A computational model of limb impedance control based on principles of internal model uncertainty

Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is much experimental evidence available that the nervous system employs such strategies, no generally-valid computational model of impedance control derived from first principles has been proposed so far. Here we develop a new impedance control model for antagonistic limb systems which is based on a minimization of uncertainties in the internal model predictions. In contrast to previously proposed models, our framework predicts a wide range of impedance control patterns, during stationary and adaptive tasks. This indicates that many well-known impedance control phenomena naturally emerge from the first principles of a stochastic optimization process that minimizes for internal model prediction uncertainties, along with energy and accuracy demands. The insights from this computational model could be used to interpret existing experimental impedance control data from the viewpoint of optimality or could even govern the design of future experiments based on principles of internal model uncertainty.     

Evolution of chameleon locomotion,or how to become arboreal as a reptile

High-speed, biplanar X-ray motion analysis, X-ray reconstruction of moving morphology (XROMM) and morphological studies have led to the identification of those traits which are considered to be crucial for the evolution of arboreal locomotion in chameleons. The loss of the extensive lateral undulation typical of reptiles needs to be compensated by high mobility in the shoulder girdle and a clear functional regionalization of the trunk. Large limb excursion angles provide a compliant gait and are made possible by a functional parasagittalization of fore- and hind limbs, at least temporarily. All these evolutionary novelties parallel very similar modifications in the evolution of the locomotor apparatus in therian mammals. We propose that the convergent “invention” of dynamic stability and a compliant gait seem to be responsible for the locomotor similarities between chameleons and mammals.     

Hierarchical motor adaptations negotiate failures during force field learning

Humans have the amazing ability to learn the dynamics of the body and environment to develop motor skills. Traditional motor studies using arm reaching paradigms have viewed this ability as the process of ‘internal model adaptation’. However, the behaviors have not been fully explored in the case when reaches fail to attain the intended target. Here we examined human reaching under two force fields types; one that induces failures (i.e., target errors), and the other that does not. Our results show the presence of a distinct failure-driven adaptation process that enables quick task success after failures, and before completion of internal model adaptation, but that can result in persistent changes to the undisturbed trajectory. These behaviors can be explained by considering a hierarchical interaction between internal model adaptation and the failure-driven adaptation of reach direction. Our findings suggest that movement failure is negotiated using hierarchical motor adaptations by humans.     

Scaling of long bones in ruminants with respect to the scapula

The significance of the scapula for locomotion is becoming more and more established. Studies of locomotion in small and medium‐sized mammals show a considerable amplitude of the scapula and a large contribution to step length. Taking this into account, long bone studies of forelimb movement restricted to the ‘arm’ miss one important segment. A regression model (reduced major axis) was used for analysis of a sample of 77 species of ruminants. This sample was divided according to (1) phylogenetic relationships and (2) habitat. The proximal elements of the limbs, scapula and humerus in the anterior extremity, femur in the hindlimb, show a similar scaling in the different analyses. The changes to limb proportions in the different subsamples are caused by the variability of the distal segments. The anterior extremity scales with a higher coefficient than the hindlimb in all analyses. Concepts like elastic or geometric similarity are inadequate for long bone scaling when the full range of body size in the sample is used. Taking all analyses into account, the differences in limb proportions are due more to phylogenetic relationships than to habitat.     

Structure and function of fungal zoospores: ecological implications

Recent research suggests that fungal zoospores have important roles in ecosystems. Ultrastructural characteristics of zoospores and sequences of ribosomal RNA genes are increasingly being used in taxonomic and phylogenetic studies with zoosporic fungi. However, our current knowledge of the physiology and ecology of zoospores lags far behind our knowledge of phylogenetic relationships. Some aspects of the ecology of fungal zoospores are discussed in this review. Fungal zoospores have two mechanisms for active short range dispersal: flagellar and amoeboid movement. Flagellar movement is more common in open water and amoeboid movement more common on surfaces. All phases of the life cycle can be passively transported by currents in water for long range dispersal. As far as is known the zoospore never has a cell wall but can have a cell coat. This may cause zoospores to be more susceptible to damage by osmotic and mechanical forces than other phases in the life cycle. The environmental cues for release of zoospores are not understood. Zoospores can often respond to both light and chemical gradients. The behavior of zoospores may influence the structure of the colony formation. Little is known about the modes of nutrition of zoospores. Some zoospores may be osmotrophic but there is no evidence for holozoic nutrition.     

Quantitative methods for the analysis of zoosporic fungi

Quantitative estimations of zoosporic fungi in the environment have historically received little attention, primarily due to methodological challenges and their complex life cycles. Conventional methods for quantitative analysis of zoosporic fungi to date have mainly relied on direct observation and baiting techniques, with subsequent fungal identification in the laboratory using morphological characteristics. Although these methods are still fundamentally useful, there has been an increasing preference for quantitative microscopic methods based on staining with fluorescent dyes, as well as the use of hybridization probes. More recently however PCR based methods for profiling and quantification (semi- and absolute) have proven to be rapid and accurate diagnostic tools for assessing zoosporic fungal assemblages in environmental samples. Further application of next generation sequencing technologies will however not only advance our quantitative understanding of zoosporic fungal ecology, but also their function through the analysis of their genomes and gene expression as resources and databases expand in the future. Nevertheless, it is still necessary to complement these molecular-based approaches with cultivation-based methods in order to gain a fuller quantitative understanding of the ecological and physiological roles of zoosporic fungi.     

The effect of active pedaling combined with electrical stimulation on spinal reciprocal inhibition

ObjectivePedaling is widely used for rehabilitation of locomotion because it induces muscle activity very similar to locomotion. Afferent stimulation is important for the modulation of spinal reflexes. Furthermore, supraspinal modulation plays an important role in spinal plasticity induced by electrical stimulation. We, therefore, expected that active pedaling combined with electrical stimulation could induce strong after-effects on spinal reflexes.DesignTwelve healthy adults participated in this study. They were instructed to perform 7 min of pedaling. We applied electrical stimulation to the common peroneal nerve during the extension phase of the pedaling cycle. We assessed reciprocal inhibition using a soleus H-reflex conditioning-test paradigm. The magnitude of reciprocal inhibition was measured before, immediately after, 15 and 30 min after active pedaling alone, electrical stimulation alone and active pedaling combined with electrical stimulation (pedaling + ES).ResultsThe amount of reciprocal inhibition was significantly increased after pedaling + ES. The after-effect of pedaling + ES on reciprocal inhibition was more prominent and longer lasting compared with pedaling or electrical stimulation alone.ConclusionsPedaling + ES could induce stronger after-effects on spinal reciprocal inhibitory neurons compared with either intervention alone. Pedaling + ES might be used as a tool to improve locomotion and functional abnormalities in the patient with central nervous lesion.     

A method for measuring endpoint stiffness during multi-joint arm movements

Current methods for measuring stiffness during human arm movements are either limited to one-joint motions, or lead to systematic errors. The technique presented here enables a simple, accurate and unbiased measurement of endpoint stiffness during multi-joint movements. Using a computer-controlled mechanical interface, the hand is displaced relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the ratio of restoring force to displacement amplitude. Because of the accuracy of the prediction (< 1 cm error after 200 ms) and the quality of the implementation, the movement is not disrupted by the perturbation. This technique requires only 13 as many trials to identify stiffness as the method of Gomi and Kawato (1997, Biological Cybernetics 76, 163-171) and may, therefore, be used to investigate the evolution of stiffness during motor adaptation.