R~0.60) compared to the similar EEG potentials based approach (R~0.45). Additionally, when replacing the mLR based kinetic data estimation module with a feed-forward neural network (NN) we found the NN based spectrum power model provided higher accuracy (R~0.70) compared to the similar mLR based approach (R~0.60).

Study Of The Fluxset Magnetic Probe Speed–Sensitivity Developed For Detection Of Magnetic Nanoparticles In Surgery

Abstract Markers for imaging are vital parts of surgical processes. Since radioactive compound pose considerable risk to both the recipient and the surgical staff, alternative marking techniques are of interest. In NANOMAGDYE project, magneto-optically active nano-particles were created for this reason. The detection of the magnetic interaction of low mass nano-particles in surgical environment is very challenging; so far only quasi-stationary measurements were taken. This paper shows a measurement setup for measurements with continuously moving probe at lower velocities (5–10 mm/s) and at hand movement velocity (20–30 cm/s). It was found that at the velocity of hand movement there is only probe response amplitude reduction of at most 10–15% of the original amplitude. These results indicate that the probe used for the detection of the nano-particles is sufficient to be used in practical purposes in surgery.

깊이정보를 이용한 실시간 손 영역 검출 및 추적

본 논문에서는 실시간 손동작 분석을 위한 깊이정보 기반 손 영역 검출 및 추적 방법을 제안한다. 이를 위해 손 영역 검출단계에서는 깊이정보만을 이용하여 손 영역의 특징인 형태모델을 생성하고, 검출 시 움직임 정보와 영역 확장(Region Growing)을 통해 객체를 추출한다. 추출된 객체는 사전에 생성된 형태모델과 크기정보를 분석하여 최종 손 영역으로 판정한다. 판정된 손 객체는 추적단계에서 중심점 전이 과정을 통해 이전 중심점과의 최근접점을 획득하고, 최근접점으로부터 영역 확장과 깊이기반 적응적 평균 이동 기법(DAM-Shift)을 통해 새로운 중심점을 검출하여 추적한다. 마지막으로 성능 검증을 위해 다양한 손 모양과 속도 및 위치에 대한 다양한 환경에서 실험하고, 검출속도와 추적된 궤적의 정량적, 정성적 분석을 통해 제안하는 방법의 효율성을 입증한다. In this paper, we propose a real-time approach for detecting and tracking a hand region by analyzing depth images. We build a hand model in advance. The model has the shape information of a hand. The detecting process extracts out moving areas in an image, which are possibly caused by moving a hand in front of a camera. The moving areas can be identified by analyzing accumulated difference images and applying the region growing technique. The extracted moving areas are compared against a hand model to get justified as a hand region. The tracking process keeps the track of center points of hand regions of successive frames. For this purpose, it involves three steps. The first step is to determine a seed point that is the closest point to the center point of a previous frame. The second step is to perform region growing to form a candidate region of a hand. The third step is to determine the center point of a hand to be tracked. This point is searched by the mean-shift algorithm within a confined area whose size varies adaptively according to the depth information. To verify the effectiveness of our approach, we have evaluated the performance of our approach while changing the shape and position of a hand as well as the velocity of hand movement.

601 非接触動作識別技術のヒューマンマシンインターフェイスへの応用

In this paper, we present an effective non-contact technique for the measurement of human hand motion for application to a human-machine interface. We propose a new method for detecting the motion of a subject's hand with respect to a given measurement electrode; this method involves the measurement of the current generated due to the difference in the capacitance between a subject's hand and the measurement electrode. An occurrence model for the electrostatic induction current generated due to a change in the electric capacitance between the electrode and human body has been proposed. This model effectively explains the behavior of the electrostatic induction current flowing through the measurement electrode. This method can be used to detect the direction and velocity of the subject's hand movement under perfect non-contact conditions.

Decoding hand movement velocity from electroencephalogram signals during a drawing task

BackgroundDecoding neural activities associated with limb movements is the key of motor prosthesis control. So far, most of these studies have been based on invasive approaches. Nevertheless, a few researchers have decoded kinematic parameters of single hand in non-invasive ways such as magnetoencephalogram (MEG) and electroencephalogram (EEG). Regarding these EEG studies, center-out reaching tasks have been employed. Yet whether hand velocity can be decoded using EEG recorded during a self-routed drawing task is unclear.MethodsHere we collected whole-scalp EEG data of five subjects during a sequential 4-directional drawing task, and employed spatial filtering algorithms to extract the amplitude and power features of EEG in multiple frequency bands. From these features, we reconstructed hand movement velocity by Kalman filtering and a smoothing algorithm.ResultsThe average Pearson correlation coefficients between the measured and the decoded velocities are 0.37 for the horizontal dimension and 0.24 for the vertical dimension. The channels on motor, posterior parietal and occipital areas are most involved for the decoding of hand velocity. By comparing the decoding performance of the features from different frequency bands, we found that not only slow potentials in 0.1-4 Hz band but also oscillatory rhythms in 24-28 Hz band may carry the information of hand velocity.ConclusionsThese results provide another support to neural control of motor prosthesis based on EEG signals and proper decoding methods.

Adaptation of Torso Movement Strategies in Persons With Spinal Cord Injury or Low Back Pain

Controlled laboratory study. Statistical regression and between-group comparisons. To characterize functional limitation and adaptive strategies in seated manual transport tasks for spinal cord injury (SCI), low back pain (LBP), and control participants. People with SCI are known to have adapted electromyographic activities and slow hand movement velocity, while those with LBP have reduced range of motion and lumbar joint contribution. However, their resultant outcome in torso movements has not been systematically quantified. Seated participants performed either 2- or 1-handed loaded transports to 1 of 6 targets 49 cm above the hip-point, at 0 degrees, 45 degrees, and 90 degrees azimuths, at close and far distance. Three-dimensional torso movements were modeled by combinations of B-spine base functions. The SCI and LBP participants exhibit smaller torso flexion and axial rotation than control participants. The SCI participants tend to move the torso away from the target to maintain upper body balance. These differences among groups are significantly reduced in the 1-handed transport condition and/or transports to the frontal target. The movement patterns suggest that SCI participants may have adapted torso movement strategies to compensate for the limited control of upper body balance, while LBP participants may limit torso motion to avoid pain.

Relationship between the velocity of illusory hand movement and strength of MEG signals in human primary motor cortex and left angular gyrus

We studied the relationship between the velocity of movement illusion and the activity level of primary motor area (M1) and of the left angular gyrus (AG) in humans. To induce illusory movement perception, we applied co-vibration at different frequencies on tendons of antagonistic muscle groups. Since it is well established that the velocity of illusory movement is related to the difference in vibration frequency applied to two antagonistic muscles, we compared magnetoencephalography (MEG) signals recorded in two conditions of co-vibration: in the "fast illusion" condition a frequency difference of 80 Hz was applied on the tendons of the right wrist extensor and flexor muscle groups, whereas in the "slow illusion" condition a frequency difference of 40 Hz was applied on the same muscle groups. The dipole strength, reflecting the activity level of structures, was measured over M1 and the left AG in two different time-periods: 0-400 and 400-800 ms in each condition. Our results showed that the activity level of the AG was similar in both conditions whatever the time-period, whereas the activity level of M1 was higher in the "fast illusion" condition compared to the "slow illusion" condition from 400 ms after the vibration onset only. The data suggest that the two structures differently contributed to the perception of illusory movements. Our hypothesis is that M1 would be involved in the coding of cinematic parameters of the illusory movement but not the AG.

Influence of obesity on accurate and rapid arm movement performed from a standing posture

Obesity yields a decreased postural stability. The potentially negative impact of obesity on the control of upper limb movements, however, has not been documented. This study sought to examine if obesity imposes an additional balance control constraint limiting the speed and accuracy with which an upper limb goal-directed movement performed from an upright standing position can be executed. Eight healthy lean subjects (body mass index (BMI) between 20.9 and 25.0 kg/m(2)) and nine healthy obese subjects (BMI between 30.5 and 48.6 kg/m(2)) pointed to a target located in front of them from an upright standing posture. The task was to aim at the target as fast and as precisely as possible after an auditory signal. The difficulty of the task was varied by using different target sizes (0.5, 1.0, 2.5 and 5.0 cm width). Hand movement time (MT) and velocity profiles were measured to quantify the aiming. Centre of pressure and segmental kinematics were analysed to document postural stability. When aiming, the forward centre of pressure (CP) displacement was greater for the obese group than for the normal BMI group (4.6 and 1.9 cm, respectively). For the obese group, a decrease in the target size was associated with an increase in backward CP displacement and CP peak speed whereas for the normal BMI group backward CP displacements and CP peak speed were about the same across all target sizes. Obese participants aimed at the target moving their whole body forward whereas the normal BMI subjects predominantly made an elbow extension and shoulder flexion. For both groups, MT increased with a decreasing target size. Compare to the normal BMI group, this effect was exacerbated for the obese group. For the two smallest targets, movements were on average 115 and 145 ms slower for the obese than for the normal BMI group suggesting that obesity added a balance constraint and limited the speed with which an accurate movement could be done. Obesity, because of its effects on the control of balance, also imposes constraints on goal-directed movements. From a clinical perspective, obese individuals might be less efficient and more at risk of injuries than normal weight individuals in a large number of work tasks and daily activities requiring upper limb movements performed from an upright standing position.

Performance of diadochokinetic movements in schizophrenic patients

Motor deficits are common and disabling symptoms in schizophrenic patients, which have enormous impact on the long-term outcome of the disease by affecting work performance and daily functioning. They are attributed to the disorder itself, as well as to treatment with dopamine-blocking antipsychotics. This study assessed the kinematic parameters of motor performance of a diadochokinetic hand movement in 20 drug-naïve, 20 conventionally treated (haloperidol or fluphenazine), and 20 atypically treated (olanzapine) patients, as well as in 20 healthy controls using a three-dimensional ultrasonic movement analysis system. It also tested differences in motor enhancement as induced by an attentional strategy and in dexterity advantages of motor performance for the dominant hand between the four study groups. Amplitude and peak velocity of diadochokinetic hand movements were significantly reduced in all patient groups compared to the controls, while frequency of the repetitive movement remained unaffected. The reduction was most pronounced in the conventionally treated patients. In addition, movement automation was impaired, primarily under conventional antipsychotic treatment. The study also revealed weaker effects of an attentional enhancing strategy on the movement amplitude in atypically and conventionally treated patients compared to both controls and drug-naïve patients. Alterations of dexterity could not be detected either in the drug-naïve or in the treated patients. The results indicate that patients with schizophrenia suffer from a specific primary motor deficit in diadochokinesia with reduction of amplitude and peak velocity. This deficit is significantly worsened by conventional antipsychotic treatment. Antipsychotic treatment additionally reduces the enhancing effect of an attentional strategy on motor performance.

Inference of hand movements from local field potentials in monkey motor cortex.

The spiking of neuronal populations in motor cortex provides accurate information about movement parameters. Here we show that hand movement target and velocity can be inferred from multiple local field potentials (LFPs) in single trials approximately as efficiently as from multiple single-unit activity (SUA) recorded from the same electrodes. Our results indicate that LFPs can be used as an additional signal for decoding brain activity, particularly for new neuroprosthetic applications.

L-DOPA improves visuo-motor coordination in stable Parkinson’s disease patients

The visuo-motor coordination of 26 stable, treated, Parkinson's disease (PD) patients with average Hoehn and Yahr rating of 1.75+/-0.6, was assessed by use of several tracing and tracking tests before and 30min after ingestion of the mid-day levodopa (L-DOPA) dose. Significant improvement was found in all aspects of visuo-motor coordination 30min after drug intake. This included the ability to control the direction and velocity of hand-movement, and the capacity to persist in tracking. A subgroup of 12 patients was tested 30min and 1h after L-DOPA intake. A continuing (but small) improvement in directional and velocity control could still be seen an hour after drug intake, while tracking persistence remained unchanged with respect to the preceding test. We conclude that changes in executional capabilities can be documented in "stable" PD patients, consequent to L-DOPA intake, when high-level skills, such as visuo-motor coordination, are tested.

Pressure, velocity, and time in speeded drawing of basic graphic patterns by young children.

Bender Gestalt cards of Pascal and Suttel, simplified by the author, and basic graphic patterns used in neuropsychological assessment by Mai and Marquardt were used in a speeded copying task. Children between 4 and 6 years were drawing with a wireless pen on a pressure-sensitive graphic tablet linked to a computer. Hand pressure, velocity of hand movements, drawing time and penlifts were measured by a CS handwriting analyses software package. Planned comparisons were carried out between developmentally earlier emerging graphic forms and patterns that are mastered later in development. It was shown that for 6-yr.-olds pressure was increased which might indicate a generally higher tension when drawing. Specifically, angular forms were copied with more pressure, but needed less drawing time than round forms. Moreover, children needed more time for penlifts to adjust for a starting point that changed from left to right when drawing vertical lines than horizontal ones. Reduced speed of drawing was more important when copying open forms than closed shapes. In denotation of spatial position no differences were found. It is concluded that the analysis of psychophysical measures of drawing gives important clues about the specific problems produced by relatively basic graphic patterns.