Tendon displacements during voluntary and involuntary finger movements

In the human hand, independent movement control of individual fingers is limited. One potential cause for this is mechanical connections between the tendons and muscle bellies corresponding to the different fingers. The aim of this study was to determine the tendon displacement of the flexor digitorum superficialis (FDS) of both the instructed and the neighboring, non-instructed fingers during single finger flexion movements. In nine healthy subjects (age 22–29 years), instructed and non-instructed FDS finger tendon displacement of the index, middle and ring finger was measured using 2D ultrasound analyzed with speckle tracking software in two conditions: active flexion of all finger joints with all fingers free to move and active flexion while the non-instructed fingers were restricted. Our results of the free movement protocol showed an average tendon displacement of 27 mm for index finger flexion, 21 mm for middle finger flexion and 17 mm for ring finger flexion. Displacements of the non-instructed finger tendons (≈12 mm) were higher than expected based of the amount of non-instructed finger movement. In the restricted protocol, we found that, despite minimal joint movements, substantial non-instructed finger tendon displacement (≈9 mm) was still observed, which was interpreted as a result of tendon strain. When this strain component was subtracted from the tendon displacement of the non-instructed fingers during the free movement condition, the relationship between finger movement and tendon displacement of the instructed and non-instructed finger became comparable. Thus, when studying non-instructed finger tendon displacement it is important to take tendon strain into consideration.     

Effects of age and gender on finger coordination in MVC and submaximal force-matching tasks.

The objective of the study is to examine the effects of age and gender on finger coordination. Twelve young (24 +/- 8 yr; 6 men and 6 women) and 12 elderly (75 +/- 5 yr; 6 men and 6 women) subjects performed single-finger maximal contraction [maximal voluntary contraction (MVC)], four-finger MVC, and four-finger ramp force production tasks by pressing on individual force transducers. A drop in the force of individual fingers during four-finger MVC tasks compared with single-finger MVC tasks (force deficit) was larger, whereas unintended force production by other fingers during single-finger MVC tasks (enslaving) was smaller, in elderly than in young subjects and in women than in men. Force deficit was smaller and enslaving was larger in subjects with higher peak force. During the ramp task, the difference between the variance of total force and the sum of variances of individual forces showed a logarithmic relation to the level of total force, across all subject groups. These findings suggest that indexes of finger coordination scale with force-generating capabilities across gender and age groups.     

A structurally optimal control model for predicting and analyzing human postural coordination

This paper proposes a closed-loop optimal control model predicting changes between in-phase and anti-phase postural coordination during standing and related supra-postural activities. The model allows the evaluation of the influence of body dynamics and balance constraints onto the adoption of postural coordination. This model minimizes the instantaneous norm of the joint torques with a controller in the head space, in contrast with classical linear optimal models used in the postural literature and defined in joint space. The balance constraint is addressed with an adaptive ankle torque saturation. Numerical simulations showed that the model was able to predict changes between in-phase and anti-phase postural coordination modes and other non-linear transient dynamics phenomena.     

Force and torque production in static multifinger prehension: biomechanics and control. II. Control

 The coordination of digits during combined force/torque production tasks was further studied using the data presented in the companion paper [Zatsiorsky et al. Biol Cybern this issue, Part I]. Optimization was performed using as criteria the cubic norms of (a) finger forces, (b) finger forces normalized with respect to the maximal forces measured in single-finger tasks, (c) finger forces normalized with respect to the maximal forces measured in a four-finger task, and (d) finger forces normalized with respect to the maximal moments that can be generated by the fingers. All four criteria failed to predict antagonist finger moments when these moments were not imposed by the task mechanics. Reconstruction of neural commands: The vector of neural commands c was reconstructed from the equation c=W ⁻¹ F, where W is the finger interconnection weight matrix and F is the vector of finger forces. The neural commands ranged from zero (no voluntary force production) to one (maximal voluntary contraction). For fingers producing moments counteracting the external torque (`agonist' fingers), the intensity of the neural commands was well correlated with the relative finger forces normalized to the maximal forces in a four-finger task. When fingers produced moments in the direction of the external torque (`antagonist' fingers), the relative finger forces were always larger than those expected from the intensity of the corresponding neural commands. The individual finger forces were decomposed into forces due to `direct' commands and forces induced by enslaving effects. Optimization of the neural commands resulted in the best correspondence between actual and predicted finger forces. The antagonist moments are, at least in part, due to enslaving effects: strong commands to agonist fingers also activated antagonist fingers. Received: 8 August 2001 / Accepted in revised form: 7 February 2002     

Neural control of interlimb oscillations

How do humans and other animals accomplish coordinated movements? How are novel combinations of limb joints rapidly assembled into new behavioral units that move together in in-phase or anti-phase movement patterns during complex movement tasks? A neural central pattern generator (CPG) model simulates data from human bimanual coordination tasks. As in the data, anti-phase oscillations at low frequencies switch to in-phase oscillations at high frequencies, in-phase oscillations occur at both low and high frequencies, phase fluctuations occur at the anti-phase in-phase transition, a “seagull effect” of larger errors occurs at intermediate phases, and oscillations slip toward in-phase and anti-phase when driven at intermediate phases. These oscillations and bifurcations are emergent properties of the CPG model in response to volitional inputs. The CPG model is a version of the Ellias-Grossberg oscillator. Its neurons obey Hodgkin-Huxley type equations whose excitatory signals operate on a faster time scale than their inhibitory signals in a recurrent on-center off-surround anatomy. When an equal command or GO signal activates both model channels, the model CPG can generate both in-phase and anti-phase oscillations at different GO amplitudes. Phase transitions from either in-phase to anti-phase oscillations, or from anti-phase to in-phase oscillations, can occur in different parameter ranges, as the GO signal increases. Received: 22 August 1994 / Accepted in revised form: 13 May 1997     

Interpersonal coordination analysis of tennis players from different levels during official matches

The purpose of this study was to assess the interpersonal coordination during official male tennis matches in players of different skill levels. Players’ trajectories of three levels (Juvenile, ATP-Future, ATP-250) were obtained using video-based tracking system. A vector coding technique was applied to obtain players’ interpersonal coordination in four coordination patterns: “anti-phase”, “in-phase”, “serving player phase” and “returning player phase”. These patterns allowed identification of the nature of the coupling and lead/lag relations between players. In all categories, players presented higher degree of “anti-phase” and “serving player phase” (when only the serving player is moving on the court or his opponent is moving with a time lag) coordination. Young players spent more time in “serving player phase” during lateral displacements than professional players. On the other hand, professional players spent more time in “returning player phase” (when only the returning player is moving on the court or his opponent is moving with a time lag) during antero posterior displacements, than young players. Interpersonal coordination did not change from the first to the second set of the match, showing that tennis players maintain their displacement characteristics and strategy, independently of proficiency level. The vector coding technique allowed to identify new coordination patterns in tennis, providing additional information about tennis dynamics and how players from different categories and proficiency levels behave during the matches.     

Stability of Phase Relationships While Coordinating Arm Reaches with Whole Body Motion

The human movement repertoire is characterized by the smooth coordination of several body parts, including arm movements and whole body motion. The neural control of this coordination is quite complex because the various body parts have their own kinematic and dynamic properties. Behavioral inferences about the neural solution to the coordination problem could be obtained by examining the emerging phase relationship and its stability. Here, we studied the phase relationships that characterize the coordination of arm-reaching movements with passively-induced whole-body motion. Participants were laterally translated using a vestibular chair that oscillated at a fixed frequency of 0.83 Hz. They were instructed to reach between two targets that were aligned either parallel or orthogonal to the whole body motion. During the first cycles of body motion, a metronome entrained either an in-phase or an anti-phase relationship between hand and body motion, which was released at later cycles to test phase stability. Results suggest that inertial forces play an important role when coordinating reaches with cyclic whole-body motion. For parallel reaches, we found a stable in-phase and an unstable anti-phase relationship. When the latter was imposed, it readily transitioned or drifted back toward an in-phase relationship at cycles without metronomic entrainment. For orthogonal reaches, we did not find a clear difference in stability between in-phase and anti-phase relationships. Computer simulations further show that cost models that minimize energy expenditure (i.e. net torques) or endpoint variance of the reach cannot fully explain the observed coordination patterns. We discuss how predictive control and impedance control processes could be considered important mechanisms underlying the rhythmic coordination of arm reaches and body motion.     

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.     

A Critical Interpersonal Distance Switches between Two Coordination Modes in Kendo Matches

In many competitive sports, players need to quickly and continuously execute movements that co-adapt to various movements executed by their opponents and physical objects. In a martial art such as kendo, players must be able to skillfully change interpersonal distance in order to win. However, very little information about the task and expertise properties of the maneuvers affecting interpersonal distance is available. This study investigated behavioral dynamics underlying opponent tasks by analyzing changes in interpersonal distance made by expert players in kendo matches. Analysis of preferred interpersonal distances indicated that players tended to step toward and away from their opponents based on two distances. The most preferred distance enabled the players to execute both striking and defensive movements immediately. The relative phase analysis of the velocities at which players executed steps toward and away revealed that players developed anti-phase synchronizations at near distances to maintain safe distances from their opponents. Alternatively, players shifted to in-phase synchronization to approach their opponents from far distances. This abrupt phase-transition phenomenon constitutes a characteristic bifurcation dynamics that regularly and instantaneously occurs between in- and anti-phase synchronizations at a critical interpersonal distance. These dynamics are profoundly affected by the task constraints of kendo and the physical constraints of the players. Thus, the current study identifies the clear behavioral dynamics that emerge in a sport setting.     

Frequency detuning of the phase entrainment dynamics of visually coupled rhythmic movements

 An order parameter equation for correlated limb movements was applied to rhythmic coordination between the limbs of two people. The interlimb coordination was established and maintained through vision. Manipulations of frequency competition, coupled frequency, and intended mode (in-phase or anti-phase) produced equilibria and fluctuations in relative phase predicted by the order parameter equation and confirmed originally in within-person coordination. It was concluded that there is an elementary coordination dynamics governing the rhythmic coordination between organisms as well as between components of a single organism. Received: 6 June 1994 / Accepted in revised form: 11 November 1994     

Switching Dynamics in an Interpersonal Competition Brings about “Deadlock” Synchronization of Players

In competitive sport game behavior, certain interpersonal patterns of movement coordination evolve even though each individual player only intends to exert their own strategy to win. To investigate this interpersonal pattern formation process, we asked pairs of naïve participants to engage in a play-tag game in which they had to remove a tag fastened to their partner''s hip. Relative phase analysis of the players'' step towards-away velocities indicated that anti-phase synchronization evolved across 10 repetitions of the game. We clarified evolution of this synchronization process using a dynamical model with an attractor (at relative phase) and a repeller (at relative phase) and discuss the self-organized nature of model and its ability to embody general solution for martial art interpersonal coordination.     

Mutual Stabilization of Rhythmic Vocalization and Whole-Body Movement

The current study investigated the rhythmic coordination between vocalization and whole-body movement. Previous studies have reported that spatiotemporal stability in rhythmic movement increases when coordinated with a rhythmic auditory stimulus or other effector in a stable coordination pattern. Therefore, the present study conducted two experiments to investigate (1) whether there is a stable coordination pattern between vocalization and whole-body movement and (2) whether a stable coordination pattern reduces variability in whole-body movement and vocalization. In Experiment 1, two coordination patterns between vocalizations and whole-body movement (hip, knee, and ankle joint flexion-on-the-voice vs. joint extension-on-the-voice) in a standing posture were explored at movement frequencies of 80, 130, and 180 beats per minute. At higher movement frequencies, the phase angle in the extension-on-the-voice condition deviated from the intended phase angle. However, the angle of the flexion-on-the-voice was maintained even when movement frequency increased. These results suggest that there was a stable coordination pattern in the flexion-on-the-voice condition. In Experiment 2, variability in whole-body movement and voice-onset intervals was compared between two conditions: one related to tasks performed in the flexion-on-the-voice coordination (coordination condition) that was a stable coordination pattern, and the other related to tasks performed independently (control condition). The results showed that variability in whole-body movement and voice-onset intervals was smaller in the coordination condition than in the control condition. Overall, the present study revealed mutual stabilization between rhythmic vocalization and whole-body movement via coordination within a stable pattern, suggesting that coupled action systems can act as a single functional unit or coordinative structure.     

Comparison of the Effects of Flexion and Extension of the Thumb and Fingers on the Position and Cross-Sectional Area of the Median Nerve

Objective

To assess the separate effects of thumb and finger extension/flexion on median nerve position and cross-sectional area.

Methods

Ultrasonography was used to assess median nerve transverse position and cross-sectional area within the carpal tunnel at rest and its movement during volitional flexion of the individual digits of the hand. Both wrists of 165 normal subjects (11 men, 4 women, mean age, 28.6, range, 22 to 38) were studied.

Results

Thumb flexion resulted in transverse movement of the median nerve in radial direction (1.2±0.6 mm), whereas flexion of the fingers produced transverse movement in ulnar direction, which was most pronounced during flexion of the index and middle fingers (3.2±0.9 and 3.1±1.0 mm, respectively). Lesser but still statistically significant movements were noted with flexion of the ring finger (2.0±0.8 mm) and little finger (1.2±0.5 mm). Flexion of the thumb or individual fingers did not change median nerve cross-sectional area (8.5±1.1 mm²).

Conclusions

Volitional flexion of the thumb and individual fingers, particularly the index and middle fingers, produced significant transverse movement of the median nerve within the carpal tunnel but did not alter the cross-sectional area of the nerve. The importance of these findings on the understanding of the pathogenesis of the carpal tunnel syndrome and its treatment remains to be investigated.     

Effects of coupled upper limbs movements on postural stabilisation

The preference for in-phase association of coupled cyclic limbs movements is well described (mirror-symmetrical patterns) and this is demonstrated by the ease of performing in-phase movements compared to anti-phase ones. The hypothesis of this study is that the easiest movement patterns are those with minor postural activity. The aim of this study was to describe postural activity in standing subjects in the sagittal and frontal planes during the execution of three upper limbs tasks (single arm, in-phase, anti-phase) at four different frequencies (from 0.6 to 1.2 Hz).We employed six infrared cameras for recording kinematics information, a force platform for measuring forces exerted on the ground, and a system for surface electromyography (SEMG). Outcome measures were: upper limb range of movement and relative-phase, centre of pressure displacement (COP), screw torque (T_z) exerted on the ground, and SEMG recordings of postural muscles (adductor longus, gluteus medius, rectus femoris, and biceps femoris).Our results show that in both the planes the in-phase task resulted in less COP displacement, torque production, and postural muscles involvement than the anti-phase and single arm tasks. This reduced need of postural control could explain the ease of performing in-phase coupled limb movements compared with anti-phase movements.     

One Digit Interruption: The Altered Force Patterns during Functionally Cylindrical Grasping Tasks in Patients with Trigger Digits

Most trigger digit (TD) patients complain that they have problems using their hand in daily or occupational tasks due to single or multiple digits being affected. Unfortunately, clinicians do not know much about how this disease affects the subtle force coordination among digits during manipulation. Thus, this study examined the differences in force patterns during cylindrical grasp between TD and healthy subjects. Forty-two TD patients with single digit involvement were included and sorted into four groups based on the involved digits, including thumb, index, middle and ring fingers. Twelve healthy subjects volunteered as healthy controls. Two testing tasks, holding and drinking, were performed by natural grasping with minimal forces. The relations between the force of the thumb and each finger were examined by Pearson correlation coefficients. The force amount and contribution of each digit were compared between healthy controls and each TD group by the independent t test. The results showed all TD groups demonstrated altered correlation patterns of the thumb relative to each finger. Larger forces and higher contributions of the index finger were found during holding by patients with index finger involved, and also during drinking by patients with affected thumb and with affected middle finger. Although no triggering symptom occurred during grasping, the patients showed altered force patterns which may be related to the role of the affected digit in natural grasping function. In conclusion, even if only one digit was affected, the subtle force coordination of all the digits was altered during simple tasks among the TD patients. This study provides the information for the future studies to further comprehend the possible injuries secondary to the altered finger coordination and also to adopt suitable treatment strategies.     

Fingers Crossed! An Investigation of Somatotopic Representations Using Spatial Directional Judgements

Processing of tactile stimuli requires both localising the stimuli on the body surface and combining this information with a representation of the current posture. When tactile stimuli are applied to crossed hands, the system first assumes a prototypical (e.g. uncrossed) positioning of the limbs. Remapping to include the crossed posture occurs within about 300 ms. Since fingers have been suggested to be represented in a mainly somatotopic reference frame we were interested in how the processing of tactile stimuli applied to the fingers would be affected by an unusual posture of the fingers. We asked participants to report the direction of movement of two tactile stimuli, applied successively to the crossed or uncrossed index and middle fingers of one hand at different inter-stimulus intervals (15 to 700 ms). Participants almost consistently reported perceiving the stimulus direction as opposite to what it was in the fingers crossed condition, even with SOAs of 700 ms, suggesting that on average they did not incorporate the unusual relative finger positions. Therefore our results are in agreement with the idea that, by default, the processing of tactile stimuli assumes a prototypical positioning of body parts. However, in contrast to what is generally found with tactile perception with crossed hands, performance did not improve with SOAs as long as 700 ms. This suggests that the localization of stimuli in a somatotopic reference and the integration of this representation with postural information are two separate processes that apply differently to the hands and fingers.     

Motor unit activity during stereotyped finger tasks and computer mouse work.

Motor unit (MU) activity pattern was examined in the right-hand extensor digitorum communis muscle (EDC) during standardised finger movements simulating actual computer mouse tasks. Intramuscular recordings were performed with a quadripolar needle electrode. Nine women performed four lifts of their right-hand index finger, middle finger or both as well as a number of double clicks. Additionally, the subjects performed contra lateral activity with their left-hand fingers and for three subjects recordings were also obtained during an interview with no physical activity. Besides the expected close coupling of MU activity with finger movement, activity was observed in three different situations with no physical requirements. Attention related activity was found before or after performance of the finger movement task, contra lateral activity in right EDC during left-hand finger tasks, and activity during mental activity without any finger movements involved. A relatively large number of doublet occurrences suggest they are a natural part of the activation pattern during performance of the rapid finger movement required to perform an efficient double click on the computer mouse.     

Relative phase dynamics in perturbed interlimb coordination: stability and stochasticity

 Various stability features of bimanual rhythmic coordination, including phase transitions, have been modeled successfully by means of a one-dimensional equation of motion for relative phase obeying a gradient dynamics, the Haken-Kelso-Bunz model. The present study aimed at assessing pattern stability for stationary performance and estimating the model parameters (a, b, and Q) for the stochastic extension of this model. Estimates of a and b allowed for reconstruction of the potential defining the gradient dynamics. Two coordination patterns between the forearms (in-phase, anti-phase) were performed at seven different frequencies. Model parameters were estimated on the basis of an exponential decay parameter describing the relaxation behavior of continuous relative phase following a mechanical perturbation. Variability of relative phase and relaxation time provided measures of pattern stability. Although the predicted inverse relation between pattern stability and movement frequency was observed for the lower tempo conditions, it was absent for the higher tempos, reflecting the influence of task constraints. No statistically significant differences in stability were observed between the two coordination modes, indicating the influence of intention. The reconstructed potential reflected the observed stability features, underscoring the adequacy of the parameter estimations. The relaxation process could not be captured adequately by means of a simple exponential decay function but required an additional oscillatory term. In accordance with previous assumptions, noise strength Q did not vary as a function of movement frequency. However, systematic differences in Q were observed between the two coordination modes. The advantages and (potential) pitfalls of using stationary performance of single patterns to examine the stability features of a bistable potential were discussed. Received: 12 July 1999 / Accepted in revised form: 14 April 2000