Modeling kinematic variability reveals displacement and velocity based dual control of saccadic eye movements.

Noise is a ubiquitous component of motor systems that leads to behavioral variability of all types of movements. Nonetheless, systems-based models investigating human movements are generally deterministic and explain only the central tendencies like mean trajectories. In this paper, a novel approach to modeling kinematic variability of movements is presented and tested on the oculomotor system. This approach reconciles the two prominent philosophies of saccade control: displacement-based control versus velocity-based control. This was achieved by quantifying the variability in saccadic eye movements and developing a stochastic model of its control. The proposed stochastic dual model generated significantly better fits of inter-trial variances of the saccade trajectories compared to existing models. These results suggest that the saccadic system can flexibly use the information of both desired displacement and velocity for its control. This study presents a potential framework for investigating computational principles of motor control in the presence of noise utilizing stochastic modeling of kinematic variability.

How reliable are femoropelvic kinematics during deep squats? The influence of subject-specific skeletal modelling on measurement variability.

BACKGROUND: Biplanar radiography displays promising results in the production of subject-specific (S.specific) biomechanical models. However, the focus has predominantly centred on methodological investigations in gait analysis. Exploring the influence of such models on the analysis of high range of motion tasks linked to hip pathologies is warranted. The aim of this study is to investigate the effect of S.Specific modelling techniques on the reliability of deep squats kinematics in comparison to generic modelling. METHODS: 8 able-bodied male participants attended 5 motion capture sessions conducted by 3 observers and performed 5 deep squats in each. Prior to each session a biplanar scan was acquired with the reflective-markers attached. Inverse kinematics of pelvis and thigh segments were calculated based on S.specific and Generic model definition. Agreement between the two models femoropelvic orientation in standing was assessed with Bland-Altman plots and paired t- tests. Inter-trial, inter-session, inter-observer variability and observer/trial difference and ratio were calculated for squat kinematic data derived from the two modelling approaches. RESULTS: Compared to the Generic model, the S.Specific model produced a calibration trial that is significantly offset into more posterior pelvis tilt (-2.8±2.7), hip extension (-2.2±3.8), hip abduction (-1.2±3.6) and external rotation (-13.8±11.4). The S.specific model produced significantly different squat kinematics in the sagittal plane of the pelvis (entire squat cycle) and hip (between 40 % and 60 % of the squat cycle). Variability analysis indicated that the error magnitude between the two models was comparable (difference<2°). The S.specific model exhibited a lower variability in the observer/trial ratio in the sagittal pelvis and hip, the frontal hip, but showed a higher variability in the transverse hip. SIGNIFICANCE: S.specific modelling appears to introduce a calibration offset that primarily translates into an effect in the sagittal plane kinematics. However, the clinical added value of S.specific modelling in terms of reducing experimental sources of kinematic variability was limited.

The interplay of fatigue dynamics and task achievement using optimal control predictive simulation.

Predictive simulation of human motion could provide insight into optimal techniques. In repetitive or long-duration tasks, these simulations must predict fatigue-induced adaptation. However, most studies minimize cost function terms related to actuator activations, assuming it minimizes fatigue. An additional modeling layer is needed to consider the previous use of muscles to reveal adaptive strategies to the decreased force production capability. Here, we propose interfacing Xia's three-compartment fatigue dynamics model with rigid-body dynamics. A stabilization invariant was added to Xia's model. We simulated the maximum repetition of dumbbell biceps curls as an optimal control problem (OCP) using direct multiple shooting. We explored three cost functions (minimizing torque, fatigue, or both) and two OCP formulations (full-horizon and sliding-horizon approaches). We adapted Xia's model by adding a stabilization invariant coefficients S=105 for direct multiple shooting. Sliding-horizon OCPs achieved 20 to 21 repetitions. The kinematic strategy slowly deviated from a plausible dumbbell lifting task to a swinging strategy as fatigue onset increasingly compromised the humerus to remain vertical. In full-horizon OCPs, the latter kinematic strategy was used over the whole motion, resulting in 32 repetitions. We showed that sliding-horizon OCPs revealed a reactive strategy to fatigue when only torque was included in the cost function, whereas an anticipatory strategy was revealed when the fatigue term was included in the cost function. Overall, the proposed approach has the potential to be a valuable tool in optimizing performance and helping reduce fatigue-related injuries in a variety of fields.

The influence of proximal motor strategies on pianists' upper-limb movement variability.

Repetitive movements are considered a risk factor for developing practice-related musculoskeletal disorders. Intra-participant kinematic variability might help musicians reduce the risk of injury during repetitive tasks. No research has studied the effects of proximal motion (i.e., trunk and shoulder movement) on upper-limb movement variability in pianists. The first objective was to determine the effect of proximal movement strategies and performance tempo on both intra-participant joint angle variability of upper-limb joints and endpoint variability. The second objective was to compare joint angle variability between pianist's upper-limb joints. As secondary objectives, we assessed the relationship between intra-participant joint angle variability and task range of motion (ROM) and documented inter-participant joint angle variability. The upper body kinematics of 9 expert pianists were recorded using an optoelectronic system. Participants continuously performed two right-hand chords (lateral leap motions) while changing movements based on trunk motion (with and without) and shoulder motion (counter-clockwise, back-and-forth, and clockwise) at two tempi (slow and fast). Trunk and shoulder movement strategies collectively influenced variability at the shoulder, elbow and, to a lesser extent, the wrist. Slow tempi led to greater variability at wrist and elbow flexion/extension compared to fast tempi. Endpoint variability was influenced only along the anteroposterior axis. When the trunk was static, the shoulder had the lowest joint angle variability. When trunk motion was used, elbow and shoulder variability increased, and became comparable to wrist variability. ROM was correlated with intra-participant joint angle variability, suggesting that increased task ROM might result in increased movement variability during practice. Inter-participant variability was approximately six times greater than intra-participant variability. Pianists should consider incorporating trunk motion and a variety of shoulder movements as performance strategies while performing leap motions at the piano, as they might reduce exposure to risks of injury.

Exploring the role of task on kinematic variability and assessing consistency in individual responses across repetitive manual tasks.

To gain a greater understanding of motor variability (MV) as an individual trait, the effect of task type on MV and individual consistency in MV across three tasks was investigated. Twenty participants performed repetitive carrying, lifting, and simulated sawing tasks. MV was assessed using the linear measure of mean point-by-point standard deviation in three-dimensional upper body joint angles. Task type affected MV, where carrying showed higher MV compared to sawing (23-29%) and lifting (12-19%). Furthermore, MV was higher in lifting compared to sawing (12-25%). Poor to moderate individual consistency (ICC = 0.42-0.63) was found across tasks. Task type determined MV and only some support for MV as an individual trait across tasks was found. Based on this work, differences in degrees of freedom afforded by the task influence the opportunity to exploit MV, and possibly individual consistency in MV magnitude is specific to the degrees of freedom afforded by the task. Practitioner summary: In repetitive tasks, movement variability has been proposed as an individual characteristic independent of task characteristics, where repeaters show consistently low variability, while replacers show consistently high variability. In the current study, only moderate support was demonstrated for variability as a consistent individual characteristic across different manual tasks.AbbreviationMV: Motor variability; WRMSDs: Work-related musculoskeletal disorders; DOF: Degrees of freedom; meanSD: Mean standard deviation; SD: Standard deviation; H: Handle (of simulated sawing setup); T: Track (of simulated sawing setup); F: Frame (of simulated sawing setup); ICC: Intraclass correlation; UE: Upper extremity; MMH: Manual material handling; EMG: Electromyography.

Ankle strategy assistance to improve gait stability using controllers based on in-shoe center of pressure in 2 degree-of-freedom powered ankle-foot orthoses: a clinical study.

BACKGROUND: Although the ankle strategy is important for achieving frontal plane stability during one-leg stance, previously developed powered ankle-foot orthoses (PAFOs) did not involve ankle strategies because of hardware limitations. Weakness of movement in frontal plane is a factor that deteriorates gait stability and increases fall risk so it should not be overlooked in rehabilitation. Therefore, we used PAFO with subtalar joint for frontal plane movement and tried to confirm that the existence of it is important in balancing through clinical experiments. METHODS: We developed a proportional CoP controller to assist ankle strategy or stabilizing moment and enhance eversion to compensate for the tilting moment with 2 dof PAFO. It was true experimental study, and we recruited seven healthy subjects (30 ± 4 years) who did not experience any gait abnormality participated in walking experiments for evaluating the immediate effect of subtalar joint of PAFO on their gait stability. They walked on the treadmill with several cases of controllers for data acquisitions. Indices of gait stability and electromyography for muscle activity were measured and Wilcoxon signed-rank tests were used to identify meaningful changes. RESULTS: We found that subjects were most stable during walking (in terms of largest Lyapunov exponents, p < 0.008) with the assistance of the PAFO when their electromyographic activity was the most reduced (p < 0.008), although postural sway increased when a proportional CoP controller was used to assist the ankle strategy (p < 0.008). Other indices of gait stability, kinematic variability, showed no difference between the powered and unpowered conditions (p > 0.008). The results of the correlation analysis indicate that the actuator of the PAFO enhanced eversion and preserved the location of the CoP in the medial direction so that gait stability was not negatively affected or improved. CONCLUSIONS: We verified that the developed 2 dof PAFO assists the ankle strategy by compensating for the tilting moment with proportional CoP controller and that wearer can walk in a stable state when the orthosis provides power for reducing muscle activity. This result is meaningful because an ankle strategy should be considered in the development of PAFOs for enhancing or even rehabilitating proprioception. Trial registration 7001988-202003-HR-833-03.

Speech kinematic variability in adults who stutter is influenced by treatment and speaking style.

AIM: We tested whether completion of the Comprehensive Stuttering Program (CSP) is associated with a reduction in speech kinematic variability relative to pre-treatment when adults who stutter (AWS) use a casual speaking manner or fluency skills. RATIONAL: Kinematic variability is higher in AWS suggesting a sensorimotor vulnerability; however, it is not clear whether high variability is a trait related to the underlying disorder or reflects the mutable state of stuttering. Speech restructuring intervention such as the CSP could support more consistent articulatory control and stable movement patterns. METHODOLOGY: Thirteen AWS were tested before and after completing the CSP while 11 adults who do not stutter (AWNS) completed a single session. Participants were instructed to use a casual manner of speaking in the first post-treatment session. In the second post-treatment condition, the AWS employed their fluency skills at a control speaking rate. An optical tracking system captured lower lip movements while participants spoke two English phrases and a complex nonword. Across-utterance kinematic variability was measured using the spatiotemporal index (STI) and within-utterance variability was measured with recurrence quantification analysis (RQA). RESULTS: There was a positive treatment outcome based on significant reductions in percentage syllables stuttered (%SS) during speaking and reading, decreases in stuttering severity and improved perceptions of stuttering and communication confidence. The STI of the AWS decreased significantly after treatment for both speaking styles. The RQA variables indicated that AWS used a less stereotyped and more flexible manner of speaking in the casual condition after treatment, but speech movement regularity increased when using fluency skills. CONCLUSIONS: The AWS showed a significant decrease in labial kinematic variability alongside a successful treatment outcome involving speech restructuring and cognitive behavioral techniques. These changes in across-utterance and within-utterance kinematic indices demonstrate that effective stuttering treatment can promote speech motor stability along with fluent speech.

Kinematic variability and local dynamic stability of gait in individuals with hip pain and a history of developmental dysplasia.

BACKGROUND: Individuals with developmental dysplasia of the hip (DDH) often report hip pain and exhibit gait adaptations. Previous studies in this patient population have focused on average kinematic and acceleration measures during gait, but have not examined variability. RESEARCH QUESTION: Do individuals with hip pain and DDH have altered kinematic variability or local dynamic stability (LDS) compared to individuals without hip pain? METHODS: Twelve individuals with hip pain and DDH and 12 matched controls walked for two minutes on a treadmill at three speeds: preferred, fast (25% faster than preferred), and prescribed (1.25 m/s). Kinematic variability of spatiotemporal measures, joint and segment angles, and LDS of the trunk were calculated for each speed. RESULTS: At the prescribed speed, individuals with hip pain and DDH had more kinematic variability than controls at the hip, pelvis, and trunk as well as greater variability in spatiotemporal measures. LDS was not different between groups. Kinematic variability of the joints decreased and LDS of the trunk increased (i.e., increased gait stability) with increased speed. SIGNIFICANCE: Individuals with hip pain and DDH had greater kinematic variability compared to individuals without hip pain when walking at the same prescribed speed, indicating either an adaptation to pain or reduced neuromuscular control. LDS of the trunk was not different between groups, suggesting that hip pain does not affect overall gait stability. Kinematic variability and LDS were affected by walking speed, but in different ways, emphasizing that these measures quantify different aspects of walking behavior.

Can Lokomat therapy with children and adolescents be improved? An adaptive clinical pilot trial comparing Guidance force, Path control, and FreeD.

BACKGROUND: Robot-assisted gait therapy is increasingly being used in pediatric neurorehabilitation to complement conventional physical therapy. The robotic device applied in this study, the Lokomat (Hocoma AG, Switzerland), uses a position control mode (Guidance Force), where exact positions of the knee and hip joints throughout the gait cycle are stipulated. Such a mode has two disadvantages: Movement variability is restricted, and patients tend to walk passively. Kinematic variability and active participation, however, are crucial for motor learning. Recently, two new control modes were introduced. The Path Control mode allows the patient to walk within a virtual tunnel surrounding the ideal movement trajectory. The FreeD was developed to support weight shifting through mediolaterally moveable pelvis and leg cuffs. The aims of this study were twofold: 1) To present an overview of the currently available control modes of the Lokomat. 2) To evaluate if an increase in kinematic variability as provided by the new control modes influenced leg muscle activation patterns and intensity, as well as heart rate while walking in the Lokomat. METHODS: In 15 adolescents with neurological gait disorders who walked in the Lokomat, 3 conditions were compared: Guidance Force, Path Control, and FreeD. We analyzed surface electromyographic (sEMG) activity from 5 leg muscles of the more affected leg and heart rate. Muscle activation patterns were compared with norm curves. RESULTS: Several muscles, as well as heart rate, demonstrated tendencies towards a higher activation during conditions with more kinematic freedom. sEMG activation patterns of the M.rectus femoris and M.vastus medialis showed the highest similarity to over-ground walking under Path Control, whereas walking under FreeD led to unphysiological muscle activation in the tested sample. CONCLUSIONS: Results indicate that especially Path Control seems promising for adolescent patients undergoing neurorehabilitation, as it increases proximal leg muscle activity while facilitating a physiological muscle activation. Therefore, this may be a solution to increase kinematic variability and patients' active participation in robot-assisted gait training.

The effects of movement speed on kinematic variability and dynamic stability of the trunk in healthy individuals and low back pain patients.

BACKGROUND: Comparison of the kinematic variability and dynamic stability of the trunk between healthy and low back pain patient groups can contribute to gaining valuable information about the movement patterns and neuromotor strategies involved in various movement tasks. METHODS: Fourteen chronic low back pain patients with mild symptoms and twelve healthy male volunteers performed repeated trunk flexion-extension movements in the sagittal plane at three different speeds: 20 cycles/min, self-selected, and 40 cycles/min. Mean standard deviations, coefficient of variation and variance ratio as variability measures; maximum finite-time Lyapunov exponents and maximum Floquet multipliers as stability measures were computed from trunk kinematics. FINDINGS: Higher speed significantly reduced the kinematic variability, while it increased short-term Lyapunov exponents. Long-term Lyapunov exponents were higher at self-selected speed and lower in low back pain patients as compared to control volunteers. Floquet multipliers were larger at self-selected speed and during higher pace trunk movements. INTERPRETATION: Our findings suggest that slower pace flexion-extension trunk movements are associated with more motor variation as well as local and orbital stability, implying less potential risk of injury for the trunk. Individuals with and without low back pain consistently recruited a closed-loop control strategy towards achieving trunk stability. Chronic low back pain patients exhibited more stable trunk movements over long-term periods, indicating probable temporary pain relief functional adaption strategies. These results may be used towards the development of more effective personalized rehabilitation strategies and quantitative spinal analysis tools for low back pain detection, diagnosis and treatment, as well as improvement of workspace and occupational settings.

Upper extremity kinematic and kinetic adaptations during a fatiguing repetitive task.

Repetitive low-force contractions are common in the workplace and yet can lead to muscle fatigue and work-related musculoskeletal disorders. The current study aimed to investigate potential motion adaptations during a simulated repetitive light assembly work task designed to fatigue the shoulder region, focusing on changes over time and age-related group differences. Ten younger and ten older participants performed four 20-min task sessions separated by short breaks. Mean and variability of joint angles and scapular elevation, joint net moments for the shoulder, elbow, and wrist were calculated from upper extremity kinematics recorded by a motion tracking system. Results showed that joint angle and joint torque decreased across sessions and across multiple joints and segments. Increased kinematic variability over time was observed in the shoulder joint; however, decreased kinematic variability over time was seen in the more distal part of the upper limb. The changes of motion adaptations were sensitive to the task-break schedule. The results suggested that kinematic and kinetic adaptations occurred to reduce the biomechanical loading on the fatigued shoulder region. In addition, the kinematic and kinetic responses at the elbow and wrist joints also changed, possibly to compensate for the increased variability caused by the shoulder joint while still maintaining task requirements. These motion strategies in responses to muscle fatigue were similar between two age groups although the older group showed more effort in adaptation than the younger in terms of magnitude and affected body parts.

Lower limb kinematic variability in dancers performing drop landings onto floor surfaces with varied mechanical properties.

Elite dancers perform highly skilled and consistent movements. These movements require effective regulation of the intrinsic and extrinsic forces acting within and on the body. Customized, compliant floors typically used in dance are assumed to enhance dance performance and reduce injury risk by dampening ground reaction forces during tasks such as landings. As floor compliance can affect the extrinsic forces applied to the body, secondary effects of floor properties may be observed in the movement consistency or kinematic variability exhibited during dance performance. The aim of this study was to investigate the effects of floor mechanical properties on lower extremity kinematic variability in dancers performing landing tasks. A vector coding technique was used to analyze sagittal plane knee and ankle joint kinematic variability, in a cohort of 12 pre-professional dancers, through discrete phases of drop landings from a height of 0.2m. No effect on kinematic variability was observed between floors, indicating that dancers could accommodate the changing extrinsic floor conditions. Future research may consider repeat analysis under more dynamic task constraints with a less experienced cohort. However, knee/ankle joint kinematic variability was observed to increase late in the landing phase which was predominantly comprised of knee flexion coupled with the terminal range of ankle dorsiflexion. These findings may be the result of greater neural input late in the landing phase as opposed to the suggested passive mechanical interaction of the foot and ankle complex at initial contact with a floor. Analysis of joint coordination in discrete movement phases may be of benefit in identifying intrinsic sources of variability in dynamic tasks that involve multiple movement phases.