Simple arm movements involving forward projection of the hand toward a target were studied by measuring simultaneous wrist position in three-dimensional space and changes in elbow angle. An attempt was made to identify those features of the movement which exhibit invariant characteristics under the hypothesis that such invariances may reflect the operations by which central processes participate in the organization of the movement. The first such invariance to be identified was that the trajectory in space is independent of movement speed. Secondly, the movement can be viewed as consisting of two phases, an acceleratory phase and a deceleratory one, with the movement during the acceleratory phase being so organized as to maintain the ratio of elbow angular velocity to shoulder angular velocity invariant with respect to target location in the deceleratory phase. It is suggested that proprioceptive information is used to control the movement and that the latter invariance may result from a negative feedback of force involving tendon organ afferents.

https://www.jneurosci.org/content/jneuro/1/7/710.full.pdf

Invariant characteristics of a pointing movement in man

Sensorimotor gain control: a basic strategy of motor systems?

To control force accurately under a wide range of behavioral conditions, the central nervous system would either require a detailed, continuously updated representation of the state of each muscle (and the load against which each is acting) or else force feedback with sufficient gain to cope with variations in the properties of the muscles and loads. The evidence for force feedback with adequate gain or for an appropriate central representation is not sufficient to conclude that force is the major controlled variable in normal limb movements.Morton's hypothesis, that length is controlled by a follow-up servo, has a number of difficulties related to the delays, gains, variability, and specificity in feedback pathways comprising potential servo loops. However, experimental evidence is consistent with these pathways providing servo assistance for some movements produced by coactivation of α- and static γ-motoneurons. Dynamic γ-motoneurons may provide an additional input for adaptive control of different types of movements.The idea that feedback is used to compensate for changes in muscle stiffness has received experimental support under static postural conditions. However, reflexes tend to increase rather than decrease the range of variation in muscle stiffness during some cyclic movements. Theoretical problems associated with the regulation of stiffness are also discussed. The possibilities of separate control systems for velocity or viscosity are considered, but the evidence is either negative or lacking. I conclude that different physical variables can be controlled depending on the type of limb movement required. The concept of stiffness regulation is also useful under some conditions, but should probably be extended to the regulation of the visco-elastic properties (i.e., the mechanical impedance) of a muscle or joint.

https://www.cambridge.org/core/services/aop-cambridge-core/content/view/S0140525X00013327

What muscle variable(s) does the nervous system control in limb movements

A test object (grip apparatus) was held at its upper part using a precision grip. Small balls were dropped into a target cup at the bottom of the apparatus. The grip force, the load force (vertical lifting force) and the vertical movement were measured. Electromyographic activity (e.m.g.) was recorded from four antagonist pairs of hand/arm muscles primarily influencing the grip force or the load force. The balls were dropped either by the subject during a bimanual task, or unexpectedly by the experimenter. When the subject dropped the ball, preparatory actions occurred before the rapid increase in the vertical load caused by the impact. These actions appeared ca. 150 ms prior to the impact and involved a grip force increase and a lifting movement of the grip apparatus. The e.m.g. activity increased in all eight of the hand and arm muscles, indicating a general stiffening of the hand/arm system prior to the impact. Furthermore, the preparatory actions were programmed adequately for the size of the load force step at the impact, i.e. an adequate safety margin to prevent slips was preserved during the critical period of the impact. Thus, variations in this step caused by changes in (i) the weight of ball, (ii) the weight of the grip apparatus and (iii) the length of the drop were adequately taken into account during the programming of these actions. In addition, the frictional condition between the skin and the grip surface was also taken into account. The relevant sensory information apparently was obtained during the handling of the ball and the grip apparatus prior to the drop. There were also task-related automatic muscle responses triggered by the impact. These responses, which also served to stiffen the hand/arm system, were most pronounced during unexpected load changes, but they appeared too late to prevent slips. However, if no overall slip occurred, the triggered responses were functional in the sense that they helped to quickly restore the safety margin and the vertical position of the object.

/pdf/programmed-and-triggered-actions-to-rapid-load-changes-433rjyko26.pdf

Programmed and triggered actions to rapid load changes during precision grip.

The pattern of muscle responses associated with catching a ball in the presence of vision was investigated by independently varying the height of the drop and the mass of the ball. It was found that the anticipatory EMG responses comprised early and late components. The early components were produced at a roughly constant latency (about 130 msec) from the time of ball release. Their mean amplitude decreased with increasing height of fall. Late components represented the major build-up of muscle activity preceding the ball's impact and were accompanied by limb flexion. Their onset time was roughly constant (about 100 msec) with respect to the time of impact (except in wrist extensors). This indicates that the timing of these responses was based on an accurate estimate of the instantaneous values of the time-to-contact (time remaining before impact). The mean amplitude of the late anticipatory responses increased linearly with the expected momentum of the ball at impact. The reflex responses evoked by the ball's impact consisted in a short-latency coactivation of flexor and extensor muscles at the elbow and wrist joints. Their mean amplitude generally increased with the intensity of the perturbation both in the stretched muscles and in the shortening muscles. We argue that both the anticipatory and the reflex coactivation are centrally preset in preparation for catching and are instrumental for stabilizing limb posture after impact. A model with linear, time-varying viscoelastic coefficients was used to assess the neural and mechanical contributions to the damping of limb oscillations induced by the ball's impact. The model demonstrates that (1) anticipatory muscle stiffening and anticipatory flexion of the limb are synergistic in building up resistance of the hand to vertical displacement and (2) the reflex coactivation produces a further increment of hand stiffness and viscosity which tends to offset the decrement which would result from the limb extension produced by the impact.

/pdf/the-role-of-preparation-in-tuning-anticipatory-and-reflex-1fgh1m6m17.pdf

The role of preparation in tuning anticipatory and reflex responses during catching

Modulation of the myotatic reflex gain in man during intentional movements.

Reflex motor output to torque pulses in man: identification of short- and long-latency loops with individual feedback parameters.

Electromyographic response to pseudo-random torque disturbances of human forearm position

Response to transient disturbances during intentional forearm flexion in man.

Publisher Summary Relationships between the overall input from muscle receptors, expressed in terms of angular position and its low order derivatives, and motor output changes during externally applied perturbations were quantitated using linear systems analysis techniques These relationships are denoted by the term “myotatic feedback” and were defined at specified operating points of the system This chapter reviews the premises upon which the approach is predicated and defining the terminology introduced The operating points were characterized, for example, by the instruction given the subject and the mean level of force produced by the perturbation It was found that the myotatic feedback could be adequately characterized by a simple linear relation between angular position and its derivatives, the importance of the parameters depending on the operating point These findings are discussed in relation to other motor

J.R. Dufresne

Papers

Modulation of the myotatic reflex gain in man during intentional movements.

Reflex motor output to torque pulses in man: identification of short- and long-latency loops with individual feedback parameters.

Electromyographic response to pseudo-random torque disturbances of human forearm position

Response to transient disturbances during intentional forearm flexion in man.

Adaptive properties of the myotatic feedback.