Human arm endpoint-impedance in rhythmic human-robot interaction exhibits cyclic variations.

Estimating the human endpoint-impedance interacting with a physical environment provides insights into goal-directed human movements during physical interactions. This work examined the endpoint-impedance of the upper limb during a hybrid ball-bouncing task with simulated haptic feedback while participants manipulated an admittance-controlled robot. Two experiments implemented a force-perturbation method to estimate the endpoint parameters of 31 participants. Experimental conditions of the ball-bouncing task were simulated in a digital environment. One experiment studied the influence of the target height, while the other explored the impedance at three cyclic phases of the rhythmic movement induced by the task. The participants' performances were analyzed and clustered to establish a potential influence of endpoint impedance on performance in the ball-bouncing task. Results showed that endpoint-impedance parameters ranged from 45 to 445 N/m, 2.2 to 17.5 Ns/m, and 227 to 893 g for the stiffness, damping, and mass, respectively. Results did not support such a critical role of endpoint impedance in performance. Nevertheless, the three endpoint-impedance parameters described significant variations throughout the arm cycle. The stiffness is linked to a quasi-linear increase, with a maximum value reached before the ball impacts. The observed damping and mass cyclic variations seemed to be caused by geometric and kinematic variations. Although this study reveals rapid and within-cycles variations of endpoint-impedance parameters, no direct relationship between endpoint-impedance values and performance levels in ball-bouncing could be found.

Mechanomyographic Analysis for Muscle Activity Assessment during a Load-Lifting Task.

The purpose of this study was to compare electromyographic (EMG) with mechanomyographic (MMG) recordings during isometric conditions, and during a simulated load-lifting task. Twenty-two males (age: 25.5 ± 5.3 years) first performed maximal voluntary contractions (MVC) and submaximal isometric contractions of upper limb muscles at 25%, 50% and 75% MVC. Participants then executed repetitions of a functional activity simulating a load-lifting task above shoulder level, at 25%, 50% and 75% of their maximum activity (based on MVC). The low-frequency part of the accelerometer signal (<5 Hz) was used to segment the six phases of the motion. EMG and MMG were both recorded during the entire experimental procedure. Root mean square (RMS) and mean power frequency (MPF) were selected as signal extraction features. During isometric contractions, EMG and MMG exhibited similar repeatability scores. They also shared similar RMS vs. force relationship, with RMS increasing to 75% MVC and plateauing to 100%. MPF decreased with increasing force to 75% MVC. In dynamic condition, RMSMMG exhibited higher sensitivity to changes in load than RMSEMG. These results confirm the feasibility of MMG measurements to be used during functional activities outside the laboratory. It opens new perspectives for future applications in sports science, ergonomics and human-machine interface conception.

Sleep-related motor skill consolidation and generalizability after physical practice, motor imagery, and action observation.

Sleep benefits the consolidation of motor skills learned by physical practice, mainly through periodic thalamocortical sleep spindle activity. However, motor skills can be learned without overt movement through motor imagery or action observation. Here, we investigated whether sleep spindle activity also supports the consolidation of non-physically learned movements. Forty-five electroencephalographic sleep recordings were collected during a daytime nap after motor sequence learning by physical practice, motor imagery, or action observation. Our findings reveal that a temporal cluster-based organization of sleep spindles underlies motor memory consolidation in all groups, albeit with distinct behavioral outcomes. A daytime nap offers an early sleep window promoting the retention of motor skills learned by physical practice and motor imagery, and its generalizability toward the inter-manual transfer of skill after action observation. Findings may further have practical impacts with the development of non-physical rehabilitation interventions for patients having to remaster skills following peripherical or brain injury.

Voluntary control of pelvic frontal rotations in belly dance experts.

The present study investigated how belly dance experts perform the "hip shimmy", a complex rhythmic dance movement consisting in a voluntary oscillation of the pelvis exclusively in the frontal plane with maximised amplitude, with no movement of the upper trunk. The aims of this study were to 1) assess whether the amplitude and stability of the pelvic movement can be maximised in certain postural and frequency conditions; and 2) investigate in a 1 to 3 Hz range whether it is indeed possible to oscillate the pelvis only in the frontal plane and to dissociate this one-axis pelvic rotation from potential spontaneous upper-trunk oscillations. Nineteen belly dance experts performed this task in three frequencies and three knee bending postures. Eight joint angles were calculated using the kinematic data of 20 markers over the entire body collected with a motion capture system. Mean amplitude, frequency, and spatial and temporal variability of frontal pelvic oscillations were analysed to characterise motor performance and movement stability. Five Continuous Relative Phases (CRP) were computed to identify the modes and stability of coordination patterns. The results showed that a low posture enhances amplitude performance and that the pelvic oscillation amplitude tended to decrease at 3 Hz, although between-condition differences remained small. Temporal stability was highest at 2 Hz and significant inter-individual differences emerged at 3 Hz. CRP analysis revealed an unpreventable coupling between pelvis and upper-trunk oscillations in the frontal and transversal planes. A consistent antiphase coordination between transversal pelvis and upper-trunk may have been caused by anatomical and counter-balancing constraints. In the frontal plane, multiple stable pelvis-upper trunk patterns including inphase, out-of-phase and antiphase evolved to antiphase predominance and inphase disappearance upon reaching 3 Hz. In sum, increasing frequency highlighted the concomitance of two control phenomena: the inter-individual differentiation in performance and standardisation of the possible pelvis-upper-trunk patterns.

Combined Hip Angle Variability and RPE Could Determine Gait Transition in Elite Race Walkers.

The aim of this study was to investigate the role of energy cost in locomotion, specifically the rate of perceived exertion and movement variability in gait transition for eight race walkers (RW) and seven nonrace walkers (NRW). We hypothesized that a group of correlated variables could serve as combined triggers. Participants performed a preferred transition speed (PTS) test, exhibiting a higher PTS for RW (10.35 ± 0.28 km/hr) than for NRW (7.07 ± 0.69 km/hr), because RW engaged in race walking before switching to running. None of the variables increased before transition and dropped in PTS, which challenged the hypothesis of a unique transition variable in gait transitions. Principal component analysis showed that combined hip angle variability and rate of perceived exertion could determine gait transitions in elite RW and NRW. Thus, human gait transition may be triggered by a pool of determinant variables, rather than by a single factor.

The self-organization of ball bouncing.

The hybrid rhythmic ball-bouncing task considered in this study requires a participant to hit a ball in a virtual environment by moving a paddle in the real environment. It allows for investigation of the online visual control of action in humans. Changes in gravity acceleration in the virtual environment affect the ball dynamics and modify the ball-paddle system limit cycle. These changes are shown to be accurately reproduced through simulation by a model integrating continuous information-movement couplings between the ball trajectory and the paddle trajectory, giving rise to a resonance-tuning phenomenon. On the contrary, the tested models integrating only intermittent sensorimotor couplings were unable to replicate the observed human behavior. Results suggest that the visual control of action is achieved online, in a prospective way. Human rhythmic motor control would benefit from the timing and phase control emerging from the low-level continuous coupling between the central pattern generator and the visual perception of the ball trajectory. This control strategy, which precludes the need for internal clock and explicit environmental representation, is also able to explain the empirical result that the bounces tend to converge toward a passive stability regime during human ball bouncing.

Model of rhythmic ball bouncing using a visually controlled neural oscillator.

The present paper investigates the sensory-driven modulations of central pattern generator dynamics that can be expected to reproduce human behavior during rhythmic hybrid tasks. We propose a theoretical model of human sensorimotor behavior able to account for the observed data from the ball-bouncing task. The novel control architecture is composed of a Matsuoka neural oscillator coupled with the environment through visual sensory feedback. The architecture's ability to reproduce human-like performance during the ball-bouncing task in the presence of perturbations is quantified by comparison of simulated and recorded trials. The results suggest that human visual control of the task is achieved online. The adaptive behavior is made possible by a parametric and state control of the limit cycle emerging from the interaction of the rhythmic pattern generator, the musculoskeletal system, and the environment.NEW & NOTEWORTHY The study demonstrates that a behavioral model based on a neural oscillator controlled by visual information is able to accurately reproduce human modulations in a motor action with respect to sensory information during the rhythmic ball-bouncing task. The model attractor dynamics emerging from the interaction between the neuromusculoskeletal system and the environment met task requirements, environmental constraints, and human behavioral choices without relying on movement planning and explicit internal models of the environment.

The embodied dynamics of perceptual causality: a slippery slope?

In Michotte's launching displays, while the launcher (object A) seems to move autonomously, the target (object B) seems to be displaced passively. However, the impression of A actively launching B does not persist beyond a certain distance identified as the "radius of action" of A over B. If the target keeps moving beyond the radius of action, it loses its passivity and seems to move autonomously. Here, we manipulated implied friction by drawing (or not) a surface upon which A and B are traveling, and by varying the inclination of this surface in screen- and earth-centered reference frames. Among 72 participants (n = 52 in Experiment 1; n = 20 in Experiment 2), we show that both physical embodiment of the event (looking straight ahead at a screen displaying the event on a vertical plane vs. looking downwards at the event displayed on a horizontal plane) and contextual information (objects moving along a depicted surface or in isolation) affect interpretation of the event and modulate the radius of action of the launcher. Using classical mechanics equations, we show that representational consistency of friction from radius of action responses emphasizes the embodied nature of frictional force in our cognitive architecture.

Major changes in a rhythmic ball-bouncing task occur at age 7 years.

The aim of the study was to investigate the development of a rhythmical skill of children aged from 5 to 12 years old. Five age groups (5-6, 7-8, 9-10, 11-12, and young adults) performed a virtual ball bouncing task (16 forty-second long test trials). Task performances, racket oscillation, ball-racket impacts as well as the ball-racket coupling were analysed. The results showed a change in both performance and behaviour at the age of 7 years old. Before this age, children exhibited restricted perceptual-motor coordination with a high frequency of racket oscillation and a poor level of performance. After the age of 7, cycle-to-cycle adaptive coordination based on visual information was progressively acquired leading to increasing performance levels with age. Overall these results revealed a rapid change in capability to perform the ball bouncing task across age with a late emergence of the required coordination and significant change in the coordination at the age of 7.

Adaptive tuning of perceptual timing to whole body motion.

In a previous work we have shown that sinusoidal whole-body rotations producing continuous vestibular stimulation, affected the timing of motor responses as assessed with a paced finger tapping (PFT) task (Binetti et al. (2010). Neuropsychologia, 48(6), 1842-1852). Here, in two new psychophysical experiments, one purely perceptual and one with both sensory and motor components, we explored the relationship between body motion/vestibular stimulation and perceived timing of acoustic events. In experiment 1, participants were required to discriminate sequences of acoustic tones endowed with different degrees of acceleration or deceleration. In this experiment we found that a tone sequence presented during acceleratory whole-body rotations required a progressive increase in rate in order to be considered temporally regular, consistent with the idea of an increase in "clock" frequency and of an overestimation of time. In experiment 2 participants produced self-paced taps, which entailed an acoustic feedback. We found that tapping frequency in this task was affected by periodic motion by means of anticipatory and congruent (in-phase) fluctuations irrespective of the self-generated sensory feedback. On the other hand, synchronizing taps to an external rhythm determined a completely opposite modulation (delayed/counter-phase). Overall this study shows that body displacements "remap" our metric of time, affecting not only motor output but also sensory input.

Passive vs. active control of rhythmic ball bouncing: the role of visual information.

The simple task of bouncing a ball on a racket offers a model system for studying how human actors exploit the physics and information of the environment to control their behavior. Previous work shows that people take advantage of a passively stable solution for ball bouncing but can also use perceptual information to actively stabilize bouncing. In this article, we investigate (a) active and passive contributions to the control of bouncing, (b) the visual information in the ball's trajectory, and (c) how it modulates the parameters of racket oscillation. We used a virtual ball bouncing apparatus to manipulate the coefficient of restitution alpha and gravitational acceleration g during steady-state bouncing (Experiment 1) and sudden transitions (Experiment 2) to dissociate informational variables. The results support a form of mixed control, based on the half-period of the ball's trajectory, in which racket oscillation is actively regulated on every cycle in order to keep the system in or near the passively stable region. The mixed control mode may be a general strategy for integrating passive stability with active stabilization in perception-action systems.

Time in motion: effects of whole-body rotatory accelerations on timekeeping processes.

The ability of effectively representing time ensures the efficiency and accuracy of sensory and motor processing. It is well documented that in still observers, subjective time varies in response to variations of external sensory inputs. However, it is still poorly understood how inertial inputs, which enable coding of body displacements in space, affect timekeeping processes in a dynamic agent. Here, we investigated the effects of rotatory body accelerations on the reproduction of an acoustic isochronous pacing rhythm. In a first experiment, healthy participants performed a finger tapping task in which responses were either synchronized to the rhythm (Synchronization), or performed in absence of the rhythm following its withdrawal (Continuation). Both tasks were performed in presence and absence of sinusoidal acceleratory rotations along the vertical head-body axis. We found that the representation of the target frequency varied continuously as a function of periodic variations of vestibular-proprioceptive information. However, the effects on Synchronization and Continuation were opposite in directionality: increases in velocity were associated to increases in Continuation tapping rate (indicating a subjective shortening of the target interval), and decreases in Synchronization tapping rate. This was due to different temporal delays with which body motion affected tapping rate generation in these two conditions. A second control experiment, which lacked a representational component of time, confirmed that body displacements in Experiment 1 had indeed affected an internal timekeeper, and not motor responses triggered by its operation. A third control experiment, procedurally identical to Experiment 1 with the exception of an increased displacement frequency, allowed us to establish that Continuation tapping rate varied anticipatorily with respect to body motion, while Synchronization tapping rate varied with a delay in response to body movements. The observed consistent directionality in timing error, can be considered an adaptive response of internal timing mechanisms to body movements in space, where greater rates of displacement prompt accelerated timed responses.

Action-perception patterns in virtual ball bouncing: combating system latency and tracking functional validity.

How can we evaluate the spatio-temporal performance of virtual environments (VE) for research use? Here we show that end-to-end latency (ETEL) of VE can strongly damage users' perceptual and perceptuo-motor behaviors and that it can be considered to be the key factor for evaluating face and functional fidelity of a VE. We used a virtual ball-bouncing task as a paradigmatic example. Ball bouncing is known to exhibit attractive and repelling states whose localization in the racket cycle is sufficiently thin to be changed by small variations of ETEL. We first present a simple test-bed to measure the intrinsic ETEL of research-related VE systems. We then report results of a psychophysical ball-bouncing experiment in which ETEL was manipulated. While face validity (i.e., subjective experience) was maintained with relatively high values, the results reveal that the perception-action behavior (performance) was damaged with smaller ETEL values. These results call for action-perception variables in order to test the fidelity of VE systems.

Intercepting free falling objects: better use Occam's razor than internalize Newton's law.

Several studies have recently provided empirical data supporting the view that gravity has been embodied in a quantitative internal model of gravity thereby permitting access to exact time-to-contact (TTC) when intercepting a free falling object. In this review, we discuss theoretical and methodological concerns with the experiments that supposedly support the assumption of a predictive and accurate model of gravity. Having done so, we then propose that only a "qualitative implicit physics knowledge" of the effects of gravity is used as an approximate pre-information that influences timing of interceptive actions in the specific case of free falling objects. Clear evidence remains to be provided to define how this knowledge is combined with optical information for on-line timing of interceptive actions.

Learning new perception-action solutions in virtual ball bouncing.

How do humans discover stable solutions to perceptual-motor tasks as they interact with the physical environment? We investigate this question using the task of rhythmically bouncing a ball on a racket, for which a passively stable solution is defined. Previously, it was shown that participants exploit this passive stability but can also actively stabilize bouncing under perceptual control. Using a virtual ball-bouncing display, we created new behavioral solutions for rhythmic bouncing by introducing a temporal delay (45 degrees -180 degrees ) between the motion of the physical racket and that of the virtual racket. We then studied how participants searched for and realized a new solution. In all delay conditions, participants learned to maintain bouncing just outside the passively stable region, indicating a role for active stabilization. They recovered the approximate initial phase of ball impact in the virtual racket cycle (half-way through the upswing) by adjusting the impact phase with the physical racket. With short delays (45 degrees , 90 degrees ), the impact phase quickly shifted later in the physical racket upswing. With long delays (135 degrees , 180 degrees ), bouncing was destabilized and phase was widely visited before a new preferred phase gradually emerged, during the physical downswing. Destabilization was likely due to the loss of spatial symmetry between the ball and physical racket motion at impact. The results suggest that new behavioral solutions may be discovered and stabilized through broad irregular sampling of variable space rather than through a systematic search.

The "ways" we look at dreams: evidence from unilateral spatial neglect (with an evolutionary account of dream bizarreness).

Despite decades of research, the question of whether the rapid eye movements (REMs) of paradoxical sleep (PS) are equivalent to waking saccades and whether their direction is congruent with visual spatial events in the dream scene is still very controversial. We gained an insight into these questions through the study of a right brain damaged patient suffering attentional neglect for the left side of space and drop of the optokinetic nystagmus (OKN) with alternating rightward slow/leftward fast phases evoked by rightward optic flow. During PS the patient had frequent Nystagmoid REMs with alternating leftward slow/rightward fast phases and reported dreams with visual events evoking corresponding OKN such as a train running leftward. By contrast, just as in waking OKN, Nystagmoid REMs with alternating rightward slow/leftward fast phases were virtually absent. REMs followed by staring eye position or by consecutive REMs were also observed: these showed no asymmetry comparable to that of Nystagmoid ones. The selective disappearance of Nystagmoid REMs in one horizontal direction proves, for the first time, that in humans different types of REMs exists and that these are driven by different premotor mechanisms. Concomitant drop of OKN and Nystagmoid REMs toward the same horizontal direction demonstrates that phylogenetically ancient oculomotor mechanisms, such as the OKN, are shared by waking and PS. On this evidence and converging findings from animal, neuropsychological and brain imaging studies, a new evolutionary account of dream bizarreness is proposed. Classification and labelling of the different types of REMs are also provided.

Effects of vestibular rotatory accelerations on covert attentional orienting in vision and touch.

Peripheral vestibular organs feed the central nervous system with inputs favoring the correct perception of space during head and body motion. Applying temporal order judgments (TOJs) to pairs of simultaneous or asynchronous stimuli presented in the left and right egocentric space, we evaluated the influence of leftward and rightward vestibular rotatory accelerations given around the vertical head-body axis on covert attentional orienting. In a first experiment, we presented visual stimuli in the left and right hemifield. In a second experiment, tactile stimuli were presented to hands lying on their anatomical side or in a crossed position across the sagittal body midline. In both experiments, stimuli were presented while normal subjects suppressed or did not suppress the vestibulo-ocular response (VOR) evoked by head-body rotation. Independently of VOR suppression, visual and tactile stimuli presented on the side of rotation were judged to precede simultaneous stimuli presented on the side opposite the rotation. When limbs were crossed, attentional facilitatory effects were only observed for stimuli presented to the right hand lying in the left hemispace during leftward rotatory trials with VOR suppression. This result points to spatiotopic rather than somatotopic influences of vestibular inputs, suggesting that cross-modal effects of these inputs on tactile ones operate on a representation of space that is updated following arm crossing. In a third control experiment, we demonstrated that temporal prioritization of stimuli presented on the side of rotation was not determined by response bias linked to spatial compatibility between the directions of rotation and the directional labels used in TOJs (i.e., "left" or "right" first). These findings suggest that during passive rotatory head-body accelerations, covert attention is shifted toward the direction of rotation and the direction of the fast phases of the VOR.

The importance of head-free gaze control in humans performing a spatial orientation task.

The present study aimed at investigating how a specific instruction concerning gaze orientation, which involved active head motion, could influence the performance of human subjects in a self-controlled whole-body rotation task in the dark. Subjects were seated on a mobile robotic chair that they controlled using a joystick. They were asked to perform 360 degrees rotations while maintaining, when possible, the gaze on the estimated position of an earth-fixed target. Subjects performed better when gazing at this target than when no target was shown. Furthermore, performance was significantly related to head stabilization in space. The results reveal the importance of head-free gaze control for spatial orientation in so far as it may involve spatial reference cues and sensory signals of different modalities, which may be beneficial to self-motion perception.

Vestibulo-ocular and optokinetic impairments in left unilateral neglect.

Right brain damaged patients affected by left unilateral neglect (N+) typically fail to explore the contralesional space. For the first time, this study investigates the dynamic and spatial features of the horizontal vestibular-ocular response (VOR), the optokinetic response (OKR) and the VOR-OKR interaction in six N+ and in five right brain damaged patients without neglect (N-). No lateral asymmetry of the gain (i.e. eye velocity to head velocity ratio) of VOR slow phases was found in either group. In the VOR, N+ had higher frequency of slow-rightward/fast-leftward phases and higher contralesional shift of the beating field (i.e. orbital position of fast phases). In the VOR-OKR, there was an increase of gain in both lateral directions and in both groups even though in N-, there was a lower phase shift between eye and head velocity. In contrast to the VOR, in the VOR-OKR, N+ had higher frequency of slow-leftward/fast-rightward phases. The VOR-OKR interaction also introduced an ipsilesional shift of the beating field in both N+ and N-. In the OKR, N+ showed a drop in the velocity, amplitude and frequency of slow-rightward/fast-leftward phases. These findings potentially suggest that each hemisphere modulates VOR with contralaterally directed slow phases and OKR with ipsilaterally directed slow phases. This organisation could facilitate maintenance or fast recovery of combined VOR + OKR after unilateral brain damage. The same findings suggest that by inducing slow-leftward phases, vestibular and optokinetic stimulation improve left side neglect through the activation of different hemispheric pathways. No ipsilesional deviation of the subjective "straight ahead" was found in N+. These results show that chronic unilateral neglect can be dissociated both from deficits of ipsilesionally directed VOR and from ipsilesional deviation of the subjective midsagittal plane of the body.