Perception of Looming Motion in Virtual Reality Egocentric Interception Tasks.

Motion in depth is commonly misperceived in Virtual Reality (VR), making it difficult to intercept moving objects, for example, in games. We investigate whether motion cues could be modified to improve these interactions in VR. We developed a time-to-contact estimation task, in which observers ($n=18$n=18) had to indicate by button press when a looming virtual object would collide with their head. We show that users consistently underestimate speed. We construct a user-specific model of motion-in-depth perception, and use this model to propose a novel method to modify monocular depth cues tailored to the specific user, correcting individual response errors in speed estimation. A user study was conducted in a simulated baseball environment and observers were asked to hit a looming baseball back in the direction of the pitcher. The study was conducted with and without intervention and demonstrates the effectiveness of the method in reducing interception errors following cue modifications. The intervention was particularly effective at fast ball speeds where performance is most limited by the user's sensorimotor constraints. The proposed approach is easy to implement and could improve the user experience of interacting with dynamic virtual environments.

Vastus lateralis and vastus medialis produce distinct mediolateral forces on the patella but similar forces on the tibia in the rat.

Improper activation of the quadriceps muscles vastus medialis (VM) and vastus lateralis (VL) has been implicated in the development of patellofemoral pain (PFP). This explanation of PFP assumes that VM and VL produce opposing mediolateral forces on the patella. Although studies have provided evidence for opposing actions of VM and VL on the patella, other studies have suggested that their actions might be similar. In this study, we took advantage of the experimental accessibility of the rat to directly measure the forces on the patella produced by VM and VL. We found that VM and VL produce opposing mediolateral forces on the patella when the patella was lifted away from the femur. These distinct mediolateral forces were not transmitted to the tibia, however: forces measured at the distal tibia were very similar for VM and VL. Further, when the patella was placed within the trochlear groove, the forces on the patella produced by VM and VL were very similar to one another. These results suggest that mediolateral forces produced by VM and VL are balanced by reaction forces from the trochlear groove and so are not transmitted to the tibia. These results provide a rich characterization of the mechanical actions of VM and VL and have implications about the potential role of these muscles in PFP and their neural control during behavior.

Exponential Rosenbrock-Euler Integrators for Elastodynamic Simulation.

High quality simulations of the dynamics of soft flexible objects can be rather costly, because the assembly of internal forces through an often nonlinear stiffness at each time step is expensive. Many standard implicit integrators introduce significant, time-step dependent artificial damping. Here we propose and demonstrate the effectiveness of an exponential Rosenbrock-Euler (ERE) method which avoids discretization-dependent artificial damping. The method is relatively inexpensive and works well with the large time steps used in computer graphics. It retains correct qualitative behaviour even in challenging circumstances involving non-convex elastic energies. Our integrator is designed to handle and perform well even in the important cases where the symmetric stiffness matrix is not positive definite at all times. Thus we are able to address a wider range of practical situations than other related solvers. We show that our system performs efficiently for a wide range of soft materials.

Uncertainty in Limb Configuration Makes Minimal Contribution to Errors Between Observed and Predicted Forces in a Musculoskeletal Model of the Rat Hindlimb.

Subject-specific musculoskeletal models are increasingly used in biomedical applications to predict endpoint forces due to muscle activation, matching predicted forces to experimentally observed forces at a specific limb configuration. However, it is difficult to precisely measure the limb configuration at which these forces are observed. The consequent uncertainty in limb configuration might contribute to errors in model predictions. We therefore evaluated how uncertainties in limb configuration measurement contributed to errors in force prediction, using data from in vivo measurements in the rat hindlimb. We used a data-driven approach to estimate the uncertainty in estimated limb configuration and then used this configuration uncertainty to evaluate the consequent uncertainty in force predictions, using Monte Carlo simulations. We used subject-specific models of joint structures (i.e., centers and axes of rotation) in order to estimate limb configurations for each animal. The standard deviation of the distribution of predicted force directions resulting from configuration uncertainty was small, ranging between 0.27° and 3.05° across muscles. For most muscles, this standard deviation was considerably smaller than the error between observed and predicted forces (between 0.57° and 70.96°), suggesting that uncertainty in limb configuration could not explain inaccuracies in model predictions. Instead, our results suggest that inaccuracies in muscle model parameters, most likely in parameters specifying muscle moment arms, are the main source of prediction errors by musculoskeletal models in the rat hindlimb.

Coordinated Control of Three-Dimensional Components of Smooth Pursuit to Rotating and Translating Textures.

Purpose: The neural control of pursuit eye movements to visual textures that simultaneously translate and rotate has largely been neglected. Here we propose that pursuit of such targets-texture pursuit-is a fully three-dimensional task that utilizes all three degrees of freedom of the eye, including torsion. Methods: Head-fixed healthy human adults (n = 8) tracked a translating and rotating random dot pattern, shown on a computer monitor, with their eyes. Horizontal, vertical, and torsional eye positions were recorded with a head-mounted eye tracker. Results: The torsional component of pursuit is a function of the rotation of the texture, aligned with its visual properties. We observed distinct behaviors between those trials in which stimulus rotation was in the same direction as that of a rolling ball ("natural") in comparison to those with the opposite rotation ("unnatural"): Natural rotation enhanced and unnatural rotation reversed torsional velocity during pursuit, as compared to torsion triggered by a nonrotating random dot pattern. Natural rotation also triggered pursuit with a higher horizontal velocity gain and fewer and smaller corrective saccades. Furthermore, we show that horizontal corrective saccades are synchronized with torsional corrective saccades, indicating temporal coupling of horizontal and torsional saccade control. Conclusions: Pursuit eye movements have a torsional component that depends on the visual stimulus. Horizontal and torsional eye movements are separated in the motor periphery. Our findings suggest that translational and rotational motion signals might be coordinated in descending pursuit pathways.

Eye movement accuracy determines natural interception strategies.

Eye movements aid visual perception and guide actions such as reaching or grasping. Most previous work on eye-hand coordination has focused on saccadic eye movements. Here we show that smooth pursuit eye movement accuracy strongly predicts both interception accuracy and the strategy used to intercept a moving object. We developed a naturalistic task in which participants (n = 42 varsity baseball players) intercepted a moving dot (a "2D fly ball") with their index finger in a designated "hit zone." Participants were instructed to track the ball with their eyes, but were only shown its initial launch (100-300 ms). Better smooth pursuit resulted in more accurate interceptions and determined the strategy used for interception, i.e., whether interception was early or late in the hit zone. Even though early and late interceptors showed equally accurate interceptions, they may have relied on distinct tactics: early interceptors used cognitive heuristics, whereas late interceptors' performance was best predicted by pursuit accuracy. Late interception may be beneficial in real-world tasks as it provides more time for decision and adjustment. Supporting this view, baseball players who were more senior were more likely to be late interceptors. Our findings suggest that interception strategies are optimally adapted to the proficiency of the pursuit system.

Dose verification in carcinoma of uterine cervix patients undergoing 3D conformal radiotherapy with Farmer type ion chamber.

External beam radiotherapy (EBRT) for carcinoma of uterine cervix is a basic line of treatment with three dimensional conformal radiotherapy (3DCRT) in large number of patients. There is need for an established method for verification dosimetry. We tried to document absorbed doses in a group of carcinoma cervix patients by inserting a 0.6 cc Farmer type ion chamber in the vaginal cavity. A special long perspex sleeve cap is designed to cover the chamber for using in the patient's body. Response of ionization chamber is checked earlier in water phantom with and without cap. Treatment planning was carried out with X-ray computed tomography (CT) scan and with the chamber along with cap in inserted position, and with the images Xio treatment planning system. Three measurements on 3 days at 5-6 fraction intervals were recorded in 12 patients. Electrometer measured charges are converted to absorbed dose at the chamber center, in vivo. Our results show good agreement with planned dose within 3% against prescribed dose. This study, is a refinement over our previous studies with transmission dosimetry and chemicals in ampules. This preliminary work shows promise that this can be followed as a routine dose check with special relevance to new protocols in the treatment of carcinoma cervix with EBRT.

Fast ray-tracing of human eye optics on Graphics Processing Units.

We present a new technique for simulating retinal image formation by tracing a large number of rays from objects in three dimensions as they pass through the optic apparatus of the eye to objects. Simulating human optics is useful for understanding basic questions of vision science and for studying vision defects and their corrections. Because of the complexity of computing such simulations accurately, most previous efforts used simplified analytical models of the normal eye. This makes them less effective in modeling vision disorders associated with abnormal shapes of the ocular structures which are hard to be precisely represented by analytical surfaces. We have developed a computer simulator that can simulate ocular structures of arbitrary shapes, for instance represented by polygon meshes. Topographic and geometric measurements of the cornea, lens, and retina from keratometer or medical imaging data can be integrated for individualized examination. We utilize parallel processing using modern Graphics Processing Units (GPUs) to efficiently compute retinal images by tracing millions of rays. A stable retinal image can be generated within minutes. We simulated depth-of-field, accommodation, chromatic aberrations, as well as astigmatism and correction. We also show application of the technique in patient specific vision correction by incorporating geometric models of the orbit reconstructed from clinical medical images.

Robustness of muscle synergies during visuomotor adaptation.

During visuomotor adaptation a novel mapping between visual targets and motor commands is gradually acquired. How muscle activation patterns are affected by this process is an open question. We tested whether the structure of muscle synergies is preserved during adaptation to a visuomotor rotation. Eight subjects applied targeted isometric forces on a handle instrumented with a force transducer while electromyographic (EMG) activity was recorded from 13 shoulder and elbow muscles. The recorded forces were mapped into horizontal displacements of a virtual sphere with simulated mass, elasticity, and damping. The task consisted of moving the sphere to a target at one of eight equally spaced directions. Subjects performed three baseline blocks of 32 trials, followed by six blocks with a 45° CW rotation applied to the planar force, and finally three wash-out blocks without the perturbation. The sphere position at 100 ms after movement onset revealed significant directional error at the beginning of the rotation, a gradual learning in subsequent blocks, and aftereffects at the beginning of the wash-out. The change in initial force direction was closely related to the change in directional tuning of the initial EMG activity of most muscles. Throughout the experiment muscle synergies extracted using a non-negative matrix factorization algorithm from the muscle patterns recorded during the baseline blocks could reconstruct the muscle patterns of all other blocks with an accuracy significantly higher than chance indicating structural robustness. In addition, the synergies extracted from individual blocks remained similar to the baseline synergies throughout the experiment. Thus synergy structure is robust during visuomotor adaptation suggesting that changes in muscle patterns are obtained by rotating the directional tuning of the synergy recruitment.

Phenomenological models of the dynamics of muscle during isotonic shortening.

We investigated the effectiveness of simple, Hill-type, phenomenological models of the force-length-velocity relationship for simulating measured length trajectories during muscle shortening, and, if so, what forms of the model are most useful. Using isotonic shortening data from mouse soleus and toad depressor mandibulae muscles, we showed that Hill-type models can indeed simulate the shortening trajectories with sufficiently good accuracy. However, we found that the standard form of the Hill-type muscle model, called the force-scaling model, is not a satisfactory choice. Instead, the results support the use of less frequently used models, the f-max scaling model and force-scaling with parallel spring, to simulate the shortening dynamics of muscle.

Differences in adaptation rates after virtual surgeries provide direct evidence for modularity.

Whether the nervous system relies on modularity to simplify acquisition and control of complex motor skills remains controversial. To date, evidence for modularity has been indirect, based on statistical regularities in the motor commands captured by muscle synergies. Here we provide direct evidence by testing the prediction that in a truly modular controller it must be harder to adapt to perturbations that are incompatible with the modules. We investigated a reaching task in which human subjects used myoelectric control to move a mass in a virtual environment. In this environment we could perturb the normal muscle-to-force mapping, as in a complex surgical rearrangement of the tendons, by altering the mapping between recorded muscle activity and simulated force applied on the mass. After identifying muscle synergies, we performed two types of virtual surgeries. After compatible virtual surgeries, a full range of movements could still be achieved recombining the synergies, whereas after incompatible virtual surgeries, new or modified synergies would be required. Adaptation rates after the two types of surgery were compared. If synergies were only a parsimonious description of the regularities in the muscle patterns generated by a nonmodular controller, we would expect adaptation rates to be similar, as both types of surgeries could be compensated with similar changes in the muscle patterns. In contrast, as predicted by modularity, we found strikingly faster adaptation after compatible surgeries than after incompatible ones. These results indicate that muscle synergies are key elements of a modular architecture underlying motor control and adaptation.

Directional asymmetries in human smooth pursuit eye movements.

PURPOSE: Humans make smooth pursuit eye movements to bring the image of a moving object onto the fovea. Although pursuit accuracy is critical to prevent motion blur, the eye often falls behind the target. Previous studies suggest that pursuit accuracy differs between motion directions. Here, we systematically assess asymmetries in smooth pursuit. METHODS: In experiment 1, binocular eye movements were recorded while observers (n = 20) tracked a small spot of light moving along one of four cardinal or diagonal axes across a featureless background. We analyzed pursuit latency, acceleration, peak velocity, gain, and catch-up saccade latency, number, and amplitude. In experiment 2 (n = 22), we examined the effects of spatial location and constrained stimulus motion within the upper or lower visual field. RESULTS: Pursuit was significantly faster (higher acceleration, peak velocity, and gain) and smoother (fewer and later catch-up saccades) in response to downward versus upward motion in both the upper and the lower visual fields. Pursuit was also more accurate and smoother in response to horizontal versus vertical motion. CONCLUSIONS. Our study is the first to report a consistent up-down asymmetry in human adults, regardless of visual field. Our findings suggest that pursuit asymmetries are adaptive responses to the requirements of the visual context: preferred motion directions (horizontal and downward) are more critical to our survival than nonpreferred ones.

Effort minimization and synergistic muscle recruitment for three-dimensional force generation.

To generate a force at the hand in a given spatial direction and with a given magnitude the central nervous system (CNS) has to coordinate the recruitment of many muscles. Because of the redundancy in the musculoskeletal system, the CNS can choose one of infinitely many possible muscle activation patterns which generate the same force. What strategies and constraints underlie such selection is an open issue. The CNS might optimize a performance criterion, such as accuracy or effort. Moreover, the CNS might simplify the solution by constraining it to be a combination of a few muscle synergies, coordinated recruitment of groups of muscles. We tested whether the CNS generates forces by minimum effort recruitment of either individual muscles or muscle synergies. We compared the activation of arm muscles observed during the generation of isometric forces at the hand across multiple three-dimensional force targets with the activation predicted by either minimizing the sum of squared muscle activations or the sum of squared synergy activations. Muscle synergies were identified from the recorded muscle pattern using non-negative matrix factorization. To perform both optimizations we assumed a linear relationship between rectified and filtered electromyographic (EMG) signal which we estimated using multiple linear regressions. We found that the minimum effort recruitment of synergies predicted the observed muscle patterns better than the minimum effort recruitment of individual muscles. However, both predictions had errors much larger than the reconstruction error obtained by the synergies, suggesting that the CNS generates three-dimensional forces by sub-optimal recruitment of muscle synergies.

Changes in hand muscle synergies in subjects with spinal cord injury: characterization and functional implications.

BACKGROUND/OBJECTIVES: In order to guide and improve rehabilitation interventions for grip function after spinal cord injury (SCI), it is important to have a detailed understanding of the motor control strategies that the central nervous system uses to control the hand. We examined whether changes in the motor control of the hand after SCI are manifested in the form of changes to muscle synergies. We further sought to determine a correlation between functional ability and the extent of muscle synergy disruption. METHODS: Surface electromyographic (EMG) data were recorded from 8 hand muscles in 10 able-bodied subjects and 6 subjects with SCI as they performed various functional tasks using grip types relevant to activities of daily living. Muscle synergies were extracted using non-negative matrix factorization. Functional performance in each task was quantified using a 5-point clinical scale. RESULTS: The synergies most commonly observed in able-bodied subjects were co-activation of extensor digitorum communis and extensor indicis proprius, as well as of flexor digitorum superficialis with flexor carpi ulnaris. The proportion of subjects in which particular synergies occurred was significantly different for subjects with SCI compared to able-bodied subjects (P < 0.001). Deviations from the average able-bodied synergies in subject with SCI were found to be poorly correlated (r = -0.04) with functional ability. CONCLUSIONS: Results suggest that the disruptions and re-organizations of neural circuitry after SCI are reflected by the extracted muscle synergies, but the question of how muscle synergies can guide rehabilitation interventions remains open.

Passive elastic properties of the rat ankle.

Passive properties of muscles and tendons, including their elasticity, have been suggested to influence motor control. We examine here the potential role of passive elastic muscle properties at the rat ankle joint, focusing on their potential to specify an equilibrium position of the ankle. We measured the position-dependent passive torques at the rat ankle before and after sequential cuts of flexor (a.k.a. dorsiflexor) and extensor (a.k.a. plantarflexor) ankle muscles. We found that there was a passive equilibrium position of the ankle that shifted systematically with the cuts, demonstrating that the passive torques produced by ankle flexor and extensor muscles work in opposition in order to maintain a stable equilibrium. The mean equilibrium position of the intact rat ankle ranged from 9.3° to 15.7° in extension relative to the orthogonal position, depending on the torque metric. The mean shift in equilibrium position due to severing extensors ranged from 4.4° to 7.7°, and the mean shift due to severing flexors was smaller, ranging from 0.9° to 2.5°. The restoring torques generated by passive elasticity are large enough (approximately 1.5-5 mNm for displacements of 18° from equilibrium) to affect ankle movement during the swing phase of locomotion, and the asymmetry of larger extension vs. flexion torques is consistent with weight support, demonstrating the importance of accounting for passive muscle properties when considering the neural control of movement.

Transducer and base compliance alter the in situ 6 dof force measured from muscle during an isometric contraction in a multi-joint limb.

Although musculoskeletal models are commonly used, validating the muscle actions predicted by such models is often difficult. In situ isometric measurements are a possible solution. The base of the skeleton is immobilized and the endpoint of the limb is rigidly attached to a 6-axis force transducer. Individual muscles are stimulated and the resulting forces and moments recorded. Such analyses generally assume idealized conditions. In this study we have developed an analysis taking into account the compliances due to imperfect fixation of the skeleton, imperfect attachment of the force transducer, and extra degrees of freedom (dof) in the joints that sometimes become necessary in fixed end contractions. We use simulations of the rat hindlimb to illustrate the consequences of such compliances. We show that when the limb is overconstrained, i.e., when there are fewer dof within the limb than are restrained by the skeletal fixation, the compliances of the skeletal fixation and of the transducer attachment can significantly affect measured forces and moments. When the limb dofs and restrained dofs are matched, however, the measured forces and moments are independent of these compliances. We also show that this framework can be used to model limb dofs, so that rather than simply omitting dofs in which a limb does not move (e.g., abduction at the knee), the limited motion of the limb in these dofs can be more realistically modeled as a very low compliance. Finally, we discuss the practical implications of these results to experimental measurements of muscle actions.

Is titin a 'winding filament'? A new twist on muscle contraction.

Recent studies have demonstrated a role for the elastic protein titin in active muscle, but the mechanisms by which titin plays this role remain to be elucidated. In active muscle, Ca(2+)-binding has been shown to increase titin stiffness, but the observed increase is too small to explain the increased stiffness of parallel elastic elements upon muscle activation. We propose a 'winding filament' mechanism for titin's role in active muscle. First, we hypothesize that Ca(2+)-dependent binding of titin's N2A region to thin filaments increases titin stiffness by preventing low-force straightening of proximal immunoglobulin domains that occurs during passive stretch. This mechanism explains the difference in length dependence of force between skeletal myofibrils and cardiac myocytes. Second, we hypothesize that cross-bridges serve not only as motors that pull thin filaments towards the M-line, but also as rotors that wind titin on the thin filaments, storing elastic potential energy in PEVK during force development and active stretch. Energy stored during force development can be recovered during active shortening. The winding filament hypothesis accounts for force enhancement during stretch and force depression during shortening, and provides testable predictions that will encourage new directions for research on mechanisms of muscle contraction.

Muscle tension estimation in the presence of neuromuscular impairment.

Static optimization approaches to estimating muscle tensions rely on the assumption that the muscle activity pattern is in some sense optimal. However, in the case of individuals with a neuromuscular impairment, this assumption is likely not to hold true. We present an approach to muscle tension estimation that does not rely on any optimality assumptions. First, the nature of the impairment is estimated by reformulating the relationship between the muscle tensions and the external forces produced in terms of the deviation from the expected activation in the unimpaired case. This formulation allows the information from several force production tasks to be treated as a single coupled system. In a second step, the identified impairments are used to obtain a novel cost function for the muscle tension estimation task. In a simulation study of the index finger, the proposed method resulted in muscle tension errors with a mean norm of 23.3 ± 26.8% (percentage of the true solution norm), compared to 52.6 ± 24.8% when solving the estimation task using a cost function consisting of the sum of squared muscle stresses. Performance was also examined as a function of the amount of error in the kinematic and muscle Jacobians and found to remain superior to the performance of the squared muscle stress cost function throughout the range examined.

Estimation of musculoskeletal models from in situ measurements of muscle action in the rat hindlimb.

Musculoskeletal models are often created by making detailed anatomical measurements of muscle properties. These measurements can then be used to determine the parameters of canonical models of muscle action. We describe here a complementary approach for developing and validating muscle models, using in situ measurements of muscle actions. We characterized the actions of two rat hindlimb muscles: the gracilis posticus (GRp) and the posterior head of biceps femoris (BFp; excluding the anterior head with vertebral origin). The GRp is a relatively simple muscle, with a circumscribed origin and insertion. The BFp is more complex, with an insertion distributed along the tibia. We measured the six-dimensional isometric forces and moments at the ankle evoked from stimulating each muscle at a range of limb configurations. The variation of forces and moments across the workspace provides a succinct characterization of muscle action. We then used this data to create a simple muscle model with a single point insertion and origin. The model parameters were optimized to best explain the observed force-moment data. This model explained the relatively simple muscle, GRp, very well (R(2)>0.85). Surprisingly, this simple model was also able to explain the action of the BFp, despite its greater complexity (R(2)>0.84). We then compared the actions observed here with those predicted using recently published anatomical measurements. Although the forces and moments predicted for the GRp were very similar to those observed here, the predictions for the BFp differed. These results show the potential utility of the approach described here for the development and refinement of musculoskeletal models based on in situ measurements of muscle actions.

Extracting skeletal muscle fiber fields from noisy diffusion tensor data.

Diffusion Tensor Imaging (DTI) allows the non-invasive study of muscle fiber architecture but musculoskeletal DTI suffers from low signal-to-noise ratio. Noise in the computed tensor fields can lead to poorly reconstructed muscle fiber fields. This paper describes an algorithm for producing denoised muscle fiber fields from noisy diffusion tensor data as well as its preliminary validation. The algorithm computes a denoised vector field by finding the components of its Helmholtz-Hodge decomposition that optimally match the diffusion tensor field. A key feature of the algorithm is that it performs denoising of the vector field simultaneously with its extraction from the noisy tensor field. This allows the vector field reconstruction to be constrained by the architectural properties of skeletal muscles. When compared to primary eigenvector fields extracted from noisy synthetic data, the denoised vector fields show greater similarity to the ground truth for signal-to-noise ratios ranging from 20 to 5. Similarity greater than 0.9 (in terms of fiber direction) is observed for all signal-to-noise ratios, for smoothing parameter values greater than or equal to 10 (larger values yield more smoothing). Fiber architectures were computed from human forearm diffusion tensor data using extracted primary eigenvectors and the denoised data. Qualitative comparison of the fiber fields showed that the denoised fields were anatomically more plausible than the noisy fields. From the results of experiments using both synthetic and real MR datasets we conclude that the denoising algorithm produces anatomically plausible fiber architectures from diffusion tensor images with a wide range of signal-to-noise ratios.