How do neural connectivity and time delays influence bimanual coordination?

Multilevel crosstalk as a neural basis for motor control has been widely discussed in the literature. Since no natural process is instantaneous, any crosstalk model should incorporate time delays, which are known to induce temporal coupling between functional elements and stabilize or destabilize a particular mode of coordination. In this article, we systematically study the dynamics of rhythmic bimanual coordination under the influence of varying connection topology as realized by callosal fibers, cortico-thalamic projections, and crossing peripheral fibers. Such connectivity contributes to various degrees of neural crosstalk between the effectors which we continuously parameterize in a mathematical model. We identify the stability regimes of bimanual coordination as a function of the degree of neural crosstalk, movement amplitude and the time delays involved due to signal processing. Prominent examples include explanations of the decreased stability of the antiphase mode of coordination in split brain patients and the role of coupling in mediating bimanual coordination.     

Effects of Neurofeedback Training on Performing Bimanual Coordination In-phase and Anti-phase Patterns in Children with ADHD

It is generally accepted that children with attention-deficit/hyperactivity disorder (ADHD) have poor motor control, especially in bimanual coordination tasks. Such children characteristically have impaired fine motor ability, problems with force control, and poor motor coordination. They are at particular risk of loss of motor control and reduced bimanual coordination. We tested whether, compared to a control condition, neurofeedback training (NFT) could improve bimanual coordination among children with ADHD. 20 Children with ADHD (mean age 7.9 years; SD 2.11) were randomly assigned either to NFT or to a control condition. All participants completed a bimanual coordination test at the following time points: baseline, assessment 1, assessment 2, assessment 3, and again 12 session later at posttest. NFT consisted of Sensory Motor Rhythm (SMR) training to achieve increased SMR in C3 and C4, while participants in the control condition were under mock NFT conditions. Bimanual coordination accuracy and consistency improved from baseline to completion of the intervention (significant Time effect), but in the NFT condition (significant time?×?group interaction). Compared to the control condition, the NFT group had fewer errors in both patterns of bimanual coordination (significant Group effect). Among children with ADHD, SMR neurofeedback training (NFT) led to significant improvements in a bimanual coordination task. The SMR NFT thus appears to have the potential to improve and enhance the motor control of ADHD patients.     

Distinguishing the noise and attractor strength of coordinated limb movements using recurrence analysis

The variability of coupled rhythmic limb movements is assumed to be a consequence of the strength of a movement’s attractor dynamic and a constant stochastic noise process that continuously perturbs the movement system away from this dynamic. Recently, it has been suggested that the nonlinear technique of recurrence analysis can be used to index the effects of noise and attractor strength on movement variability. To test this, three experiments were conducted in which the attractor strength of bimanual wrist-pendulum movements (using coordination mode, movement frequency and detuning), as well as the magnitude of stochastic perturbations affecting the variability of these movements (using a temporally fluctuating visual metronome) was manipulated. The results of these experiments demonstrate that recurrence analysis can index parametric changes in the attractor strength of coupled rhythmic limb movements and the magnitude of metronome induced stochastic perturbations independently. The results of Experiments 1 and 2 also support the claim that differences between the variability of inphase and antiphase coordination, and between slow and fast movement frequencies are due to differences in attractor strength. In contrast to the standard assumption that the noise that characterizes interlimb coordination remains constant for different magnitudes of detuning (Δ ω) the results of Experiment 3 suggest that the magnitude of noise increases with increases in |Δ ω|.     

Differing Dynamics of Intrapersonal and Interpersonal Coordination: Two-finger and Four-Finger Tapping Experiments

Finger-tapping experiments were conducted to examine whether the dynamics of intrapersonal and interpersonal coordination systems can be described equally by the Haken—Kelso—Bunz model, which describes inter-limb coordination dynamics. This article reports the results of finger-tapping experiments conducted in both systems. Two within-subject factors were investigated: the phase mode and the number of fingers. In the intrapersonal experiment (Experiment 1), the participants were asked to tap, paced by a gradually hastening auditory metronome, looking at their fingers moving, using the index finger in the two finger condition, or the index and middle finger in the four-finger condition. In the interpersonal experiment (Experiment 2), pairs of participants performed the task while each participant used the outside hand, tapping with the index finger in the two finger condition, or the index and middle finger in the four-finger condition. Some results did not agree with the HKB model predictions. First, from Experiment 1, no significant difference was observed in the movement stability between the in-phase and anti-phase modes in the two finger condition. Second, from Experiment 2, no significant difference was found in the movement stability between the in-phase and anti-phase mode in the four-finger condition. From these findings, different coordination dynamics were inferred between intrapersonal and interpersonal coordination systems against prediction from the previous studies. Results were discussed according to differences between intrapersonal and interpersonal coordination systems in the availability of perceptual information and the complexity in the interaction between limbs derived from a nested structure.     

Neural activation and functional connectivity during motor imagery of bimanual everyday actions

Bimanual actions impose intermanual coordination demands not present during unimanual actions. We investigated the functional neuroanatomical correlates of these coordination demands in motor imagery (MI) of everyday actions using functional magnetic resonance imaging (fMRI). For this, 17 participants imagined unimanual actions with the left and right hand as well as bimanual actions while undergoing fMRI. A univariate fMRI analysis showed no reliable cortical activations specific to bimanual MI, indicating that intermanual coordination demands in MI are not associated with increased neural processing. A functional connectivity analysis based on psychophysiological interactions (PPI), however, revealed marked increases in connectivity between parietal and premotor areas within and between hemispheres. We conclude that in MI of everyday actions intermanual coordination demands are primarily met by changes in connectivity between areas and only moderately, if at all, by changes in the amount of neural activity. These results are the first characterization of the neuroanatomical correlates of bimanual coordination demands in MI. Our findings support the assumed equivalence of overt and imagined actions and highlight the differences between uni- and bimanual actions. The findings extent our understanding of the motor system and may aid the development of clinical neurorehabilitation approaches based on mental practice.     

Testing multiple coordination constraints with a novel bimanual visuomotor task

The acquisition of a new bimanual skill depends on several motor coordination constraints. To date, coordination constraints have often been tested relatively independently of one another, particularly with respect to isofrequency and multifrequency rhythms. Here, we used a new paradigm to test the interaction of multiple coordination constraints. Coordination constraints that were tested included temporal complexity, directionality, muscle grouping, and hand dominance. Twenty-two healthy young adults performed a bimanual dial rotation task that required left and right hand coordination to track a moving target on a computer monitor. Two groups were compared, either with or without four days of practice with augmented visual feedback. Four directional patterns were tested such that both hands moved either rightward (clockwise), leftward (counterclockwise), inward or outward relative to each other. Seven frequency ratios (3∶1, 2∶1, 3∶2, 1∶1, 2∶3. 1∶2, 1∶3) between the left and right hand were introduced. As expected, isofrequency patterns (1∶1) were performed more successfully than multifrequency patterns (non 1∶1). In addition, performance was more accurate when participants were required to move faster with the dominant right hand (1∶3, 1∶2 and 2∶3) than with the non-dominant left hand (3∶1, 2∶1, 3∶2). Interestingly, performance deteriorated as the relative angular velocity between the two hands increased, regardless of whether the required frequency ratio was an integer or non-integer. This contrasted with previous finger tapping research where the integer ratios generally led to less error than the non-integer ratios. We suggest that this is due to the different movement topologies that are required of each paradigm. Overall, we found that this visuomotor task was useful for testing the interaction of multiple coordination constraints as well as the release from these constraints with practice in the presence of augmented visual feedback.     

Haptic information stabilizes and destabilizes coordination dynamics

Goal-directed, coordinated movements in humans emerge from a variety of constraints that range from 'high-level' cognitive strategies based on perception of the task to 'low-level' neuromuscular-skeletal factors such as differential contributions to coordination from flexor and extensor muscles. There has been a tendency in the literature to dichotomize these sources of constraint, favouring one or the other rather than recognizing and understanding their mutual interplay. In this experiment, subjects were required to coordinate rhythmic flexion and extension movements with an auditory metronome, the rate of which was systematically increased. When subjects started in extension on the beat of the metronome, there was a small tendency to switch to flexion at higher rates, but not vice versa. When subjects were asked to contact a physical stop, the location of which was either coincident with or counterphase to the auditory stimulus, two effects occurred. When haptic contact was coincident with sound, coordination was stabilized for both flexion and extension. When haptic contact was counterphase to the metronome, coordination was actually destabilized, with transitions occurring from both extension to flexion on the beat and from flexion to extension on the beat. These results reveal the complementary nature of strategic and neuromuscular factors in sensorimotor coordination. They also suggest the presence of a multimodal neural integration process - which is parametrizable by rate and context - in which intentional movement, touch and sound are bound into a single, coherent unit.     

Coordination dynamics: (in)stability and metastability in the behavioural and neural systems

For more than 20 years, coordination dynamics have provided research on human movement science with new views about the nonlinear relationships between behavioral and neural dynamics. A number of studies across various experimental settings including bimanual, postural or interpersonal coordination, and also coordination between movements of a limb and an external event in the environment revealed the self-organized nature of human coordination. Here we review an extensive body of literature - in the human movement science and the neuroscience fields - that has investigated the coordination dynamics of brain and behavior when individuals are involved in two rhythmic coordination patterns: synchronization (on-the-beat movements) and syncopation (in-between beats movements). When the frequency of movement approaches 2 Hz, the syncopation mode is destabilized and synchronization is spontaneously adopted. The abrupt change between the two patterns illustrates a phenomenon known as non-equilibrium phase transition. Phase transitions offer a novel entry point into the investigation of pattern formation (and dissolution) at both the behavioral and the cerebral levels as they illustrate the loss of stability of the system. Brain imaging methods (MEG, EEG and fMRI) were used to reveal the neural signatures of (in)stability underlying the differences between behavioral coordination patterns, and pointed at the role of self-organization and metastability principles in brain functioning. Relationships between behavioral and brain dynamics can therefore be investigated within a unified empirical and theoretical framework.     

Long-Range Correlation in Synchronization and Syncopation Tapping: A Linear Phase Correction Model

We propose in this paper a model for accounting for the increase in long-range correlations observed in asynchrony series in syncopation tapping, as compared with synchronization tapping. Our model is an extension of the linear phase correction model for synchronization tapping. We suppose that the timekeeper represents a fractal source in the system, and that a process of estimation of the half-period of the metronome, obeying a random-walk dynamics, combines with the linear phase correction process. Comparing experimental and simulated series, we show that our model allows accounting for the experimentally observed pattern of serial dependence. This model complete previous modeling solutions proposed for self-paced and synchronization tapping, for a unifying framework of event-based timing.     

Rhythm Patterns Interaction - Synchronization Behavior for Human-Robot Joint Action

Interactive behavior among humans is governed by the dynamics of movement synchronization in a variety of repetitive tasks. This requires the interaction partners to perform for example rhythmic limb swinging or even goal-directed arm movements. Inspired by that essential feature of human interaction, we present a novel concept and design methodology to synthesize goal-directed synchronization behavior for robotic agents in repetitive joint action tasks. The agents’ tasks are described by closed movement trajectories and interpreted as limit cycles, for which instantaneous phase variables are derived based on oscillator theory. Events segmenting the trajectories into multiple primitives are introduced as anchoring points for enhanced synchronization modes. Utilizing both continuous phases and discrete events in a unifying view, we design a continuous dynamical process synchronizing the derived modes. Inverse to the derivation of phases, we also address the generation of goal-directed movements from the behavioral dynamics. The developed concept is implemented to an anthropomorphic robot. For evaluation of the concept an experiment is designed and conducted in which the robot performs a prototypical pick-and-place task jointly with human partners. The effectiveness of the designed behavior is successfully evidenced by objective measures of phase and event synchronization. Feedback gathered from the participants of our exploratory study suggests a subjectively pleasant sense of interaction created by the interactive behavior. The results highlight potential applications of the synchronization concept both in motor coordination among robotic agents and in enhanced social interaction between humanoid agents and humans.     

Intermanual coordination: from behavioural principles to neural-network interactions

Locomotion in vertebrates and invertebrates has a long history in research as the most prominent example of interlimb coordination. However, the evolution towards upright stance and gait has paved the way for a bewildering variety of functions in which the upper limbs interact with each other in a context-specific manner. The neural basis of these bimanual interactions has been investigated in recent years on different scales, ranging from the single-cell level to the analysis of neuronal assemblies. Although the prevailing viewpoint has been to assign bimanual coordination to a single brain locus, more recent evidence points to a distributed network that governs the processes of neural synchronization and desynchronization that underlie the rich variety of coordinated functions. The distributed nature of this network accounts for disruptions of interlimb coordination across various movement disorders.     

Neuronal activity in the primate supplementary motor area and the primary motor cortex in relation to spatio-temporal bimanual coordination

Single neuronal activity was recorded from the supplementary motor area (SMA-proper and pre-SMA) and primary motor cortex (M1) in two Macaca fascicularis trained to perform a delayed conditional sequence of coordinated bimanual pull and grasp movements. The behavioural paradigm was designed to distinguish neuronal activity associated with bimanual coordination from that related to a comparable motor sequence but executed unimanually (left or right arm only). The bimanual and unimanual trials were instructed in a random order by a visual cue. Following the cue, there was a waiting period until presentation of a "go-signal", signalling the monkey to perform the instructed movement. A total of 143 task-related neurons were recorded from the SMA (SMA-proper, 62; pre-SMA, 81). Most SMA units (87%) were active in both unimanual contralateral and unimanual ipsilateral trials (bilateral neurons), whereas 9% of units were active only in unimanual contralateral trials and 3% were active only in unimanual ipsilateral trials. Forty-eight per cent of SMA task-related units were classified as bimanual, defined as neurons in which the activity observed in bimanual trials could not be predicted from that associated with unimanual trials when comparing the same events related to the same arm. For direct comparison, 527 neurons were recorded from M1 in the same monkeys performing the same tasks. The comparison showed that M1 contains significantly less bilateral neurons (75%) than the SMA, whereas the reverse was observed for contralateral neurons (22% in M1). The proportion of M1 bimanual cells (53%) was not statistically different from that observed in the SMA. The results suggest that both the SMA and M1 may contribute to the control of sequential bimanual coordinated movements. Interlimb coordination may then take place in a distributed network including at least the SMA and M1, but the contribution of other cortical and subcortical areas such as cingulate motor cortex and basal ganglia remains to be investigated.     

Modeling inter-human movement coordination: synchronization governs joint task dynamics

Human interaction partners tend to synchronize their movements during repetitive actions such as walking. Research of inter-human coordination in purely rhythmic action tasks reveals that the observed patterns of interaction are dominated by synchronization effects. Initiated by our finding that human dyads synchronize their arm movements even in a goal-directed action task, we present a step-wise approach to a model of inter-human movement coordination. In an experiment, the hand trajectories of ten human dyads are recorded. Governed by a dynamical process of phase synchronization, the participants establish in-phase as well as anti-phase relations. The emerging relations are successfully reproduced by the attractor dynamics of coupled phase oscillators inspired by the Kuramoto model. Three different methods on transforming the motion trajectories into instantaneous phases are investigated and their influence on the model fit to the experimental data is evaluated. System identification technique allows us to estimate the model parameters, which are the coupling strength and the frequency detuning among the dyad. The stability properties of the identified model match the relations observed in the experimental data. In short, our model predicts the dynamics of inter-human movement coordination. It can directly be implemented to enrich human-robot interaction.     

Simulating a neural cross-talk model for between-hand interference during bimanual circle drawing

Studies on drawing circles with both hands in the horizontal plane have shown that this task is easy to perform across a wide range of movement frequencies under the symmetrical mode of coordination, whereas under the asymmetrical mode (both limbs moving clockwise or counterclockwise) increases in movement frequency have a disruptive effect on trajectory control and hand coordination. To account for these interference effects, we propose a simplified computer model for bimanual circle drawing based on the assumptions that (1) circular trajectories are generated from two orthogonal oscillations coupled with a phase delay, (2) the trajectories are organized on two levels, “intention” and “motor execution”, and (3) the motor systems controlling each hand are prone to neural cross-talk. The neural cross-talk consists in dispatching some fraction of any force command sent to one limb as a mirror image to the other limb. Assuming predominating coupling influences from the dominant to the nondominant limb, the simulations successfully reproduced the main characteristics of performance during asymmetrical bimanual circle drawing with increasing movement frequencies, including disruption of the circular form drawn with the nondominant hand, increasing dephasing of the hand movements, increasing variability of the phase difference, and occasional reversals of the movement direction in the nondominant limb. The implications of these results for current theories of bimanual coordination are discussed. Received: 23 June 1998 / Accepted in revised form: 20 April 1999     

The reorganization of bimanual movements during formation of a lateralized motor food skill in rats

After 48 h food deprivation adult Wistar rats were trained to obtain food from a narrow tube feeder using the forepaw under conditions of free choice of limb. At the initial stage of training animals use both paws: the grasping and extraction with one paw can be alternated with food grasping and extraction with another paw, and both paws can be alternately involved in movements preceding this grasping. Character of reorganization of bimanual movements was analyzed during training rats with different motor preference (right-handed and left-handed animals). It was shown that in the process of acquisition of both right- and left-hand skills, bimanual reactions in the anticipating attempts disappeared later than in the final successful movements. The disappearance of bimanual movements in the anticipating attempts is considered as an index of the maximum skill lateralization and acquisition of a novel lateralized movement coordination. The results suggest that left-handed rats more rapidly learn a novel movement coordination than right-handed animals.     

Changes of Hand Switching Costs during Bimanual Sequential Learning

Many tasks in our daily life demand not only the use of different fingers of one hand in a serial fashion, but also to alternate from one hand to the other. Here, we investigated performance in a bimanual serial reaction time task (SRTT) with particular emphasis on learning-related changes in reaction time (RT) for consecutive button presses for homologous index- and middle fingers. The bimanual SRTT consisted of sequential button presses either with the left or right index- and middle-finger to a series of visual letters displayed on a computer screen. Each letter was assigned a specific button press with one of four fingers. Two outcome measures were investigated: (a) global sequence learning as defined by the time needed to complete a 15-letter SRTT sequence and (b) changes in hand switch costs across learning. We found that bimanual SRTT resulted in a global decrease in RT during the time course of learning that persisted for at least two weeks. Furthermore, RT to a button press showed an increase when the previous button press was associated with another hand as opposed to the same hand. This increase in RT was defined as switch costs. Hand switch costs significantly decreased during the time course of learning, and remained stable over a time of approximately two weeks. This study provides evidence for modulations of switch costs during bimanual sequence learning, a finding that might have important implications for theories of bimanual coordination and learning.     

Stabilization of bimanual coordination due to active interhemispheric inhibition: a dynamical account

Based on recent brain-imaging data and congruent theoretical insights, a dynamical model is derived to account for the patterns of brain activity observed during stable performance of bimanual multifrequency patterns, as well as during behavioral instabilities in the form of phase transitions between such patterns. The model incorporates four dynamical processes, defined over both motor and premotor cortices, which are coupled through inhibitory and excitatory inter- and intrahemispheric connections. In particular, the model underscores the crucial role of interhemispheric inhibition in reducing the interference between disparate frequencies during stable performance, as well as the failure of this reduction during behavioral transitions. As an aside, the model also accounts for in- and antiphase preferences during isofrequency movements. The viability of the proposed model is illustrated by magnetoencephalographic signals that were recorded from an experienced subject performing a polyrhythmic tapping task that was designed to induce transitions between multifrequency patterns. Consistent with the models dynamics, contra- and ipsilateral cortical areas of activation were frequency- and phase-locked, while their activation strength changed markedly in the vicinity of transitions in coordination.     

The meaning of the auditory sensory systems asymmetry in highly coordinated manual movement

Analysis of the stable correlation of asymmetry of the acoustic stem evoked potentials intervals with parameters of bimanual coordination was performed. Different mechanisms of the auditory asymmetry at the stem level were found in men and women. Optimum bimanual performance in men is provided by adequate co-adjustment of sensor-motor system elements, and is connected with sensory input and the feature of its bilateral irradiation through the right input. The left channel input and its sensory asymmetry is much more important in women. Bilateral irradiation in this case does not lead to adequate integration of the systems elements in performance of the motor task, that indicates the lower level of bimanual coordination.     

Prehension in infant capuchins (Cebus apella) from six weeks to twenty-four weeks: video analysis of form and symmetry

We analyzed the spontaneous prehensile activity of two infants living with their mothers in social groups, using videotapes taken once weekly from weeks 5 to 24. Prehensile activities were laterally symmetric. Unimanual activity predominated, although bimanual activity appeared at the same ages as unimanual activity. In most bimanual activity the two hands performed the same action, but complementary actions occurred from the onset of bimanual activity. Extrusion of the tongue towards objects out of reach was observed occasionally, as was precision grasping. Early prehension in capuchins is organized, as in human infants, in a matrix of exploratory activity integrated with vision and oral exploration. Capuchins present a useful model system for the study of manipulative development.