Inferring control objectives in a virtual balancing task in humans and monkeys.

Natural behaviors have redundancy, which implies that humans and animals can achieve their goals with different strategies. Given only observations of behavior, is it possible to infer the control objective that the subject is employing? This challenge is particularly acute in animal behavior because we cannot ask or instruct the subject to use a particular strategy. This study presents a three-pronged approach to infer an animal's control objective from behavior. First, both humans and monkeys performed a virtual balancing task for which different control strategies could be utilized. Under matched experimental conditions, corresponding behaviors were observed in humans and monkeys. Second, a generative model was developed that represented two main control objectives to achieve the task goal. Model simulations were used to identify aspects of behavior that could distinguish which control objective was being used. Third, these behavioral signatures allowed us to infer the control objective used by human subjects who had been instructed to use one control objective or the other. Based on this validation, we could then infer objectives from animal subjects. Being able to positively identify a subject's control objective from observed behavior can provide a powerful tool to neurophysiologists as they seek the neural mechanisms of sensorimotor coordination.

The critical stability task: quantifying sensory-motor control during ongoing movement in nonhuman primates.

Everyday behaviors require that we interact with the environment, using sensory information in an ongoing manner to guide our actions. Yet, by design, many of the tasks used in primate neurophysiology laboratories can be performed with limited sensory guidance. As a consequence, our knowledge about the neural mechanisms of motor control is largely limited to the feedforward aspects of the motor command. To study the feedback aspects of volitional motor control, we adapted the critical stability task (CST) from the human performance literature (Jex H, McDonnell J, Phatak A. IEEE Trans Hum Factors Electron 7: 138-145, 1966). In the CST, our monkey subjects interact with an inherently unstable (i.e., divergent) virtual system and must generate sensory-guided actions to stabilize it about an equilibrium point. The difficulty of the CST is determined by a single parameter, which allows us to quantitatively establish the limits of performance in the task for different sensory feedback conditions. Two monkeys learned to perform the CST with visual or vibrotactile feedback. Performance was better under visual feedback, as expected, but both monkeys were able to utilize vibrotactile feedback alone to successfully perform the CST. We also observed changes in behavioral strategy as the task became more challenging. The CST will have value for basic science investigations of the neural basis of sensory-motor integration during ongoing actions, and it may also provide value for the design and testing of bidirectional brain computer interface systems. NEW & NOTEWORTHY Currently, most behavioral tasks used in motor neurophysiology studies require primates to make short-duration, stereotyped movements that do not necessitate sensory feedback. To improve our understanding of sensorimotor integration, and to engineer meaningful artificial sensory feedback systems for brain-computer interfaces, it is crucial to have a task that requires sensory feedback for good control. The critical stability task demands that sensory information be used to guide long-duration movements.

The Use of Vibrotactile Feedback During Dual-Task Standing Balance Conditions in People With Unilateral Vestibular Hypofunction.

HYPOTHESIS: People with unilateral vestibular hypofunction (UVH) would have increased postural sway and slower reaction times while using vibrotactile feedback (VTF) during dual-task conditions compared with age-matched controls. BACKGROUND: VTF has been shown to improve real-time balance performance in persons with vestibular disorders. Future use of this technology outside of the laboratory environment as a real-time balance aid requires that using VTF during dual-tasking scenarios be studied. METHOD: Nine people with UVH and nine age-matched controls participated in a study focused on assessing the effects of a secondary cognitive task and sensory integration conditions on the root-mean-square of center of pressure (RMS COP) while using VTF. Reaction times from the secondary cognitive task were used to assess the effects of VTF, and sensory integration conditions on the attention required to perform the task. RESULTS: The results showed that there was no group difference between individuals with UVH and age-matched controls on balance performance while using VTF during dual-task conditions. Using VTF significantly degraded the reaction time performance in both groups, and the participants with UVH had slower reaction times compared with controls. CONCLUSION: People with UVH showed the ability to use VTF to control balance during dual-task conditions, but more attentional resources were needed to perform the secondary cognitive tasks while using VTF.

Neuroimaging of an attention demanding dual-task during dynamic postural control.

Cognitive tasks impact postural control when performed concurrently as dual-tasks. This is presumed to result from capacity limitations in relevant brain regions. We used functional near-infrared spectroscopy (fNIRS) to measure brain activation of the left motor, temporal, and dorsal-lateral prefrontal brain regions of younger (n=6) and older (n=10) adults. Brain activation was measured during an auditory choice reaction task (CRT) and standing on a dynamic posturography platform, both as single-tasks and concurrently as dual-task. Body sway was assessed by median absolute deviation (MAD) of anterior-posterior translation of the center of mass (COM). Brain activation was measured as changes in oxy-hemoglobin by fNIRS. During both single- and dual-task conditions, we found that older adults had greater brain activation relative to younger adults. During dual task performance, the total activation was less than expected from the sum of individual conditions for both age groups, indicating a dual-task interference (reduction in younger adults=53% [p=0.02]; in older adults=53%; [p=0.008]). This reduction was greater for the activation attributable to the postural task (reduction younger adults=75% [p=0.03]; older adults=59% [p=0.005]) compared to the CRT task (reduction younger adults=10%, [p=0.6]; older adults=7.3%, [p=0.5]) in both age groups. Activation reduction was not accompanied by any significant changes in body sway in either group (older adults: single-task MAD=0.94cm, dual-task MAD=1.10cm, p=0.20; younger adults: single-task RMS=0.95cm, dual-task MAD=1.08cm, p=0.14). Our results indicate that neural resources devoted to postural control are reduced under dual-task conditions that engage attention.

Model-based waveform design for optimal detection: A multi-objective approach to dealing with incomplete a priori knowledge.

This work considers the design of optimal, energy-constrained transmit signals for active sensing for the case when the designer has incomplete or uncertain knowledge of the target and/or environment. The mathematical formulation is that of a multi-objective optimization problem, wherein one can incorporate a plurality of potential targets, interference, or clutter models and in doing so take advantage of the wide range of results in the literature related to modeling each. It is shown, via simulation, that when the objective function of the optimization problem is chosen to maximize the minimum (i.e., maxmin) probability of detection among all possible model combinations, the optimal waveforms obtained are advantageous. The advantage results because the maxmin waveforms judiciously allocate energy to spectral regions where each of the target models respond strongly and each of the environmental models affect minimal detection performance degradation. In particular, improved detection performance is shown compared to linear frequency modulated transmit signals and compared to signals designed with the wrong target spectrum assumed. Additionally, it is shown that the maxmin design yields performance comparable to an optimal design matched to the correct target/environmental model. Finally, it is proven that the maxmin problem formulation is convex.

A phase space approach to wave propagation with dispersion.

A phase space approximation method for linear dispersive wave propagation with arbitrary initial conditions is developed. The results expand on a previous approximation in terms of the Wigner distribution of a single mode. In contrast to this previously considered single-mode case, the approximation presented here is for the full wave and is obtained by a different approach. This solution requires one to obtain (i) the initial modal functions from the given initial wave, and (ii) the initial cross-Wigner distribution between different modal functions. The full wave is the sum of modal functions. The approximation is obtained for general linear wave equations by transforming the equations to phase space, and then solving in the new domain. It is shown that each modal function of the wave satisfies a Schrödinger-type equation where the equivalent "Hamiltonian" operator is the dispersion relation corresponding to the mode and where the wavenumber is replaced by the wavenumber operator. Application to the beam equation is considered to illustrate the approach.

The effect of age on postural and cognitive task performance while using vibrotactile feedback.

Vibrotactile feedback (VTF) has been shown to improve balance performance in healthy people and people with vestibular disorders in a single-task experimental condition. It is unclear how age-related changes in balance affect the ability to use VTF and if there are different attentional requirements for old and young adults when using VTF. Twenty younger and 20 older subjects participated in this two-visit study to examine the effect of age, VTF, sensory condition, cognitive task, duration of time, and visit on postural and cognitive performance. Postural performance outcome measures included root mean square of center of pressure (COP) and trunk tilt, and cognitive performance was assessed using the reaction time (RT) from an auditory choice RT task. The results showed that compared with younger adults, older adults had an increase in COP in fixed platform conditions when using VTF, although they were able to reduce COP during sway-referenced platform conditions. Older adults also did not benefit fully from using VTF in their first session. The RTs for the secondary cognitive tasks increased significantly while using the VTF in both younger and older adults. Older adults had a larger increase compared with younger adults, suggesting that greater attentional demands were required in older adults when using VTF information. Future training protocols for VTF should take into consideration the effect of aging.

Functional MR imaging of a simulated balance task.

Human postural control, which relies on information from vestibular, visual, and proprioceptive inputs, degrades with aging, and falls are the leading cause of injury in older adults. In the last decade, functional neuroimaging studies have been performed in order to gain a greater understanding of the supraspinal control of balance and walking. It is known that active balancing involves cortical and subcortical structures in the brain, but neuroimaging of the brain during these tasks has been limited. The study of the effect of aging on the functional neuroimaging of posture and gait has only recently been undertaken. In this study, an MRI-compatible force platform was developed to simulate active balance control. Eleven healthy participants (mean age 75±5 yr) performed an active balance simulation task by using visual feedback to control anterior-posterior center of pressure movements generated by ankle dorsiflexor (DF) and plantarflexor (PF) movements, in a pattern consistent with upright stance control. An additional ankle DF/PF exertion task was performed. During both the active balance simulation and the ankle DF/PF tasks, the bilateral fusiform gyrus and middle temporal gyrus, right inferior, middle, and superior frontal gyrii were activated. No areas were found to be more active during the ankle DF/PF task when compared with the active balance simulation task. When compared to the ankle DF/PF task, the active balance simulation task elicited greater activation in the middle and superior temporal gyrii, insula, and a large cluster that covered the corpus callosum, superior and medial frontal gyrii, as well as the anterior cingulate and caudate nucleus. This study demonstrates the utility in using a force platform to simulate active balance control during MR imaging that elicits activity in cortical regions consistent with studies of active balance and mental imagery of balance.

Effectiveness of local cooling for enhancing tissue ischemia tolerance in people with spinal cord injury.

OBJECTIVE: To investigate the effects of localized cooling and cooling rate on pressure-induced ischemia for people with and without neurological deficits. DESIGN: A 2 × 3 mixed factorial design with two groups: (1) people with spinal cord injury (SCI) and (2) people without neurological deficits (control), and three test conditions: (1) pressure only, (2) pressure with fast cooling (-4°C/min), and (3) pressure with slow cooling (-0.33°C/min). SETTING: University laboratory. PARTICIPANTS: Fourteen controls and 14 individuals with SCI. INTERVENTIONS: Pressure on the sacrum was 0.4 kPa for 5 minutes, then 8 kPa for 20 minutes, and finally 0.4 kPa for 15 minutes. Fast and slow cooling to 25°C applied during 8 kPa of pressure. OUTCOME MEASURES: Reactive hyperemia and its spectral densities in the metabolic, neurogenic, and myogenic frequency ranges. RESULTS: In controls, reactive hyperemia was greater in pressure only as compared with both cooling conditions. No change was noted in all spectral densities in both cooling conditions, and only neurogenic spectral density increased without cooling. In subjects with SCI, no difference was noted in reactive hyperemia among conditions. However, metabolic and myogenic spectral densities increased without cooling and all spectral densities increased with slow cooling. No change was noted in all spectral densities with fast cooling. CONCLUSION: Local cooling reduced the severity of ischemia in controls. This protective effect may be masked in subjects with SCI due to chronic microvascular changes; however, spectral analysis suggested local cooling may reduce metabolic vasodilation. These findings provide evidence towards the development of support surfaces with temperature control for weight-bearing soft tissues.

Time and frequency constrained sonar signal design for optimal detection of elastic objects.

In this paper, the task of model-based transmit signal design for optimizing detection is considered. Building on past work that designs the spectral magnitude for optimizing detection, two methods for synthesizing minimum duration signals with this spectral magnitude are developed. The methods are applied to the design of signals that are optimal for detecting elastic objects in the presence of additive noise and self-noise. Elastic objects are modeled as linear time-invariant systems with known impulse responses, while additive noise (e.g., ocean noise or receiver noise) and acoustic self-noise (e.g., reverberation or clutter) are modeled as stationary Gaussian random processes with known power spectral densities. The first approach finds the waveform that preserves the optimal spectral magnitude while achieving the minimum temporal duration. The second approach yields a finite-length time-domain sequence by maximizing temporal energy concentration, subject to the constraint that the spectral magnitude is close (in a least-squares sense) to the optimal spectral magnitude. The two approaches are then connected analytically, showing the former is a limiting case of the latter. Simulation examples that illustrate the theory are accompanied by discussions that address practical applicability and how one might satisfy the need for target and environmental models in the real-world.

Propagation-invariant classification of sounds in channels with dispersion and absorption.

In a previous paper [G. Okopal et al., J. Acoust. Soc. Am. 123, 832-841 (2008)], a method to obtain features of a wave that are unaffected by dispersion, per mode, was developed for improving classification of underwater sounds (e.g., sonar backscatter). The current paper builds on this work and presents additional contributions. First, it is shown that the dispersion-invariant moments developed previously are not invariant to frequency-dependent attenuation (absorption); consequently, their classification performance degrades in such channels. Second, a feature extraction method is developed to obtain features that are invariant to dispersion, and to two forms of absorption (known a priori): namely, absorption that yields spectral magnitude attenuation (in dB) that is linear with frequency, and linear with log-frequency. Third, the relationship of these absorption- and dispersion-invariant moment (ADIM) features to the cepstrum of the wave is examined, and it is shown that cepstral moments are also invariant to dispersion, and to the first form of absorption for odd-order moments. Finally, simulations are conducted to illustrate the performance of the ADIMs and cepstral moments on classifying the backscatter from steel shells in a dispersive channel with absorption. Receiver operator characteristic curves quantify the superior discriminability of the ADIMs and cepstral moments compared to ordinary moments.

Stiffness and damping in postural control increase with age.

Upright balance is believed to be maintained through active and passive mechanisms, both of which have been shown to be impacted by aging. A compensatory balance response often observed in older adults is increased co-contraction, which is generally assumed to enhance stability by increasing joint stiffness. We investigated the effect of aging on standing balance by fitting body sway data to a previously developed postural control model that includes active and passive stiffness and damping parameters. Ten young (24 +/- 3 years) and seven older (75 +/- 5 years) adults were exposed during eyes-closed stance to perturbations consisting of lateral pseudorandom floor tilts. A least-square fit of the measured body sway data to the postural control model found significantly larger active stiffness and damping model parameters in the older adults. These differences remained significant even after normalizing to account for different body sizes between the young and older adult groups. An age effect was also found for the normalized passive stiffness, but not for the normalized passive damping parameter. This concurrent increase in active stiffness and damping was shown to be more stabilizing than an increase in stiffness alone, as assessed by oscillations in the postural control model impulse response.

Medial-lateral postural control in older adults exhibits increased stiffness and damping.

Older adults often exhibit increased co-contraction in response to a balance perturbation. This response is generally thought to enhance stability by increasing joint stiffness. We investigated the issue of increased stiffness in postural control by exposing seven older (75 +/- 5 y) and ten young (24 +/- 3 y) adults to pseudo-random medial-lateral (ML) floor tilts, and then fitting the measured ML body sway data to a previously-developed postural control model that includes stiffness and damping parameters. Significant increases were found in both parameters in the older adults compared to the young adults. This concurrent increase in stiffness and damping is more stabilizing than an increase in stiffness alone, which can lead to resonances.

Sensory adaptation in human balance control: lessons for biomimetic robotic bipeds.

This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of inconsistent sensors on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We review results exploring sensory re-weighting in humans and describe implementations of sensory re-weighting in simulation and on a robot.

Postural adaptations to repeated optic flow stimulation in older adults.

The purpose of this study is to understand the processes of adaptation (changes in within-trial postural responses) and habituation (reductions in between-trial postural responses) to visual cues in older and young adults. Of particular interest were responses to sudden increases in optic flow magnitude. The postural sway of 25 healthy young adults and 24 healthy older adults was measured while subjects viewed anterior-posterior 0.4 Hz sinusoidal optic flow for 45 s. Three trials for each of three conditions were performed: (1) constant 12 cm optic flow amplitude (24 cm peak-to-peak), (2) constant 4 cm amplitude (8 cm p-t-p), and (3) a transition in amplitude from 4 to 12 cm. The average power of head sway velocity (P(vel)) was calculated for consecutive 5s intervals during the trial to examine the changes in sway within and between trials. A mixed factor repeated measures ANOVA was performed to examine the effects of subject Group, Trial, and Interval on the P(vel). P(vel) was greater in older adults in all conditions (p<0.001). During the 12 cm constant amplitude trials, within-trial adaptation occurred for all subjects, but there were differences in the between-trial habituation. P(vel) of the older adults decreased significantly between all 3 trials, but decreased only between Trials 1 and 2 in young adults. While the responses of the young adults to the transition in optic flow from 4 to 12 cm did not significantly change, older adults had an increase in P(vel) following the transition, ranging from 6.5 dB for the first trial to 3.4 dB for the third trial. These results show that older adults can habituate to repeated visual perturbation exposures; however, this habituation requires a greater number of exposures than young adults. This suggests aging impacts the ability to quickly modify the relative weighting of the sensory feedback for postural stabilization.

Dispersion-invariant features for classification.

In dispersive propagation, waves from the same source will generally differ depending on how far they have traveled. Accordingly, it is desirable for classification in such environments to either account for propagation effects, or to obtain features that are invariant to such effects. The latter approach is taken in this paper, and features are derived that are unaffected by channel dispersion, per mode. A "local" view of pulse propagation in time-frequency phase space is considered. It is shown that the local duration of a wave, obtained from its time-frequency Wigner distribution, is invariant to dispersion. While higher moments of the Wigner distribution are not invariant to dispersion, the phase space considerations suggest an approach for defining "dispersion-invariant moments" (DIMs) of any order. This approach is also used to define a dispersion-invariant correlation coefficient that can be used for classification. The classification utility of the DIMs, and of the dispersion-invariant correlation coefficient, is evaluated via simulations of acoustic scattering from steel shells in a dispersive channel model (Pekeris waveguide). Receiver operating characteristic curves quantify the improved discriminability of the DIMs versus ordinary temporal moments, and of the dispersion-invariant correlation coefficient versus the ordinary correlation coefficient.

A model-based approach to attention and sensory integration in postural control of older adults.

We conducted a dual-task experiment that involved information processing (IP) tasks concurrent with postural perturbations to explore the interaction between attention and sensory integration in postural control in young and older adults. A postural control model incorporating sensory integration and the influence of attention was fit to the data, from which parameters were then obtained to quantify the interference of attention on postural control. The model hypothesizes that the cognitive processing and integration of sensory inputs for balance requires time, and that attention influences this processing time, as well as sensory selection by facilitating specific sensory channels. Performing a concurrent IP task had an overall effect on the time delay. Differences in the time delay of the postural control model were found for the older adults. The results suggest enhanced vulnerability of balance processes in older adults to interference from concurrent cognitive IP tasks.

Spectrally similar periodic and non-periodic optic flows evoke different postural sway responses.

The present study investigated the effect of optic flow periodicity on postural sway. Head and center-of-pressure (COP) displacements in response to an oscillating full-field bullseye-and-checkerboard pattern were recorded in six healthy adults. Scene movement was driven by one of five signals: (1) 0.1 Hz sinusoid, (2) 0.3 Hz sinusoid, (3) 0.5 Hz sinusoid, (4) the periodic sum of these three sinusoids (PSUM), or (5) a non-periodic counterpart (NPSUM = 0.1+ pi/10 + 0.5 Hz). Sway response power at the various stimulus frequencies were compared: (1) among the three pure sinusoidal groups; and (2) between the two sum-of-sinusoid groups. Head and COP responses displayed similar spectral content, though sway magnitude was larger for the head. Sway responses to the moving scenes were significantly larger than those observed during quiet stance. Each sinusoidal moving scene evoked a strong response at the stimulus frequency, as well as increased sway at non-stimulus frequencies, primarily below 0.2 Hz. For the sum-of-sinusoids stimuli, both PSUM and NPSUM signals elicited sway responses at each of their component frequencies. The amplitudes of these responses were similar to one another at 0.1 and 0.3 Hz, but significantly different at 0.5 Hz, with PSUM responses on average four times larger than those for NPSUM. These findings indicate that spectrally similar periodic and non-periodic stimuli elicit quantitatively different sway responses. The observed behaviors may be due to postural sensitivity to the predictability of visual motion, or due to other nonlinear and/or time-varying mechanisms in the postural control system.

Sensory re-weighting in human postural control during moving-scene perturbations.

The aim of the current study was to further investigate a recently proposed "sensory re-weighting" hypothesis, by evoking anterior-posterior (AP) body sway using visual stimuli during sway-referencing of the support surface. Twelve healthy adults participated in this study. Subjects stood on the platform while looking at a visual scene that encompassed the full horizontal field of view. A sequence of scene movements was presented to the subjects consisting of multiple visual push/pull perturbations; in between the first two push/pull sequences, the scene either moved randomly or was stationary. The peak-squared velocity of AP center-of-pressure (COP) was computed within a 6 s window following each push and pull. The peak-squared velocity was lowest for the push/pull sequence immediately following the random moving scene. These results are consistent with the sensory re-weighting hypothesis, wherein the sensory integration process reduced the contribution of visual sensory input during the random moving scene interval. We also found evidence of habituation to moving scene perturbations with repeated exposure.

Detecting postural responses to sinusoidal sensory inputs: a statistical approach.

A common way for understanding sensory integration in postural control is to provide sinusoidal perturbations to the sensory systems involved in balance. However, not all subjects exhibit a response to the perturbation. Determining whether or not a response has occurred is usually done qualitatively, e.g., by visual inspection of the power spectrum. In this paper, we present the application of a statistical test for quantifying whether or not a postural sway response is present. The test uses an F-statistic for determining if there is significant power in postural sway data at the stimulus frequency. In order to describe the application of this method, 20 subjects viewed sinusoidal anterior-posterior (A-P) optic flow at 0.1 and 0.25 Hz, while their A-P head translation was measured. The test showed that significant postural responses were detected at the stimulus frequency in 12/20 subjects at 0.1 Hz and 13/20 subjects at 0.25 Hz.