Kinematic study of reaching-grasping movements in the monkey]

Kinematics of reaching-grasping movement towards stimuli of three different sizes located at two different distances were studied in one monkey (Macaca nemestrina). Transport and manipulation components were analyzed using the ELITE system. Transport time, peak velocity and deceleration phase of velocity were influenced by stimulus size, whilst acceleration phase remained unmodified. Peak velocity clearly increased with distance, while transport time remained constant (isochrony ). The main parameters of manipulation component were all influenced by stimulus size but they did not vary with distance. A comparison with kinematic data obtained from human subjects was made.     

Kinematic invariants during cyclical arm movements

It has been observed that the motion of the arm end-point (the hand, fingertip or the tip of a pen) is characterized by a number of regularities (kinematic invariants). Trajectory is usually straight, and the velocity profile has a bell shape during point-to-point movements. During drawing movements, a two-thirds power law predicts the dependence of the end-point velocity on the trajectory curvature. Although various principles of movement organization have been discussed as possible origins of these kinematic invariants, the nature of these movement trajectory characteristics remains an open question. A kinematic model of cyclical arm movements derived in the present study analytically demonstrates that all three kinematic invariants can be predicted from a two-joint approximation of the kinematic structure of the arm and from sinusoidal joint motions. With this approach, explicit expressions for two kinematic invariants, the two-thirds power law during drawing movements and the velocity profile during point-to-point movements are obtained as functions of arm segment lengths and joint motion parameters. Additionally, less recognized kinematic invariants are also derived from the model. The obtained analytical expressions are further validated with experimental data. The high accuracy of the predictions confirms practical utility of the model, showing that the model is relevant to human performance over a wide range of movements. The results create a basis for the consolidation of various existing interpretations of kinematic invariants. In particular, optimal control is discussed as a plausible source of invariant characteristics of joint motions and movement trajectories.     

Kinematic construction of the trajectory of sequential arm movements

A kinematic construction rule determining the trajectory of human sequential movements is formulated using minimum-jerk and minimum-angular-jerk trajectories. The kinematic construction rule states that the observed trajectory of sequential movements coincides with a weighted average of the minimum-jerk trajectory and the segmented minimum-angular-jerk trajectory. This rule covers not only point-to-point movements but also simple sequential movements. Five kinds of experiments that measure the trajectories in planar, multijoint sequential arm movements were conducted. The measured trajectories coincide with the predictions made on the basis of the kinematic construction rule presented here. Moreover, predictions of previous models such as the minimum-jerk, the equilibrium-trajectory, and the minimum-torque-change models are shown to be incompatible with our observations of sequential movements. Received: 31 October 1997 /Accepted in revised form: 18 November 1998     

Kinematic study of the temporal coupling between the components of transport and manipulation during reaching and grasping movements

In this study the temporal coupling between transport and manipulation components of prehension movements was tested. For this purpose two experiments were carried out. In Experiment 1 six normal subjects were required to reach and grasp one of three spheres located at three different distances (Blocked trials). In Experiment 2 a visual perturbation paradigm was used in which the location of the object to be reached and grasped could change at onset of arm movement (Perturbed trials). The results of this study exclude a temporal coupling between events of transport and manipulation components. On the contrary they suggest that manipulation component organizes its time course having information about the time required to reach the object.     

Kinematic description of variability of fast movements: analytical and experimental approaches

Analysis of variability of fast aimed movements predicts the properties of trajectory variance. The analysis is based on a kinematic model with nonlinear changes in “internal time”. The purpose of the work was to identify different sources of variability and their influence on the trajectory variance. An analytical expression for the speed-accuracy trade-off is introduced. Experiments were performed with subjects making single-joint elbow flexion movements over different distances as fast as possible with their eyes closed to memorized targets. Standard deviation of movement trajectory increased during the first part of the movement and subsequently decreased. The variance peaked after the time of peak velocity, close to the time of peak deceleration. A dependence of the trajectory variance on movement distance (speed-accuracy trade-off) was seen during the movement (at times of peak velocity and peak deceleration) but not after the movement termination. We conclude that the previously reported drop in the variability of movement trajectory during the deceleration phase does not necessarily mean a compensation by the control system but may result from purely kinematic properties of the movement. The importance of the time of measurement for analysis of the speed-accuracy trade-offs is emphasized.     

Kinematic features of continuous hand reaching movements under simple and complex rhythmical constraints

BackgroundAuditory cues are known to alter movement kinematics in healthy people as well as in people with neurological conditions (e.g., Parkinson’s disease or stroke). Pacing movement to rhythmical constraints is known to change both the spatial and temporal features of movement. However, the effect of complexity of pacing on the spatial and temporal kinematic properties is still poorly understood. The current study investigated spatial and temporal aspects of movement (path and speed, respectively) and their integration while subjects followed simple isochronous or complex non-isochronous rhythmical constraints. Spatiotemporal decoupling was expected under the latter constraint.MethodsTen subjects performed point-to-point hand movements towards visual targets on the surface of a hemisphere, while following continuous auditory cues of different pace and meter. The spatial and temporal properties of movement were compared to geodesic paths and unimodal bell-shaped speed profiles, respectively. Multiple two-way RM-ANOVAs (pace [1–2 Hz] × meter [duple–triple]) were performed on the different kinematic variables calculated to assess hand deviations from the model data (p ? 0.05).ResultsAs expected, increasing pace resulted in straighter hand paths and smoother speed profiles. Meter, however, affected only the path (shorter and straighter under triple) without significantly changing speed. Such an effect was observed at the slow pace only.ConclusionsUnder simple rhythmic cues, an increase in pace causes spontaneous adjustments in spatial features (straighter hand paths) while preserving temporal ones (maximally-smoothed hand speeds). Complex rhythmical cues in contrast perturb spatiotemporal coupling and challenge movement control. These results may have important practical implications in motor rehabilitation.     

Kinematic and EMG characteristics of simple shoulder movements with proprioception and visual feedback.

The objective of this study was to determine if simple, shoulder movements use the dual control hypothesis strategy, previously demonstrated with elbow movements, and to see if this strategy also applies in the absence of visual feedback. Twenty subjects were seated with their right arm abducted to 90 degrees and externally rotated in the scapular plane. Subjects internally rotated to a target position using a custom shoulder wheel at three different speeds with and without visual feedback. Kinematics were collected with a motion analysis system and electromyographic (EMG) recordings of the pectoralis major (PECT), infraspinatus (INFRA), anterior and posterior (ADELT, PDELT) deltoid muscles were used to evaluate muscle activity patterns during movements. Kinematics changed as movement speed increased with less accuracy (p<0.01). Greater EMG activity was observed in the PECT, PDELT, and INFRA with shorter durations for the ADELT, PDELT and INFRA. Movements with only kinesthetic feedback were less accurate (p<0.01) and performed faster (p<0.01) than movements with visual feedback. EMG activity suggests no major difference in CNS control strategies in movements with and without visual feedback. Greater resolution with visual feedback enables the implementation of a dual control strategy, allowing greater movement velocity while maintaining accuracy.     

Kinematic characteristics of the voluntary cyclic trunk movements in patients at the early stage of Parkinson's disease

Patients with the initial stage of Parkinson disease (PD) and matched controls performed repetitive bendings and turnings in standing position. Tasks included trunk movements in each of the anatomical planes: sagittal, frontal and axial. Electromagnetic system Flock of Birds was used for movement registration. Sensors were fixed at different segments of subject's body. Joint angles in the ankle, hip and torso as well as coordinates of the center of pressure served as output parameters. The amplitudes of joint angles were found to be lower in PD patients. Performance of the axial rotation revealed most pronounced differences. Thus, the amplitudes of joint angles of trunk movements in different anatomical planes reliably discriminate between PD patients and healthy subjects.     

Kinematic study on the effect of pH on bull sperm function

Since the mammalian spermatozoa became capable of motion, during the epididymal transit, the spermatozoon swims in a liquid medium and it is completely dependent on the environmental conditions. Some reports have suggested an influence of pH on sperm kinetic characteristics, but no study has objectively described how motility changes in a different environmental pH. In this study, we evaluated the effect of different environmental pHs (5.5, 6, 6.5, 7, 7.5, 8, and 8.5) on kinetic parameters, sperm viability, mitochondrial activity, and sperm morphology of bull semen immediately and 1 h after dilution. The results showed higher values for sperm motility characteristics, viability, and mitochondrial activity at pH 7 and 7.5. Values of pH lower than 6.5 and higher than 8 resulted in suboptimal motility, with a decrease in most parameters. At pH 8 and 8.5, a discrepancy between viability and total and progressive motility was found, with a significant amount of spermatozoa that were live but immotile. This reduction seemed related to a decrease in mitochondrial activity, possibly due to the increase in pH. The flow cytometric evaluation of sperm viability assessed by calcein AM was very consistent with the amount of spermatozoa with membrane integrity, evaluated in fluorescence by propidium iodide/SYBR-14 stain. Thus, the calcein AM stain could be used as viability stain instead the classic propidium iodide/SYBR-14 stain because this could allow the addiction of other functional stains without a overlapping of the fluorescent signal in the flow cytometer.     

Kinematic networks

Motor control in primates relates to a system which is highly redundant from the mechanical point of view — redundancy coming from an imbalance between the set of independently controllable variables and the set of system variables. The consequence is the manifestation of a broad class of ill-posed problems, problems for which it is difficult to identify unique solutions. For example (i) the problem of determining the coordinated patterns of rotation of the arm joints for a planned trajectory of the hand; (ii) the problem of determining the distribution of muscle forces for a desired set of joint torques. Ill-posed problems, in general, require regularization methods which allow to spell acceptable, if not unique, solutions. In the case of the motor system, we propose that the basic regularization mechanism is provided by the potential fields generated by the elastic properties of muscles, according to an organizational principle that we call Passive Motion Paradigm. The physiological basis of this hypothesis is reviewed and a Kinematic Network (K-net) model is proposed that expresses the kinematic transformations and the causal relations implied by elasticity. Moreover, it is shown how K-nets can be obtained from a kinematic Body Model, in the context of a specific task. Two particularly significant results are: (i) the uniform treatment of closed as well as open kinematic chains, and (ii) the development of a new method for the automatic generation of kinematic equations with arbitrary topology. Moreover, the model is akin to the concept of motor equivalence in the sense that it provides families of motor equivalent trajectories parametrized by tunable motor impedances.     

An analog computer study of fast,isolated movements

The peripheral part of the motor control system is modelled on an analog computer. The model consists of an inertial load connected to an antagonistic muscle pair with their muscle spindles and neural connexions. It has inputs as well as inputs. The model is used for studying the hypothesis that simple on-off activities control fast isolated movements. It is found that the model responses on activation of the input alone are not realistic ones. A fair simulation may be obtained if the input and the input are activated simultaneously. Results suggest a diminished muscle spindle sensitivity during the movement.     

Kinematic control of walking

The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from a minimal active tuning of the passive inertial and viscoelastic coupling among limb segments is congruent with the idea that movement has evolved according to minimum energy criteria (1, 8). It is known that multi-segment motion of mammals locomotion is controlled by a network of coupled oscillators (CPGs, see 18, 33, 37). Flexible combination of unit oscillators gives rise to different forms of locomotion. Inter-oscillator coupling can be modified by changing the synaptic strength (or polarity) of the relative spinal connections. As a result, unit oscillators can be coupled in phase, out of phase, or with a variable phase, giving rise to different behaviors, such as speed increments or reversal of gait direction (from forward to backward). Supra-spinal centers may drive or modulate functional sets of coordinating interneurons to generate different walking modes (or gaits). Although it is often assumed that CPGs control patterns of muscle activity, an equally plausible hypothesis is that they control patterns of limb segment motion instead (22). According to this kinematic view, each unit oscillator would directly control a limb segment, alternately generating forward and backward oscillations of the segment. Inter-segmental coordination would be achieved by coupling unit oscillators with a variable phase. Inter-segmental kinematic phase plays the role of global control variable previously postulated for the network of central oscillators. In fact, inter-segmental phase shifts systematically with increasing speed both in man (4) and cat (38). Because this phase-shift is correlated with the net mechanical power output over a gait cycle (3, 4), phase control could be used for limiting the overall energy expenditure with increasing speed (22). Adaptation to different walking conditions, such as changes in body posture, body weight unloading and backward walk, also involves inter-segmental phase tuning, as does the maturation of limb kinematics in toddlers.     

Modelling velocity profiles of rapid movements: a comparative study

In this paper we compare 23 different models that can be used to describe the asymmetric bell-shaped velocity profiles of rapid-aimed movements. The comparison is performed with the help of an analysis-bysynthesis experiment over a database of 1052 straight lines produced by nine human subjects. For each line and for each model, a set of parameters is extracted that minimizes the error between the original and the reconstructed data. Performance analysis on the basis of the mean-square-error clearly reflects the superiority of the support-bounded lognormal model to globally describe the velocity profile characterizing rapid movements.     

Pathogenesis of restricted movements in trichinellosis: an experimental study

Trichinellosis is a zoonosis acquired by the ingestion of insufficiently cooked pork meat containing the encapsulated larvae of Trichinella spiralis. Trichinellosis is presented with myalgia which affects various muscle groups; its intensity is usually related to the severity of the disease and may cause restriction of joint movement. However, joint pain in the course of trichinellosis could not be explained entirely by myositis. This study investigated the other possible causes of restricted movements of joints in animal model. We found that the histopathological changes in the joints of T. spiralis infected rats were in the form of inflammatory cellular infiltrates and ulceration in the synovial membrane with degeneration and ulceration of the articular cartilage. Immunohistochemical examination of the joints revealed the presence of T. spiralis local antigen or immune complex deposited in the synovial membrane. Leukocytosis and eosinophilia were observed throughout the experimental period but eosinophil level declined slowly but still elevated. In conclusion, the restricted movements during the course of trichinellosis seem to be not only due to direct invasion of muscles by the encapsulated T. spiralis larvae but also due to immune complex deposition in the joints.     

Kinematic accuracy of three surface registration methods in a three-dimensional wrist bone study

The use of registration techniques to determine motion transformations noninvasively has become more widespread with the increased availability of the necessary software. In this study, three surface registration techniques were used to generate carpal bone kinematic results from a single cadaveric wrist specimen. Surface contours were extracted from specimen computed tomography volume images of the forearm, carpal, and metacarpal bones in four arbitrary positions. Kinematic results from each of three registration techniques were compared with results derived from multiple spherical markers fixed to the specimen. Kinematic accuracy was found to depend on the registration method and bone size and shape. In general, rotation errors of the capitate and scaphoid were less than 0.5 deg for all three techniques. Rotation errors for the other bones were generally less than 2 deg, although error for the trapezoid was greater than 2 deg in one technique. Translation errors of the bones were generally less than 1 mm, although errors of the trapezoid and trapezium were greater than 1 mm for two techniques. Tradeoffs existed in each registration method between image processing time and overall kinematic accuracy. Markerless bone registration (MBR) can provide accurate measurements of carpal kinematics and can be used to study the noninvasive, three-dimensional in vivo kinematics of the wrist and other skeletal joints.     

Kinematic features of wheelchair propulsion

Three male paraplegics volunteered to push their wheelchairs on a motor driven treadmill, for a total of 80 min each, at a work rate of 60-65% of their VO2 maximum, determined on an earlier test session. At 20 min intervals 16 mm high-speed film of the subjects was taken for three consecutive push cycles. The digitized film was used to compute the angular kinematics of the shoulder and elbow joints, the variations in the position of the trunk (as measured by a marker on the neck) and hand relative to the axle of the rear wheel. There were no intrasubject variations over the 80 min testing period for any of the recorded variables. This was interpreted as implying that at that work rate, fatigue was not exhibited as variations in the kinematics of movement. There were considerable differences between the style of one subject when compared to the other two over all the trials of each subject. This variation in style was most obvious in subject number PT who had a pumping style of push and recovery whereas subjects CA and GW employed a more continuous circular motion. The differences in the amount of forward lean of each subject were related to residual muscle strength. The discussion centered on the influence of the different styles on performance.     

Inter-domain movements in polyketide synthases: a molecular dynamics study

Insights into the structure and dynamics of modular polyketide synthases (PKS) are essential for understanding the mechanistic details of the biosynthesis of a large number of pharmaceutically important secondary metabolites. The crystal structures of the KS-AT di-domain from erythromycin synthase have revealed the relative orientation of various catalytic domains in a minimal PKS module. However, the relatively large distance between catalytic centers of KS and AT domains in the static structure has posed certain intriguing questions regarding mechanistic details of substrate transfer during polyketide biosynthesis. In order to investigate the role of inter-domain movements in substrate channeling, we have carried out a series of explicit solvent MD simulations for time periods ranging from 10 to 15 ns on the KS-AT di-domain and its sub-fragments. Analyses of these MD trajectories have revealed that both the catalytic domains and the structured inter-domain linker region remain close to their starting structures. Inter-domain movements at KS-linker and linker-AT interfaces occur around hinge regions which connect the structured linker region to the catalytic domains. The KS-linker interface was found to be more flexible compared to the linker-AT interface. However, inter-domain movements observed during the timescale of our simulations do not significantly reduce the distance between catalytic centers of KS and AT domains for facilitating substrate channeling. Based on these studies and prediction of intrinsic disorder we propose that the intrinsically unstructured linker stretch preceding the ACP domain might be facilitating movement of ACP domains to various catalytic centers.     

Conceptual and methodological issues in the comparative study of collective group movements

In our commentary, we highlight several conceptual and methodological problems that have hampered broader integration of studies of collective group movements. Specifically, we argue that studies of captive animals should only be used to elucidate behavioural mechanisms. Moreover, the diversity of physical environments in which group movements occur as well as the social diversity of groups deserve more consideration in integrative studies. Furthermore, tests of predictions based on modelling studies are often hampered by the fact that models include variables that are difficult or impossible to measure in real animals. We also advocate the use of an empirical, rather than subjective establishment of operational definitions of group movements and the associated individual roles. Finally, we emphasize the utility of controlled experiments in the study of collective decision-making and group movements and encourage their wider application.