Optokinetic speed control and estimation of travel distance in walking honeybees

Honeybees returning from foraging trips were video-filmed while they walked through a narrow transparent gangway to reach the hive entrance. On their way they were presented with black-and-white gratings viewed underneath as well as to both sides of the gangway. Bees could exit the gangway through one of two or three side exits installed at different distances from the gangway entrance. In one set of experiments, the substrate on which the bees walked was moved either in the bee's direction or against it. In another set of experiments, the substrate was stationary, but the pattern was moved in one or the other direction. The bee's walking speed (WS) was evaluated from the video tapes. When the substrate moved against, or the pattern in the bee's direction, in either case decreasing the speed of pattern flow (PFS), the bees increased WS, and, at the same time, they preferred the more distant exit. When the substrate moved in, or the pattern against the bee's direction, thus increasing PFS, WS decreased and the bees preferred the nearer exit. These results suggest that the speed of optic flow controls the speed of locomotion and might therefore also serve for assessing the distance travelled.Abbreviations PFS pattern-flow speed - WS walking speed Dedicated to Hans-Jochen Autrum, editor emeritus, for help in giving birth to this and many other papers over very many years, often with criticism but nevertheless with encouragement and sympathy.     

A neurally plausible model of the dynamics of motion integration in smooth eye pursuit based on recursive Bayesian estimation

In this study, we describe a model of motion integration in smooth eye pursuit based on a recursive Bayesian estimation process, which displays a dynamic behaviour qualitatively similar to the dynamics of the motion integration process observed experimentally, both psychophysically in humans and monkeys, and physiologically in monkeys. By formulating the model as an approximate version of a Kalman filter algorithm, we have been able to show that it can be put into a neurally plausible, distributed recurrent form which coarsely corresponds to the recurrent circuitry of visual cortical areas V1 and MT. The model thus provides further support for the notion that the motion integration process is based on a form of Bayesian estimation, as has been suggested by many psychophysical studies, and moreover suggests that the observed dynamic properties of this process are the result of the recursive nature of the motion estimation.     

Stability-normalised walking speed: A new approach for human gait perturbation research

In gait stability research, neither self-selected walking speeds, nor the same prescribed walking speed for all participants, guarantee equivalent gait stability among participants. Furthermore, these options may differentially affect the response to different gait perturbations, which is problematic when comparing groups with different capacities. We present a method for decreasing inter-individual differences in gait stability by adjusting walking speed to equivalent margins of stability (MoS). Eighteen healthy adults walked on a split-belt treadmill for two-minute bouts at 0.4 m/s up to 1.8 m/s in 0.2 m/s intervals. The stability-normalised walking speed (MoS = 0.05 m) was calculated using the mean MoS at touchdown of the final 10 steps of each speed. Participants then walked for three minutes at this speed and were subsequently exposed to a treadmill belt acceleration perturbation. A further 12 healthy adults were exposed to the same perturbation while walking at 1.3 m/s: the average of the previous group. Large ranges in MoS were observed during the prescribed speeds (6–10 cm across speeds) and walking speed significantly (P < 0.001) affected MoS. The stability-normalised walking speeds resulted in MoS equal or very close to the desired 0.05 m and reduced between-participant variability in MoS. The second group of participants walking at 1.3 m/s had greater inter-individual variation in MoS during both unperturbed and perturbed walking compared to 12 sex, height and leg length-matched participants from the stability-normalised walking speed group. The current method decreases inter-individual differences in gait stability which may benefit gait perturbation and stability research, in particular studies on populations with different locomotor capacities. [Preprint: https://doi.org/10.1101/314757]     

Humans control stride-to-stride stepping movements differently for walking and running,independent of speed

As humans walk or run, external (environmental) and internal (physiological) disturbances induce variability. How humans regulate this variability from stride-to-stride can be critical to maintaining balance. One cannot infer what is “controlled” based on analyses of variability alone. Assessing control requires quantifying how deviations are corrected across consecutive movements. Here, we assessed walking and running, each at two speeds. We hypothesized differences in speed would drive changes in variability, while adopting different gaits would drive changes in how people regulated stepping. Ten healthy adults walked/ran on a treadmill under four conditions: walk or run at comfortable speed, and walk or run at their predicted walk-to-run transition speed. Time series of relevant stride parameters were analyzed to quantify variability and stride-to-stride error-correction dynamics within a Goal-Equivalent Manifold (GEM) framework. In all conditions, participants’ stride-to-stride control respected a constant-speed GEM strategy. At each consecutively faster speed, variability tangent to the GEM increased (p ≤ 0.031), while variability perpendicular to the GEM decreased (p ≤ 0.044). There were no differences (p ≥ 0.999) between gaits at the transition speed. Differences in speed determined how stepping variability was structured, independent of gait, confirming our first hypothesis. For running versus walking, measures of GEM-relevant statistical persistence were significantly less (p ≤ 0.004), but showed minimal-to-no speed differences (0.069 ≤ p ≤ 0.718). When running, people corrected deviations both more quickly and more directly, each indicating tighter control. Thus, differences in gait determined how stride-to-stride fluctuations were regulated, independent of speed, confirming our second hypothesis.     

Trunk control during repetitive sagittal movements following a real-time tracking task in people with chronic low back pain

Precision of trunk movement has commonly been examined by testing relocation accuracy rather than evaluating accuracy of tracking dynamic movement. In this study we used a 3-D motion capture system to provide a novel real-time tracking task to assess trunk motor control at varying movement speeds between people with and without chronic non-specific low back pain (LBP). Eleven asymptomatic volunteers and 15 participants with chronic non-specific LBP performed 12 continuous cycles of trunk flexion–extension following real time visual feedback, during which, trunk motion was measured using eight optoelectronic infrared cameras. Significant time differences between the feedback and actual trunk motion were found between groups (P = 0.001). Both groups had similar variability of tracking accuracy when following the feedback (P > 0.05). However, tracking variability at a slow speed correlated (P = 0.03; r = 0.55) with the Fear-Avoidance Beliefs Questionnaire (FABQ) scores in those with LBP. This study shows that both asymptomatic people and individuals with LBP displayed anticipatory behaviour, however, the response of those with LBP was consistently delayed in tracking the visual feedback compared to the asymptomatic group. Additionally, the extent of variability of tracking accuracy over repeated tracking cycles was associated with the degree of fear of movement in people with LBP.     

IMU-based ambulatory walking speed estimation in constrained treadmill and overground walking

This study evaluated the performance of a walking speed estimation system based on using an inertial measurement unit (IMU), a combination of accelerometers and gyroscopes. The walking speed estimation algorithm segments the walking sequence into individual stride cycles (two steps) based on the inverted pendulum-like behaviour of the stance leg during walking and it integrates the angular velocity and linear accelerations of the shank to determine the displacement of each stride. The evaluation was performed in both treadmill and overground walking experiments with various constraints on walking speed, step length and step frequency to provide a relatively comprehensive assessment of the system. Promising results were obtained in providing accurate and consistent walking speed/step length estimation in different walking conditions. An overall percentage root mean squared error (%RMSE) of 4.2 and 4.0% was achieved in treadmill and overground walking experiments, respectively. With an increasing interest in understanding human walking biomechanics, the IMU-based ambulatory system could provide a useful walking speed/step length measurement/control tool for constrained walking studies.     

Energy optimization is a major objective in the real-time control of step width in human walking

People prefer to move in energetically optimal ways during walking. We recently found that this preference arises not just through evolution and development, but that the nervous system will continuously optimize step frequency in response to new energetic cost landscapes. Here we tested whether energy optimization is also a major objective in the nervous system’s real-time control of step width using a device that can reshape the relationship between step width and energetic cost, shifting people’s energy optimal step width. We accomplished this by changing the walking incline to apply an energetic penalty as a function of step width. We found that people didn’t spontaneously initiate energy optimization, but instead required experience with a lower energetic cost step width. After initiating optimization, people adapted, on average, 3.5 standard deviations of their natural step width variability towards the new energy optimal width. Within hundreds of steps, they updated this as their new preferred width and rapidly returned to it when perturbed away. This new preferred width reduced energetic cost by roughly 14%, however, it was slightly narrower than the energetically optimal width, possibly due to non-energy objectives that may contribute to the nervous system’s control of step width. Collectively, these findings suggest that the nervous systems of able-bodied people can continuously optimize energetic cost to determine preferred step width.     

Fast tuning of posture control by visual feedback underlies gaze stabilization in walking Drosophila

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Motor activity and trajectory control during escape jumping in the locust <Emphasis Type="Italic">Locusta migratoria</Emphasis>

We investigated the escape jumps that locusts produce in response to approaching objects. Hindleg muscular activity during an escape jump is similar to that during a defensive kick. Locusts can direct their escape jumps up to 50° either side of the direction of their long axis at the time of hindleg flexion, allowing them to consistently jump away from the side towards which an object is approaching. Variation in jump trajectory is achieved by rolling and yawing movements of the body that are controlled by the fore- and mesothoracic legs. During hindleg flexion, a locust flexes the foreleg ipsilateral to its eventual jump trajectory and then extends the contralateral foreleg. These foreleg movements continue throughout co-contraction of the hindleg tibial muscles, pivoting the locust’s long axis towards its eventual jump trajectory. However, there are no bilateral differences in the motor programs of the left and right hindlegs that correlate with jump trajectory. Foreleg movements enable a locust to control its jump trajectory independent of the hindleg motor program, allowing a decision on jump trajectory to be made after the hindlegs have been cocked in preparation for a jump.     

On-line conversion estimation for solvent-free enzymatic esterification systems with water activity control

On-line conversion estimation of enzymatic esterification reactions in solvent-free media was investigated. In principle, conversion to ester can be determined from the amount of water produced by the reaction, because water is formed as a by-product in a stoichiometric manner. In this study, we estimated the water production rate only from some measurements of relative humidity and water balances without using any analytical methods. In order to test the performance of the on-line conversion estimation, the lipase-catalyzed esterification ofn-capric acid andn-decyl alcohol in solvent-free media was performed whilst controlling water activity at various values. The reaction conversions estimated on-line were similar to those determined by offline gas chromatographic analysis. However, when the water activity was controlled at higher values, discrepancies between the estimated conversion values and the measured values became significant. The deviation was found to be due to the inaccurate measurement of the water content in the reaction medium during the initial stages of the reaction. Using a digital filter, we were able to improve the accuracy of the on-line conversion estimation method considerably. Despite the simplicity of this method, the on-line estimated conversions were in good agreement with the off-line measured values.     

基于空间ICA和时间相关方法的人脑视觉皮层V5区的功能连通性研究

利用功能磁共振成像技术,将空间ICA和时间相关方法相结合来研究不同活动状态下人脑视觉皮层V5区的功能连通性。首先利用空间ICA处理组块视觉运动刺激的数据,定位V5区;然后分别计算静息和连续视觉运动刺激两种稳态下V5区与其它脑区低频振荡的时间相关,检测出该区的功能连通网络。实验结果表明,静息时V5区的功能连通网络更广泛,且与已知的解剖连通一致;当被试接受连续视觉运动刺激时,与V5区连通的脑区网络局限在视觉皮层,此时的网络特定于处理视觉运动这一任务。     

Motor unit number estimation and quantitative needle electromyography in stroke patients

ObjectiveTo evaluate the effect of upper motor neuron damage upon motor units’ function by means of two separate and supplementary electrophysiological methods.MethodsThe abductor digiti minimi muscle of the non-paretic and the paretic side was studied in forty-six stroke patients with (a) motor unit number estimation (MUNE) – adapted multiple point stimulation method and (b) computerized quantitative needle electromyography (EMG) assessing the configuration of voluntary recruited motor unit potentials. Main outcome comparisons were focused on differences between non-paretic and paretic side.ResultsOn the affected hands mean MUNE value was significantly lower and mean area of the surface recorded single motor unit potentials was significantly larger than the corresponding ones on the non-paretic hands. EMG findings did not reveal remarkable differences between the two sides. Neither severity nor chronicity of stroke was related to MUNE or EMG parameters.DiscussionMUNE results, which suggested reduced motor unit numbers in stroke patients, in conjunction with the normal EMG features in these same muscles has given rise to different interpretations. In a clinical setting, reinnervation type changes in the EMG similar to that occurring in neuronopathies or axonal neuropathies should not be expected in muscles with central neurogenic lesion.     

Coordination and neuromuscular control of rhythmic behaviors in the blue crab,Callinectes sapidus

The stereotypical courtship display (CD) behavior of the male blue crab, Callinectes sapidus, includes an unusual component: the rhythmic waving of the swimming appendages above the carapace. This behavior occurs in a unique context but it resembles two other rhythmic behaviors performed using the swimming legs: sideways swimming and backward swimming. As a first step to understanding the mechanisms that allow the expression of apparently different rhythmic motor patterns, we have examined these behaviors using slow motion video analysis and electromyography of the basal muscles of the swimming legs in freely behaving crabs. The results show that these behaviors are distinguished by four parameters: the frequency of leg waving, the phase relationship between the legs, the presence of a stationary pause in basal muscle activity combined with rotation of the distal leg during CD, and an extended range of motion of these legs during CD and backward swimming, relative to sideways swimming. EMG analysis revealed that during sideways swimming, the sequence of muscular activity between the two legs was different. In contrast, during CD and backward swimming the sequence of activity for these legs is identical.Abbreviations CD courtship display - EMGs electromyograms - CD AMP courtship display in crabs with amputated fifth legs - CD1 crabs that voluntarily used one leg to perform courtship display waving - CD 1–3 courtship waving in cycles 1–3 - CD MID courtship waving after cycles 1–3 - M-C meral-carpal joint     

An artificial neural network that utilizes hip joint actuations to control bifurcations and chaos in a passive dynamic bipedal walking model

Chaos is a central feature of human locomotion and has been suggested to be a window to the control mechanisms of locomotion. In this investigation, we explored how the principles of chaos can be used to control locomotion with a passive dynamic bipedal walking model that has a chaotic gait pattern. Our control scheme was based on the scientific evidence that slight perturbations to the unstable manifolds of points in a chaotic system will promote the transition to new stable behaviors embedded in the rich chaotic attractor. Here we demonstrate that hip joint actuations during the swing phase can provide such perturbations for the control of bifurcations and chaos in a locomotive pattern. Our simulations indicated that systematic alterations of the hip joint actuations resulted in rapid transitions to any stable locomotive pattern available in the chaotic locomotive attractor. Based on these insights, we further explored the benefits of having a chaotic gait with a biologically inspired artificial neural network (ANN) that employed this chaotic control scheme. Remarkably, the ANN was quite robust and capable of selecting a hip joint actuation that rapidly transitioned the passive dynamic bipedal model to a stable gait embedded in the chaotic attractor. Additionally, the ANN was capable of using hip joint actuations to accommodate unstable environments and to overcome unforeseen perturbations. Our simulations provide insight on the advantage of having a chaotic locomotive system and provide evidence as to how chaos can be used as an advantageous control scheme for the nervous system.     

Coordination of wing motion and walking suggests common control of zigzag motor program in a male silkworm moth

The male silkworm moth, Bombyx mori, exhibits a zigzagging pattern as it walks upwind to pheromones. This species usually does not fly, but obvious wing-beating accompanies the pheromone-mediated walking. Males supported by a `sled', after having their legs removed, also moved upwind in a pheromone plume along zigzagging tracks, indicating that wing-generated thrust and torque result in locomotory paths similar to those observed from walking moths. Using a high-speed video system we investigated the correlation between the wing movements and zigzag walking. The wing ipsilateral to the direction of the turn showed a greater degree of retraction with respect to the contralateral wing. The timing of the wing retraction pattern was synchronized with changes of direction in the walking track. Coordination of wing movements and walking pattern was not dependent on visual feedback or sensory feedback generated from neck movements associated with turning. The results presented here, taken together with our previous studies of descending interneurons suggest that the coordination of wing movements with the walking pattern may result from the activity of a set of identified interneurons descending from the brain to the thoracic ganglia and/or may be coordinated by coupling of oscillating circuits for walking and wing beating. Accepted: 15 May 1997     

Performance limitations from delay in human and mechanical motor control

We discuss natural limitations on motor performance caused by the time delay required for feedback signals to propagate within the human body or mechanical control systems. By considering a very simple delayed linear servomechanism model, we show there exists a best possible speed-accuracy trade-off similar to Fitts' law that cannot be exceeded when delay is present. This is strictly a delay effect and does not occur for the ideal case of instantaneous feedback. We then examine the performance of the vector integration to endpoint (VITE) circuit as a model of human movement and show that when this circuit is generalized to include delayed feedback the performance may not exceed that of the servomechanism with an equal delay. We suggest the existence of such a limitation may be a ubiquitous consequence of delay in motor control with the implication that the index of performance in Fitts' law cannot arbitrarily large.     

Effects of contraction history on control and stability in explosive actions

In this model study, the effect of contraction history in skeletal muscle on joint movement and stability was investigated. A joint system was constructed with two identical (antagonistic) muscles. The muscles were modelled either according to the Hill tradition or as a modified Hill system including history-dependent properties. The joint system underwent movements with full activity of both muscles, mimicking explosive actions with high stability demands. Movements starting away from a balanced mid-position, as well as perturbation experiments, were simulated. The comparison between the Hill and modified Hill systems showed that contraction history improved stability (stiffness under perturbation) and, under certain conditions, caused a shift in the final joint position, which depended on the task characteristics (starting position and perturbations characteristics). This result indicates that modulations of muscle activity, required to move a joint to a particular end-position, do not only depend on the end-position but also on the preceding movements. This finding does not agree with the equilibrium-point hypothesis and is discussed accordingly.     

Trunk control in and out of an episode of recurrent low back pain in young adults during the Balance-Dexterity Task

We investigated motor control strategies utilized by individuals with recurrent low back pain (rLBP) during active pain and remission periods as well as by back-healthy controls using the Balance-Dexterity Task. Nineteen young adults with rLBP were tested first when they were in pain and then again in symptom remission, and 19 matched controls were also tested. Trunk kinematic coupling and muscle co-activation were examined while participants performed the task by standing on one leg while compressing a spring with a maximum consistent force with the other leg. We found a decreased bilateral external oblique co-activation during the spring condition of the task compared to the stable block condition in people with rLBP compared to back healthy individuals. There was also reduced trunk coupling during the spring condition of the task compared to the stable block condition in both the rLBP active and remission groups, but no group difference between rLBP and back-healthy individuals. When individuals were in active pain, they exhibited more co-activation than when they were in remission, but the co-activation during active pain was not greater than in back-healthy individuals.