The comparison of motor learning performance with and without feedback

Ten individuals were divided into two feedback and no-feedback groups. The effect of abstract visual feedback was investigated in these two groups. Using eight electroencephalography (EEG) electrodes, the induced event-related desynchronization/synchronization of the EEG of three motor imagery tasks (left hand, right hand, and right foot) was analyzed by wavelet and spatial filtering methods. Linear discriminant analysis was used to classify the three imagery tasks. Each imagery task's total length was set to 3?s and 1?s of it was used for the classification. The classification result was shown to the subjects of the feedback group in a real-time manner as an abstract visual feedback. While the paired t-test of the first and third sessions of the training days confirmed the improvement of the motor imagery learning in the feedback group (p?<?0.01), the motor imagery learning of the no-feedback group was not significant.     

Visual motor imagery predominance in professional Spanish dancers

Abstract

Purpose: The main objectives of the study were to analyse the predominant motor imagery modality used by professional Spanish dancers and to compare Spanish dancers’ ability to perform mental motor imagery with that of non-dancers, and to analyse differences between male and female dancers. As a secondary aim, to compare the motor imagery ability between two styles of Spanish dance: classical Spanish dancers and Flamenco dancers.

Methods: A total of 74 participants were classified into two groups: professional Spanish dancers (n?=?37) and sedentary participants (n?=?37). The professional Spanish dancer group was composed of two dance disciplines: flamenco dancers (n?=?17), and classical dancers (n?=?20).

Results: Professional Spanish dancers used predominantly visual imagery modalities over kinesthetics to generate motor imagery, with a moderate effect size (p?<?.01, d?=?0.68). Regarding the ability to generate motor imagery, significant intergroup differences between professional Spanish dancers and sedentary participants were observed in all variables, with a large effect size (p?<?.05, d?>?0.80). Differences were obtained between men and women among non-dancers group (t?=??3.34; p?=?.03; d?=?0.5). No differences between Flamenco and classical dancers were observed.

Conclusion: Visual motor imagery modality was easier than the kinaesthetic modality in the generation of motor imagery for professional Spanish dancers regardless of the dance style. Spanish dancers had a greater ability to perform motor imagery compared with non-dancer individuals, needing less time to perform these mental tasks. Men non-dancers had a greater ability to generate motor imagery than women. Reinforcing the training of kinaesthetic motor imagery might be useful for professional Spanish dancers.     

Extracting optimal tempo-spatial features using local discriminant bases and common spatial patterns for brain computer interfacing

Brain computer interfaces (BCI) provide a new approach to human computer communication, where the control is realised via performing mental tasks such as motor imagery (MI). In this study, we investigate a novel method to automatically segment electroencephalographic (EEG) data within a trial and extract features accordingly in order to improve the performance of MI data classification techniques. A new local discriminant bases (LDB) algorithm using common spatial patterns (CSP) projection as transform function is proposed for automatic trial segmentation. CSP is also used for feature extraction following trial segmentation. This new technique also allows to obtain a more accurate picture of the most relevant temporal–spatial points in the EEG during the MI. The results are compared with other standard temporal segmentation techniques such as sliding window and LDB based on the local cosine transform (LCT).     

Effect of Motor Imagery in Children with Unilateral Cerebral Palsy: fMRI Study

Background

Motor imagery is considered as a promising therapeutic tool for rehabilitation of motor planning problems in patients with cerebral palsy. However motor planning problems may lead to poor motor imagery ability.

Aim

The aim of this functional magnetic resonance imaging study was to examine and compare brain activation following motor imagery tasks in patients with hemiplegic cerebral palsy with left or right early brain lesions. We tested also the influence of the side of imagined hand movement.

Method

Twenty patients with clinical hemiplegic cerebral palsy (sixteen males, mean age 12 years and 10 months, aged 6 years 10 months to 20 years 10 months) participated in this study. Using block design, brain activations following motor imagery of a simple opening-closing hand movement performed by either the paretic or nonparetic hand was examined.

Results

During motor imagery tasks, patients with early right brain damages activated bilateral fronto-parietal network that comprise most of the nodes of the network well described in healthy subjects. Inversely, in patients with left early brain lesion brain activation following motor imagery tasks was reduced, compared to patients with right brain lesions. We found also a weak influence of the side of imagined hand movement.

Conclusion

Decreased activations following motor imagery in patients with right unilateral cerebral palsy highlight the dominance of the left hemisphere during motor imagery tasks. This study gives neuronal substrate to propose motor imagery tasks in unilateral cerebral palsy rehabilitation at least for patients with right brain lesions.     

What Do Eye Gaze Metrics Tell Us about Motor Imagery?

Many of the brain structures involved in performing real movements also have increased activity during imagined movements or during motor observation, and this could be the neural substrate underlying the effects of motor imagery in motor learning or motor rehabilitation. In the absence of any objective physiological method of measurement, it is currently impossible to be sure that the patient is indeed performing the task as instructed. Eye gaze recording during a motor imagery task could be a possible way to “spy” on the activity an individual is really engaged in. The aim of the present study was to compare the pattern of eye movement metrics during motor observation, visual and kinesthetic motor imagery (VI, KI), target fixation, and mental calculation. Twenty-two healthy subjects (16 females and 6 males), were required to perform tests in five conditions using imagery in the Box and Block Test tasks following the procedure described by Liepert et al. Eye movements were analysed by a non-invasive oculometric measure (SMI RED250 system). Two parameters describing gaze pattern were calculated: the index of ocular mobility (saccade duration over saccade + fixation duration) and the number of midline crossings (i.e. the number of times the subjects gaze crossed the midline of the screen when performing the different tasks). Both parameters were significantly different between visual imagery and kinesthesic imagery, visual imagery and mental calculation, and visual imagery and target fixation. For the first time we were able to show that eye movement patterns are different during VI and KI tasks. Our results suggest gaze metric parameters could be used as an objective unobtrusive approach to assess engagement in a motor imagery task. Further studies should define how oculomotor parameters could be used as an indicator of the rehabilitation task a patient is engaged in.     

Mental imaging of motor activity in humans

Motor imagery corresponds to a subliminal activation of the motor system, a system that appears to be involved not only in producing movements, but also in imagining actions, recognising tools and learning by observation, as well as in understanding the behaviour of other people. Recent advances in the field include the use of techniques for mapping brain activity and probing cortical excitability, as well as observation of brain lesioned patients during imaging tasks; these advances provide new insights into the covert aspects of motor activity.     

Autonomic nervous system responses correlate with mental rehearsal in volleyball training

The aim of this study was to assess objectivèly the processes of mental rehearsing (imagery) by measuring variations of the autonomic nervous system (or ANS responses) during an open-ended complex motor skill in two actual experiments (volleyball) and during mental rehearsing taking place between them. Comparison between pre- and post-test (volleyball) scores related to imagining and non-imagining performances revealed significant improvement in the former (²=20.9, P<0.00001) while in the latter ²=27, P<0.9, NS. The ANS parameters (skin potential and resistance, skin temperature and heat clearance, instantaneous heart rate and respiratory frequency) were quantified by original techniques and indices. Results from a principal component analysis showed a strong correlation between the responses in actual tasks (pre- and post-test volleyball) and during mental imagery, since the same preferential variables appeared on the main axis in 87% of cases. Thus the same autonomic channels seemed to be used during the actual activity and during the mental imagery of this activity. So far as phasic results were concerned, the main finding was a differing development of skill between imagining and non-imagining volleyball players. No clear difference was seen between pre- and post-tests in non-imaginers, except an increase in the median of the duration of the response observed in heat clearance, m₁ and m₂ respectively [m₁= 5.8 (SD 4.1) s, m₂= 7.6 (SD 3.9) s, P<0.001]. Conversely, for other ANS parameters, a significant decrease was seen in the post-test responses compared to pre-test responses in the imagining group [for instance, the median of the duration of the resistance responses decreased from m₁= 12.6 (SD 4.3) s, and m₂= 7.8 (SD 4.5) s, P<0.0001 in imaginers, while no change was observed in non-imaginers: 9.6 (SD 6.0) s vs 9.5 (SD 6.1) s, NS] except in the duration of the heat clearance response where an␣increase was seen [m₁= 7.3 (SD 5.0) s vs m₂= 7.6 (SD␣3.1) s, NS]. Compared to the non-imagining group, the latter result may also have been associated with a response decrease in the imagining group. Thus mental rehearsing induced a specific pattern of autonomic response: decreased amplitude, shorter duration and negative skin potentials compared to the control group. As this pattern was associated with better performance in the tests it can be suggested that in the case of open-ended motor activity, mental rehearsing may help in the construction of schema which can be reproduced, without thinking, in actual practice. Thus a neural information process might develop in the central nervous system changing from a parallel into a serial treatment. Accepted : 23 October 1997     

Proprioceptive Feedback and Brain Computer Interface (BCI) Based Neuroprostheses

Brain computer interface (BCI) technology has been proposed for motor neurorehabilitation, motor replacement and assistive technologies. It is an open question whether proprioceptive feedback affects the regulation of brain oscillations and therefore BCI control. We developed a BCI coupled on-line with a robotic hand exoskeleton for flexing and extending the fingers. 24 healthy participants performed five different tasks of closing and opening the hand: (1) motor imagery of the hand movement without any overt movement and without feedback, (2) motor imagery with movement as online feedback (participants see and feel their hand, with the exoskeleton moving according to their brain signals, (3) passive (the orthosis passively opens and closes the hand without imagery) and (4) active (overt) movement of the hand and rest. Performance was defined as the difference in power of the sensorimotor rhythm during motor task and rest and calculated offline for different tasks. Participants were divided in three groups depending on the feedback receiving during task 2 (the other tasks were the same for all participants). Group 1 (n = 9) received contingent positive feedback (participants'' sensorimotor rhythm (SMR) desynchronization was directly linked to hand orthosis movements), group 2 (n = 8) contingent “negative” feedback (participants'' sensorimotor rhythm synchronization was directly linked to hand orthosis movements) and group 3 (n = 7) sham feedback (no link between brain oscillations and orthosis movements). We observed that proprioceptive feedback (feeling and seeing hand movements) improved BCI performance significantly. Furthermore, in the contingent positive group only a significant motor learning effect was observed enhancing SMR desynchronization during motor imagery without feedback in time. Furthermore, we observed a significantly stronger SMR desynchronization in the contingent positive group compared to the other groups during active and passive movements. To summarize, we demonstrated that the use of contingent positive proprioceptive feedback BCI enhanced SMR desynchronization during motor tasks.     

Functional inter-cortical connectivity among motor-related cortices during motor imagery: A magnetoencephalographic study

Neural connectivity was measured during motor imagery (MI) and motor execution (ME) using magnetoencephalography in nine healthy subjects, MI, and at rest. Lower coherence values during ME and MI between sensorimotor areas than at rest, and lower values during MI between the left supplementary motor area and inferior frontal gyrus than ME suggested the sensorimotor network of MI functioned with similar connectivity to ME and that the inhibitory activity functioned continuously during MI, respectively.     

Somatosensory cortex excitability changes due to differences in instruction conditions of motor imagery

Purpose Vivid motor imagery appears to be associated with improved motor learning efficiency. However, the practical difficulties in measuring vivid motor imagery warrant new analytical approaches. The present study aimed to determine the instruction conditions for which vividness in motor imagery could be more easily seen and the excitability of the sensory cortex as it relates to the motor image. Materials and methods In total, 15 healthy, right-handed volunteers were instructed to imagine grasping a rubber ball under a verbal-only instruction condition (verbal condition), a verbal?+?visual instruction condition (visual condition), and a verbal?+?execution (physically grasping a real ball) condition (execution condition). We analyzed motor imagery-related changes in somatosensory cortical excitability by comparing somatosensory-evoked potentials in each condition with the rest (control) condition. We also used a visual analogue scale to measure subject-reported vividness of imagery. Results We found the N33 component was significantly lower in the execution condition than in the rest condition (p?Conclusions These data suggest that experiencing a movement through actual motor execution immediately prior to performing mental imagery of that movement enhances the excitability of motor-related cortical areas. It is suggested that the excitability of the motor-related region increased as a result of the motor imagery in the execution condition acting on the corresponding somatosensory cortex.     

Stages of motor skill learning

Successful learning of a motor skill requires repetitive training. Once the skill is mastered, it can be remembered for a long period of time. The durable memory makes motor skill learning an interesting paradigm for the study of learning and memory mechanisms. To gain better understanding, one scientific approach is to dissect the process into stages and to study these as well as their interactions. This article covers the growing evidence that motor skill learning advances through stages, in which different storage mechanisms predominate. The acquisition phase is characterized by fast (within session) and slow learning (between sessions). For a short period following the initial training sessions, the skill is labile to interference by other skills and by protein synthesis inhibition, indicating that consolidation processes occur during rest periods between training sessions. During training as well as rest periods, activation in different brain regions changes dynamically. Evidence for stages in motor skill learning is provided by experiments using behavioral, electrophysiological, functional imaging, and cellular/molecular methods.     

Evaluation of EEG Oscillatory Patterns and Cognitive Process during Simple and Compound Limb Motor Imagery

Motor imagery (MI), sharing similar neural representations to motor execution, is regarded as a window to investigate the cognitive motor processes. However, in comparison to simple limb motor imagery, significantly less work has been reported on brain oscillatory patterns induced by compound limb motor imagery which involves several parts of limbs. This study aims to investigate differences of the electroencephalogram (EEG) patterns as well as cognitive process between simple limb motor imagery and compound limb motor imagery. Ten subjects participated in the experiment involving three tasks of simple limb motor imagery (left hand, right hand, feet) and three tasks of compound limb motor imagery (both hands, left hand combined with right foot, right hand combined with left foot). Simultaneous imagination of different limbs contributes to the activation of larger cortical areas as well as two estimated sources located at corresponding motor areas within beta rhythm. Compared with simple limb motor imagery, compound limb motor imagery presents a network with more effective interactions overlying larger brain regions, additionally shows significantly larger causal flow over sensorimotor areas and larger causal density over both sensorimotor areas and neighboring regions. On the other hand, compound limb motor imagery also shows significantly larger 10–11 Hz alpha desynchronization at occipital areas and central theta synchronization. Furthermore, the phase-locking value (PLV) between central and occipital areas of left/right hand combined with contralateral foot imagery is significantly larger than that of simple limb motor imagery. All these findings imply that there exist apparent intrinsic distinctions of neural mechanism between simple and compound limb motor imagery, which presents a more complex effective connectivity network and may involve a more complex cognitive process during information processing.     

TIME-OF-DAY EFFECTS ON THE INTERNAL SIMULATION OF MOTOR ACTIONS: PSYCHOPHYSICAL EVIDENCE FROM POINTING MOVEMENTS WITH THE DOMINANT AND NON-DOMINANT ARM

It is well known that circadian rhythms modulate human physiology and behavior at various levels. However, chronobiological data concerning mental and sensorimotor states of motor actions are still lacking in the literature. In the present study, we examined the effects of time-of-day on two important aspects of the human motor behavior: prediction and laterality. Motor prediction was experimentally investigated by means of imagined movements and laterality by comparing the difference in temporal performance between right and left arm movements. Ten healthy participants had to actually perform or to imagine performing arm-pointing movements between two targets at different hours of the day (i.e., 08:00, 11:00, 14:00, 17:00, 20:00, and 23:00?h). Executed and imagined movements were accomplished with both the right and left arm. We found that both imagined and executed arm pointing movements significantly fluctuated through the day. Furthermore, the accuracy of motor prediction, investigated by the temporal discrepancy between executed and imagined movements, was significantly better in the afternoon (i.e., 14:00, 17:00, and 20:00?h) than morning (08:00 and 11:00?h) and evening (23:00?h). Our results also revealed that laterality was not stable throughout the day. Indeed, the smallest temporal differences between the two arms appeared at 08:00 and 23:00?h, whereas the largest ones occurred at the end of the morning (11:00?h). The daily variation of motor imagery may suggest that internal predictive models are flexible entities that are continuously updated throughout the day. Likewise, the variations in temporal performance between the right and the left arm during the day may indicate a relative independence of the two body sides in terms of circadian rhythms. In general, our findings suggest that cognitive (i.e., mental imagery) and motor (i.e., laterality) states of human behavior are modulated by circadian rhythms. (Author correspondence: charalambos.papaxanthis@u-bourgogne.fr)     

Organization of meissner corpuscles in the glabrous skin of monkey and cat

Abstract

Purpose: Motor imagery, the process of imagining a physical action, has been shown to facilitate the excitability of spinal anterior horn cells. In the acute phase after a stroke, the excitability of spinal anterior horn cells is significantly reduced, which leads to motor deficits. This loss of movement can be prevented by increasing the excitability of spinal anterior horn cells immediately following an injury. Motor imagery is an effective method for facilitating the excitability of spinal anterior horn cells in patients with impaired movement; however, the optimal duration for motor imagery is unclear.

Materials and Methods: To investigate time-dependent changes in spinal anterior horn cell excitability during motor imagery, healthy adult participants were recruited to measure the F-wave, an indicator of anterior horn cell excitability. F-waves were measured from participants at baseline, during motor imagery, and post-motor imagery. During motor imagery, participants imagined isometric thenar muscle activity at 50% maximum voluntary contraction for 5?min. F-waves were measured at 1, 3, and 5?min after beginning motor imagery and analysed for persistence and F/M amplitude ratio.

Results: Persistence and F/M amplitude ratios at 1- and 3-min after motor imagery initiation were significantly greater than at baseline. The persistence and F/M amplitude ratio at 5-min after motor imagery initiation, however, was comparable to baseline levels.

Conclusion: Therefore, 1 to 3?min of motor imagery is likely sufficient to facilitate the excitability of spinal anterior horn cells.     

Activation of the parieto-premotor network is associated with vivid motor imagery--a parametric FMRI study

The present study examined the neural basis of vivid motor imagery with parametrical functional magnetic resonance imaging. 22 participants performed motor imagery (MI) of six different right-hand movements that differed in terms of pointing accuracy needs and object involvement, i.e., either none, two big or two small squares had to be pointed at in alternation either with or without an object grasped with the fingers. After each imagery trial, they rated the perceived vividness of motor imagery on a 7-point scale. Results showed that increased perceived imagery vividness was parametrically associated with increasing neural activation within the left putamen, the left premotor cortex (PMC), the posterior parietal cortex of the left hemisphere, the left primary motor cortex, the left somatosensory cortex, and the left cerebellum. Within the right hemisphere, activation was found within the right cerebellum, the right putamen, and the right PMC. It is concluded that the perceived vividness of MI is parametrically associated with neural activity within sensorimotor areas. The results corroborate the hypothesis that MI is an outcome of neural computations based on movement representations located within motor areas.     

The changes in the hemodynamic activity of the brain during motor imagery training with the use of brain-computer interface

With the use of functional MRI (fMRI), we studied the changes in brain hemodynamic activity of healthy subjects during motor imagery training with the use brain-computer interface (BCI), which is based on the recognition of EEG patterns of imagined movements. ANOVA dispersion analysis showed there are 14 areas of the brain where statistically significant changes were registered. Detailed analysis of the activity in these areas before and after training (Student’s and Mann-Whitney tests) showed that the real amount of such areas is five; these are Brodmann areas 44 and 45, insula, middle frontal gyrus and anterior cingulate gyrus. We suggest that these changed are caused by the formation of memory traces of those brain activity patterns which are most accurately recognized by BCI classifiers as correspondent with limb movements imagery. We also observed a tendency of increase in the activity of motor imagery after training. The hemodynamic activity in all these 14 areas during real movements was either approximately the same or significantly higher than during motor imagery; activity during imagined leg movements was higher than that during imagines arm movements, except for the areas of representation of arms.     

Comparative study of observed actions,motor imagery and control therapeutic exercise on the conditioned pain modulation in the cervical spine: a randomized controlled trial

Abstract

Aim: The aim of this study was to compare the effects of cervical exercise, motor imagery (MI) and action observation (AO) of cervical exercise actions on conditioned pain modulation and pressure pain thresholds. The second objective was to assess the effects of these interventions on cervical motor activity (ranges of motion and muscle endurance), attention, and the ability to generate motor images.

Study design: Single-blinded randomized controlled trial.

Materials and methods: Fifty-four healthy subjects were randomly assigned to each group. Response conditioned pain modulation, pressure pain threshold, were the main variables. The secondary outcome measures included, cervical range of motion, Neck flexor endurance test, mental movement representation associated and psychosocial variables.

Results: All groups showed significant differences in time factor for all evaluated variables (p?<?.01) except pressure pain threshold over the tibial region. The post hoc analysis revealed significant within-group differences in the AE and AO groups in conditioned pain modulation (p?<?.05), with medium effect size in time [AE (d –0.61); AO (d –0.74)].

Conclusion: The results showed that within-group changes in conditioned pain modulation, cervical muscle endurance, and attention where founded only in the AE and AO groups. Variations in pain thresholds at pressure in the trapezium area were also obtained in the three groups. Changes in the ranges of flexion-extension and rotation movement were presented exclusively in the exercise group, and in the capacity to generate motor images only in the AO group. However, there was no difference in the pressure pain threshold over the tibial region.     

Discrete and Effortful Imagined Movements Do Not Specifically Activate the Autonomic Nervous System

Background

The autonomic nervous system (ANS) is activated in parallel with the motor system during cyclical and effortful imagined actions. However, it is not clear whether the ANS is activated during motor imagery of discrete movements and whether this activation is specific to the movement being imagined. Here, we explored these topics by studying the baroreflex control of the cardiovascular system.

Methodology/Principal Findings

Arterial pressure and heart rate were recorded in ten subjects who executed or imagined trunk or leg movements against gravity. Trunk and leg movements result in different physiological reactions (orthostatic hypotension phenomenon) when they are executed. Interestingly, ANS activation significantly, but similarly, increased during imagined trunk and leg movements. Furthermore, we did not observe any physiological modulation during a control mental-arithmetic task or during motor imagery of effortless movements (horizontal wrist displacements).

Conclusions/Significance

We concluded that ANS activation during motor imagery is general and not specific and physiologically prepares the organism for the upcoming effortful action.     

Online Classification of Multiple Motor Imagery Tasks Using Filter Bank Based Maximum-a-Posteriori Common Spatial Pattern Filters

ObjectiveThe main objective of this paper is to propose a novel technique, called filter bank maximum a-posteriori common spatial pattern (FB-MAP-CSP) algorithm, for online classification of multiple motor imagery activities using electroencephalography (EEG) signals. The proposed technique addresses the overfitting issue of CSP in addition to utilizing the spectral information of EEG signals inside the framework of filter banks while extending it to more than two conditions.Materials and methodsThe classification of motor imagery signals is based upon the detection of event-related de-synchronization (ERD) phenomena in the μ and β rhythms of EEG signals. Accordingly, two modifications in the existing MAP-CSP technique are presented: (i) The (pre-processed) EEG signals are spectrally filtered by a bank of filters lying in the μ and β brainwave frequency range, (ii) the framework of MAP-CSP is extended to deal with multiple (more than two) motor imagery tasks classification and the spatial filters thus obtained are calculated for each sub-band, separately. Subsequently, the most imperative features over all sub-bands are selected and un-regularized linear discriminant analysis is employed for classification of multiple motor imagery tasks.ResultsPublicly available dataset (BCI Competition IV Dataset I) is used to validate the proposed method i.e. FB-MAP-CSP. The results show that the proposed method yields superior classification results, in addition to be computationally more efficient in the case of online implementation, as compared to the conventional CSP based techniques and its variants for multiclass motor imagery classification.ConclusionThe proposed FB-MAP-CSP algorithm is found to be a potential / superior method for classifying multi-condition motor imagery EEG signals in comparison to FBCSP based techniques.     

Classification of Motor Imagery EEG Based on Time-Domain and Frequency-Domain Dual-Stream Convolutional Neural Network

Background and objectiveAn important task of the brain-computer interface (BCI) of motor imagery is to extract effective time-domain features, frequency-domain features or time-frequency domain features from the raw electroencephalogram (EEG) signals for classification of motor imagery. However, choosing an appropriate method to combine time domain and frequency domain features to improve the performance of motor imagery recognition is still a research hotspot.MethodsIn order to fully extract and utilize the time-domain and frequency-domain features of EEG in classification tasks, this paper proposed a novel dual-stream convolutional neural network (DCNN), which can use time domain signal and frequency domain signal as the inputs, and the extracted time-domain features and frequency-domain features are fused by linear weighting for classification training. Furthermore, the weight can be learned by the DCNN automatically.ResultsThe experiments based on BCI competition II dataset III and BCI competition IV dataset 2a showed that the model proposed by this study has better performance than other conventional methods. The model used time-frequency signal as the inputs had better performance than the model only used time-domain signals or frequency-domain signals. The accuracy of classification was improved for each subject compared with the models only used one signals as the inputs.ConclusionsFurther analysis shown that the fusion weight of different subject is specifically, adjusting the weight coefficient automatically is helpful to improve the classification accuracy.