Influence of the mechanical properties of a manipulandum on human operator dynamics

An active servo-system was used to change the stiffness of a manipulandum used in a positioncontrol pursuit-tracking task. The elastic stiffness of the manipulandum connected to the forearm was set by a computer at one of five levels ranging from 0 N/m to 2000 N/m. Subjects were required to track, either by moving their forearm or by generating a force isometrically, a visually presented target whose position changed randomly every second for 100 s. Nonparametric and parametric impulse response functions were calculated between the input (target) and output (force or position) in each tracking condition, and revealed that for all subjects force control was faster than position control when the stiffness of the manipulandum was set at 0 N/m. Subjects were also consistently faster in reaching the target when the stiffness was greater than zero, and were more accurate (steadystate response) when the stiffness of the manipulandum was set at lower rather than higher amplitudes. The parametric impulse response functions revealed that the human operator system was underdamped (0.7) with a natural frequency of approximately 8 rad/s. These findings were interpreted in terms of the responses of the various subsystems (visual, cognitive, contractile, limb mechanics) that comprise the human operator's response.     

Measurements of human forearm viscoelasticity

In human subjects, stiffness of the relaxed elbow was measured by three methods, using a forearm manipulandum coupled to a.d.c. torque motor. Elbow stiffness calculated from frequency response characteristics increased as the driving amplitude decreased. Step displacements of the forearm produced restoring torques linearly related to the displacement. The stiffness was very similar to that calculated from natural frequencies at amplitudes above 0.1 rad. Thirdly, elbow stiffness was estimated from brief test pulses, 120 ms in duration, by mathematically simulating the torque-displacement functions. Stiffness values in the limited linear range (under +/- 0.1 rad) were higher than in the linear range of the first two methods. A major component of elbow stiffness appears to decay within 1 s. The coefficients of viscosity determined from the simulation were, however, very similar to those calculated from the frequency response. Test pulse simulation was then used to determine joint impedance for different, actively maintained elbow angles. Joint stiffness and viscosity increased with progressive elbow flexion.     

Stochastic prediction in pursuit tracking: An experimental test of adaptive model theory

In this paper we test the proposition that in pursuit tracking, subjects compute stochastic (statistical) models of the temporal variations in position of the target and use these models to forecast target position for at least a response time interval into the future. A computer simulation of a human operator employing stochastic model prediction of target position is used to generate a synthetic pursuit tracking response signal. Actual pursuit tracking response signals are measured from 10 normal subjects using the same stimulus signal. Cross correlation and spectral analysis are employed to compute gain and phase frequency response characteristics for both synthetic and actual tracking data. The similarity of the gain and phase curves for synthetic and actual data provides compelling evidence in support of the proposition.     

Oxygen transfer deficiencies in starch-based media

Insufficient oxygen transfer in a highly viscous media with varying viscosity occurs during the degradation of starch byBacillus licheniformis. Oxygen transfer rate (OTR) decreased below 0.3 gl^–1 h^–1 for viscosities above 5 to 10 mPa.s and agitation speeds lower than 710 rev/min. Increasing agitation speeds by 30 to 50% compensated for the decrease in OTR for viscosities between 10 and 200 mPa.s. A dual impeller is considered essential for growth improvement.     

Changes in kinematic and EMG variability while practicing a maximal performance task.

This paper examines changes in the variability of electromyographic (EMG) activity and kinematics as a result of practicing a maximal performance task. Eight subjects performed rapid elbow flexion to a target in the horizontal plane. Four hundred trials were distributed equally over four practice sessions. A potentiometer at the elbow axis of rotation of a manipulandum recorded the angular displacement. The EMG activity of the biceps and the triceps brachii was monitored using Beckman surface electrodes. Limb speed increased while both target error and trajectory (velocity versus position) variability decreased. There was an increase in the absolute measure of total EMG variability (the first standard deviation at each point of the biceps and triceps waveform multiplied together). However, the coefficient of variation (the first standard deviation divided by the mean and the result multiplied by 100) of the mean amplitude value of the individual EMG bursts decreased. The variability of triceps motor time also decreased while the variability biceps motor time remained unchanged. The results demonstrated a clear relationship between kinematic and EMG variability. The EMG and the trajectory data suggest that practice resulted in greater central nervous system control over both the spatial-temporal aspects of movement and the magnitude of the biceps and triceps muscle force-impulses.     

Changes in power and coherence of brain activity in human sensorimotor cortex during performance of visuomotor tasks

Electrocorticograms (ECoG) were recorded using subdural grid electrodes in forearm sensorimotor cortex of six human subjects. The subjects performed three visuomotor tasks, tracking a moving visual target with a joystick-controlled cursor; threading pieces of tubing; and pinching the fingers sequentially against the thumb. Control conditions were resting and active wrist extension. ECoGs were recorded at 14 sites in hand- and arm-sensorimotor area, functionally identified with electrical stimulation. For each behavior we computed spectral power of ECoG in each site and coherence in all pair-wise sites. In three out of six subjects, gamma-oscillations were observed when the subjects started the tasks. All subjects showed widespread power decrease in the range of 11-20 Hz and power increase in the 31-60 Hz ranges during performance of the visuomotor tasks. The changes in gamma-range power were more vigorous during the tracking and threading tasks compared with the wrist extension. Coherence analysis also showed similar task-related changes in coherence estimates. In contrast to the power changes, coherence estimates increased not only in gamma-range but also at lower frequencies during the manipulative visuomotor tasks. Paired sites with significant increases in coherence estimates were located within and between sensory and motor areas. These results support the hypothesis that coherent cortical activity may play a role in sensorimotor integration or attention.     

Invariance of ankle dynamic stiffness during fatiguing muscle contractions

Our objective was to determine the effect of muscle fatigue on the dynamic stiffness of the human ankle. Four subjects were required to maintain constant-force contractions of tibialis anterior until the required force could no longer be maintained. Repeated pseudo-random displacements of ankle angular position were applied throughout each contraction. The dynamic relation between ankle angular position and ankle torque was identified by determining non-parametric compliance impulse response functions (CIRFs). The CIRFs were redetermined every 2.55s throughout the sustained contractions to provide a quantitative measure of changes in ankle stiffness dynamics. Inspection of these CIRFs revealed little change in shape or magnitude throughout the contractions, despite large increases in tibialis anterior EMG. The dynamics were further quantified by estimating the equivalent joint inertia, viscosity and elasticity associated with each CIRF. As each contraction progressed, the inertial and elastic terms remained constant whereas the viscous term decreased slightly. These findings demonstrate that fatigue of tibialis anterior during sustained constant mean force contractions results in little change in the mechanical dynamics of the human ankle.     

Increased tolerance of Staphylococcus aureus to vancomycin in viscous media

The increased viscosity observed in biofilms, adherent communities of bacterial cells embedded in a polymeric matrix, was hypothesized to induce increased tolerance of bacteria to antibiotics. To test this concept, planktonic Staphylococcus aureus cells were grown and exposed to vancomycin in media brought to specific viscosities in order to mimic the biofilm extracellular polymeric matrix. A viscous environment was observed to decrease the vancomycin susceptibility of planktonic S. aureus to levels seen for biofilms. Both planktonic S. aureus at a viscosity of 100 mPa s and staphylococcal biofilms were able to survive at >500 times the levels of the antibiotic effective against planktonic populations in standard medium. Time-dependent and dose-dependent viability curves revealed that more than one mechanism was involved in high S. aureus tolerance to vancomycin in viscous media. Increased viscosity affects antibiotic susceptibility by reducing diffusion and the mass transfer rate; this mechanism alone, however, cannot explain the increased tolerance demonstrated by S. aureus in viscous media, suggesting that viscosity may also alter the phenotype of the planktonic bacteria to one more resistant to antimicrobials, as seen in biofilms. However, these latter changes are not yet understood and will require further study.     

Manuo-ocular coordination in target tracking. II. Comparing the model with human behavior

Several studies have shown that humans track a moving visual target with their eyes better if the movement of this target is directly controlled by the observer's hand. The improvement in performance has been attributed to coordination control between the arm motor system and the smooth pursuit (SP) system. In such a task, the SP system shows characteristics that differ from those observed during eye-alone tracking: latency (between the target-arm and the eye motion onsets) is shorter, maximum SP velocity is higher and the maximum target motion frequency at which the SP can function effectively is also higher. The aim of this article is to qualitatively evaluate the behavior of a dynamical model simulating the oculomotor system and the arm motor system when both are involved in tracking visual targets. The evaluation is essentially based on a comparison of the behavior of the model with the behavior of human subjects tracking visual targets under different conditions. The model has been introduced and quantitatively evaluated in a companion paper. The model is based on an exchange of internal information between the two sensorimotor systems, mediated by sensory signals (vision, arm muscle proprioception) and motor signals (arm motor command copy). The exchange is achieved by a specialized structure of the central nervous system, previously identified as a part of the cerebellum. Computer simulation of the model yielded results that fit the behavior of human subjects observed during previously reported experiments, both qualitatively and quantitatively. The parallelism between physiology and human behavior on the one hand, and structure and simulation of the model on the other hand, is discussed. Received: 6 March 1997 / Accepted in revised form: 15 July 1997     

Manuo-ocular coordination in target tracking. I. A model simulating human performance

During eye tracking of a self-moved target, human subjects' performance differs from eye-alone tracking of an external target. Typical latency between target and eye motion onsets is shorter, ocular smooth pursuit (SP) saturation velocity increases and the maximum target motion frequency at which the SP system functions correctly is higher. Based on a previous qualitative model, a quantitative model of the coordination control between the arm motor system and the SP system is presented and evaluated here. The model structure maintains a high level of parallelism with the physiological system. It contains three main parts: the eye motor control (containing a SP branch and a saccadic branch), the arm motor control and the coordination control. The coordination control is achieved via an exchange of information between the arm and the eye sensorimotor systems, mediated by sensory signals (vision, proprioception) and motor command copy. This cross-talk results in improved SP system performance. The model has been computer simulated and the results have been compared with human subjects' behavior observed during previous experiments. The model performance is seen to quantitatively fit data on human subjects. Received: 6 March 1997 / Accepted in revised form: 15 July 1997     

Effect of Tendon Vibration on Hemiparetic Arm Stability in Unstable Workspaces

Sensory stimulation of wrist musculature can enhance stability in the proximal arm and may be a useful therapy aimed at improving arm control post-stroke. Specifically, our prior research indicates tendon vibration can enhance stability during point-to-point arm movements and in tracking tasks. The goal of the present study was to investigate the influence of forearm tendon vibration on endpoint stability, measured at the hand, immediately following forward arm movements in an unstable environment. Both proximal and distal workspaces were tested. Ten hemiparetic stroke subjects and 5 healthy controls made forward arm movements while grasping the handle of a two-joint robotic arm. At the end of each movement, the robot applied destabilizing forces. During some trials, 70 Hz vibration was applied to the forearm flexor muscle tendons. 70 Hz was used as the stimulus frequency as it lies within the range of optimal frequencies that activate the muscle spindles at the highest response rate. Endpoint position, velocity, muscle activity and grip force data were compared before, during and after vibration. Stability at the endpoint was quantified as the magnitude of oscillation about the target position, calculated from the power of the tangential velocity data. Prior to vibration, subjects produced unstable, oscillating hand movements about the target location due to the applied force field. Stability increased during vibration, as evidenced by decreased oscillation in hand tangential velocity.     

Effects of temperature and composition on the viscosity of respiratory gases

The steady-state sensitivity of resistance pneumotachographs is proportional to viscosity. Dynamic characteristics of pneumotachographs, pressure transducers, and mass spectrometers are also viscosity dependent. We derive linear equations to approximate the viscosities of O2, N2, CO2, H2O, He, N2O, and Ar for temperatures between 20 and 40 degrees C by using published viscosity data and a nonlinear extrapolation equation. We verify the accuracy of the extrapolation equation by comparison with published data. Our linear equations for pure gas viscosities yield standard errors less than 0.35 microP. We also compare a nonlinear equation for calculating the viscosities of mixtures of gases with published measured viscosities of dry air, humid air, and He-O2 and N2-CO2 mixtures. The maximum difference between published and calculated values is 1.3% for 10% CO2 in N2. All other differences are less than 0.38%. For saturated humid air at 35 degrees C, a linear concentration-weighted combination of viscosities differs from our nonlinear equation by 4.9, 2.1, and 1.7% at barometric pressures of 32, 83, and 100 kPa, respectively. By use of our method, the viscosity of normal respiratory gases can be calculated to within 1% of measured values.     

Anticipatory postural adjustment in bimanual unloading: role of the motor cortex in motor learning

The role of the motor cortex was investigated during learning unusual postural adjustment. Healthy subjects held their right (postural) forearm in a horizontal position while supporting a 1-kG load via an electromagnet. The postural forearm position was perturbed by the load release triggered by other elbow voluntary movement. Repetition of the imposed unloading test resulted in a progressive reduction of the maximal forearm rotation, accompanied by the anticipatory decrease in m. biceps brachii activity (learning). Control situation consisted of the voluntary forearm loading. Using the transcranial magnetic stimulation we examined changes in the motor evoked potential of the m. biceps brahii at the beginning and at the end of learning. The evoked potential amplitude did not significantly change in process of the decrease of m. biceps brachii activity. At the end of learning, motor evoked potential / baseline electromyogram ratio increased as compared to the beginning of learning and to the control situation. The results highlight the fundamental role of the motor cortex in suppression of synergies which interfere with formation of a new coordination during motor learning.     

Concentration-dependent, temperature-dependent non-Newtonian viscosity of lung surfactant dispersions

The bulk shear viscosities of aqueous dispersions of lavaged calf lung surfactant (LS) and its chloroform:methanol extract (CLSE) were measured as a function of concentration, shear rate and temperature. At 10-mg phospholipid per milliliter, dispersions of LS and vortexed CLSE in 0.15 M NaCl (saline) had low viscosities near 1 cp over a range of shear rates from 225 to 1125 s(-1). Lung surfactant viscosity increased with phospholipid concentration and became strongly non-Newtonian with higher values at low shear rates. At 37 degrees C and 40 mg/ml, LS and vortexed CLSE in saline had viscosities of 38 and 34 cp (77 s(-1)) and 12 and 7 cp (770 s(-1)), respectively. Viscosity values for LS and CLSE were dependent on temperature and, at fixed shear, were lower at 23 degrees C than at 37 or 10 degrees C. Hysteresis was also present in viscosity measurements depending on whether shear rate was successively increased or decreased during study. Addition of 5 mM Ca(2+) at 37 degrees C markedly reduced CLSE viscosity at all shear rates and decreased LS viscosity at low shear rates. Dispersion by sonication rather than vortexing increased the viscosity of CLSE at fixed shear, while synthetic phospholipids dispersed by either method had low, relatively Newtonian viscosities. The complex viscous behavior of dispersions of LS and CLSE in saline results from their heterogeneous aggregated microstructure of phospholipids and apoproteins. Viscosity is influenced not only by the aggregate surface area under shear, but also by phospholipid-apoprotein interactions and aggregate structure/deformability. Similar complexities likely affect the viscosities of biologically-derived exogenous surfactant preparations administered to patients in clinical surfactant therapy.     

Motility of flagellated bacteria in viscous environments.

The lowest viscosity that immobilized flagellated bacteria such as Psedomonas aeruginosa, Spirillum serpens, and Escherichia coli was 60 centipoise (cp). Much higher viscosities (1,000 cp and higher) were required to immobilize two flagellated bacteria selectively isolated from nature by methods based on their ability to migrate through agar gels. The latter finding indicates that certain flagellated bacteria have the ability to swim through environments of relatively high viscosity. It is suggested that these flagellated bacteria possess a specialized type of motility apparatus suited to viscous conditions present in their habitats.     

Validation of portable muscle tone measurement device for quantifying velocity-dependent properties in elbow spasticity.

The objective of this study is to develop a portable device for quantifying the velocity-dependent properties of spastic elbow muscles. Based on a motor-driven system, validation tests of the portable system such as accuracy and response of sensors were first examined. Furthermore, simulated modules (inertia, damper and spring) as well as elbow joints (15 control and 15 hemiplegic subjects) were manually stretched under four different frequencies (1/3, 1/2, 1 and 3/2 Hz) through 60 degrees range of motion. Joint resistance and displacement during sinusoidal stretch were collected for further analysis. Two quantitative parameters (i.e., viscous components under each frequency and averaged viscosity across four frequencies) were derived to estimate the velocity-dependent properties of elbow joint. Tests of simulated modules confirm the manual stretch protocol and data analysis are valid in estimating the velocity-dependent component during a sinusoidal stretch. Compared to normal control, viscous component in each stretch frequency and averaged viscosity were significantly higher in subjects with spasticity (P < 0.001). The viscous component and averaged viscosity were found highly correlated with the modified Ashworth scale. These findings suggest that measurements of viscous component and averaged viscosity during manual sinusoidal stretching using the portable device could be clinically useful in evaluating spasticity.     

Red blood cell deformation in shear flow. Effects of internal and external phase viscosity and of in vivo aging.

Shear deformation of young and old human red blood cells was examined over a range of shear stresses and suspending phase viscosities (eta o) using a cone-plate Rheoscope. The internal viscosities (eta i) of these cell types differ, and further changes in internal viscosity were induced by alteration of suspension osmolality and hence cell volume. For low suspending viscosities (0.0555 or 0.111 P) old cells tended to tumble in shear flow, whereas young cells achieved stable orientation and deformed. Changes in osmolality, at these external viscosities, altered the percentage of cells deforming, and for each cell type threshold osmolalities (Osm-50) were determined where 50% of cells deformed. The threshold osmolalities were higher for younger cells than for older cells, but the internal viscosities of the two cell types were similar at their respective Osm-50. Threshold osmolalities were also higher for the higher external viscosity, but the ratio of internal to external viscosities (i.e., eta i/eta o) was nearly constant for both external viscosities. Deformation of stably oriented cells increased with increasing shear stress and approached a value limited by cell surface area and volume. For isotonic media, over a wide range of external viscosities and shear stresses, deformation was greater for younger cells than for older cells. However, deformation vs. shear stress data for the two cell types became nearly coincident if young cells were osmotically shrunk to have their internal viscosity close to that for old cells. Increases in external viscosity, at constant shear stress, caused greater deformation for all cells. This effect of external viscosity was not equal for young and old cells; the ratio of old/young cell deformation increased with increasing eta o. However, if deformation was plotted as a function of the ratio lambda = eta i/eta o, at constant shear stress, young and old cell data followed similar paths. Thus the ratio lambda is a major determinant of cell deformation as well as a critical factor affecting stable orientation in shear flow.     

Adjustment errors of feedback guided human forearm movements elicited by random position signal sequences

The effects of visual and auditory relevant feedback on human forearm movements elicited by random position signal sequences were examined. We observed the adjustment error sequences when the arm moved briskly and accurately to the target position. As the results, the mean adjustment errors for each speed (clock interval) of random position signal sequence are different in the left-right target positions, and also different in the flexion-extension movements. In faster speed (1s), the adjustment errors are approximately flat as compared with those in other speeds, on the other hand, in moderate speed (2s) or slower speed (3s), these indicate a upward tendency from left to right positions, and also indicate a upward tendency from flexion to extension movements. However, in the reaction times, the moving times, and the adjusting times, there are no significant differences for the left-right target positions and for the flexion-extension movements.     

Instability development in heated human erythrocytes

Heated human erythrocytes gradually lose their form-maintaining structure as the temperature is increased to 50°C and can behave in some respects as a viscous fluid. We have developed a technique for heating and stressing these cells that is novel, simple and quantitatively precise. We have applied this technique to heated human erythrocytes and have measured instability development in the cells. We have employed instability growth theory to calculate a value for an effective surface tension which, in contrast to other methods of membrane surface tension measurement sought to minimize the effects of membrane supporting structural elements. The value obtained for the surface tension of the heated erythrocyte membrane was 0.9 · 10^?6 N/m with a range of variation from 0.4 · 10^?6 N/m to 1.4 · 10^?6 N/m. The methods described may be useful for determining fundamental physical parameters such as internal viscosity and interfacial tension in other systems.     

Time-integrated position error accounts for sensorimotor behavior in time-constrained tasks

Several studies have shown that human motor behavior can be successfully described using optimal control theory, which describes behavior by optimizing the trade-off between the subject's effort and performance. This approach predicts that subjects reach the goal exactly at the final time. However, another strategy might be that subjects try to reach the target position well before the final time to avoid the risk of missing the target. To test this, we have investigated whether minimizing the control effort and maximizing the performance is sufficient to describe human motor behavior in time-constrained motor tasks. In addition to the standard model, we postulate a new model which includes an additional cost criterion which penalizes deviations between the position of the effector and the target throughout the trial, forcing arrival on target before the final time. To investigate which model gives the best fit to the data and to see whether that model is generic, we tested both models in two different tasks where subjects used a joystick to steer a ball on a screen to hit a target (first task) or one of two targets (second task) before a final time. Noise of different amplitudes was superimposed on the ball position to investigate the ability of the models to predict motor behavior for different levels of uncertainty. The results show that a cost function representing only a trade-off between effort and accuracy at the end time is insufficient to describe the observed behavior. The new model correctly predicts that subjects steer the ball to the target position well before the final time is reached, which is in agreement with the observed behavior. This result is consistent for all noise amplitudes and for both tasks.