Biomedical subjects

F Lacquaniti

Publications and source records attributed to F Lacquaniti.

At least 55 records · Page 3Linked to original sources

PubMed1996

Kinematic determinants of human locomotion.

1. The aim of this study was to find kinematic patterns that are invariant across the normal range of locomotion speeds. Subjects walked at different, freely chosen speeds ranging from 0.9 to 2.1 m s-1, while motion and ground reaction forces on the right side of the body were recorded in three-dimensional space. 2. The time course of the anatomical angles of flexion-extension at the hip and ankle was variable not only across subjects, but even from trial to trial in the same subject. By contrast, the time course of the changes in the angles of elevation of each limb segment (pelvis, thigh, shank and foot) relative to the vertical was stereotyped across subjects. 3. To compare the waveforms across speeds, data were scaled in time relative to gait cycle duration. The pattern of ground reaction forces was highly speed dependent. Several distinct families of curves could be recognized in the flexion-extension angles at the hip and ankle. Instead, the waveforms of global length and elevation of the limb, elevation angles of all limb segments and flexion-extension at the knee were invariant with speed. 4. When gait trajectories at all speeds are plotted in the position space defined by the elevation angles of the limb segments, they describe regular loops on a plane. The statistical characteristics of these angular covariations were quantified by means of principal component analysis. The first two principal components accounted together for > 99% of the total experimental variance, and were quantitatively comparable in all subjects. 5. This constraint of planar covariation of the elevation angles is closely reminiscent of that previously described for the control of posture. The existence of laws of intersegmental co-ordination, common to the control of posture and locomotion, presumably assures the maintenance of dynamic equilibrium during forward progression, and the anticipatory adaptation to potentially destabilizing factors by means of co-ordinated kinematic synergies of the whole body.

Adult↗

PubMed1994

A hybrid frame of reference for visuo-manual coordination.

Visuo-kinesthetic matching of the orientation of an object in three-dimensional space has been studied by asking normal human subjects to align their unseen hand in parallel to the perceived orientation of a virtual stereoscopic object. Systematic errors were found for all three degrees of freedom of object orientation. These errors were much reduced when vision of the hand was allowed. The analysis of the distribution of the directional components of the errors revealed that matching performance without view of the hand was biased in a preferred direction that coincides with neither anatomical axes of the hand nor earth-fixed axes of visual space, but is intermediate between hand space and visual space. This suggests that a hybrid frame of reference is constructed by combining parallel multisensory information.

Hand↗

PubMed1994

Independent control of limb position and contact forces in cat posture.

1. It has previously been demonstrated that a set of geometric and kinetic parameters are invariant in cats standing at their preferred interfoot distance and weight distribution. Thus the length and the angle of orientation relative to the vertical of each limb axis remain approximately constant when the supporting platform is tilted in the sagittal plane. The direction of the tangential contact forces is similarly constrained in response to horizontal translations. The main aim of the present study is to assess whether or not the control of limb position is independent of the control of the contact forces at the feet. To this end we have examined cat posture under a number of different conditions expressly designed to increase the range of postural variability. We considered that if the specification of limb position is a mere byproduct of the neural control of contact forces (or vice versa), geometric and kinetic parameters would covary interdependently. If instead limb position and contact forces are controlled in parallel and independently of each other, they will tend to follow different laws of variation. 2. Limb position and contact forces were measured in intact cats standing freely on a support platform. In a first series of experiments the pitch angle of the platform was randomly changed, as were the interfoot distance and head orientation. In another series of experiments cats were tilted in the presence of an external load tending to shift the weight distribution. The same load was applied in two different manners: 1) it made contact with a very limited surface of the body, and 2) it was attached by means of a long vest that made contact with most of the trunk and produced abnormal somesthesic cues to the body. 3. The range of different experimental conditions resulted in substantial trial-to-trial variations of the length and orientation of the axis of the limbs, as well as variations of the magnitude and orientation of the net contact forces. We found that the changes of the orientation of the contact force vector are uncorrelated with the corresponding changes of limb orientation, thus providing a first line of evidence in favor of the existence of a separate neural control of geometric and kinetic parameters. 4. Another line of evidence is provided by the specific form of the laws of variation of geometric parameters and tangential forces in different animals. Under normal (unloaded) conditions the values of the limb joint angles tend to covary linearly.(ABSTRACT TRUNCATED AT 400 WORDS)

Animals↗

PubMed1994

Coordinate transformations in the control of cat posture.

1. Global geometric variables represent high-order parameters in the control of cat posture. In particular, limb length and orientation are accurately controlled in response to tilts of the support platform. There is now electrophysiological evidence, obtained in anesthetized cats, that spinal sensory neurons projecting to the cerebellum are broadly tuned to limb length and orientation. Limb length and orientation specify the position of the limb end-points in body-centered polar coordinates. They define an intended posture in a global manner, leaving the detailed geometric configuration of the limbs undetermined. The planar covariation of limb joint angles described in the accompanying paper suggests the existence of an intermediate processing stage that transforms endpoint coordinates into the angular coordinates of the joints (inverse mapping). In this paper we address the question of the nature of this coordinate transformation. Because the number of degrees of freedom of angular motion in each limb exceeds that of endpoint motion in world space, several different angular configurations are compatible with any given endpoint position in world space. Thus the problem of coordinate transformation is a priori indeterminate. We have tested a number of different hypotheses. 2. Coordinate transformation could be accomplished implicitly by means of discrete kinematic synergies. Any given geometric configuration of the limb would result from a weighed combination of only two distinct patterns of angular covariations, the first pattern affecting selectively limb length and the second pattern affecting limb orientation. This decomposition, however, was found in only a few sporadic cases. 3. We also tested the possibility that the coordinate transformation involves the Moore-Penrose generalized inverse. We found that this algorithm produces a planar covariation of the joint angles, but with an orientation orthogonal to the experimental plane. By contrast, a linear transformation with constant, position-independent terms can fit the experimental plane of angular covariations but predicts large errors in endpoint position. 4. The particular orientation in joint space of the experimental plane, coupled with the scatter of data points around the plane, bears a specific implication for the problem of inverse mapping. The experimental plane crosses the constant position lines (the loci of all possible changes of the joint angles that correspond with an invariant position of the endpoint) at an acute angle. Consequently the specification of limb orientation is little sensitive to joint configurations: relatively small changes in orientation can be produced by large changes in joint configurations.(ABSTRACT TRUNCATED AT 400 WORDS)

Animals↗

PubMed1993

Time-varying mechanical behavior of multijointed arm in man.

1. The aim of this study was to describe the time-varying changes in the mechanical parameters of a multijointed limb. The parameters we considered are the coefficients of stiffness, viscosity, and inertia. Continuous pseudorandom perturbations were applied at the elbow joint during a catching task. A modified version of an ensemble technique was used for the identification of time-varying parameters. Torques at the elbow and wrist joints were then modeled with a linear combination of the changes in angular position and velocity weighted by the matrix of angular stiffness and the matrix of angular viscosity, respectively. Control experiments were also performed that involved the stationary maintenance of a given limb posture by resisting actively the applied perturbations. Different limb postures were examined in each such experiment to investigate the dependence of the mechanical parameters on limb geometry. 2. The technique for the identification of limb mechanical parameters proved adequate. The input perturbations applied at the elbow joint elicited angular oscillations at the wrist essentially uncorrelated with those produced at the elbow. The frequency of oscillation is much higher at the wrist than at the elbow, mainly because of the smaller inertia. The variance accounted for by the model was approximately 80% under both stationary and time-varying conditions; in the latter case the value did not vary significantly throughout the task. In addition, the model predicted values of the inertial parameters that were close to the anthropometric measures, and it reproduced the stepwise increase in limb inertia that occurs at the time the ball is held in the hand. 3. The values of angular stiffness and viscosity estimated under stationary conditions did not vary significantly with joint angle, in agreement with previous results obtained under quasi-static postural conditions. The matrix of the coefficients of angular stiffness was not symmetrical, indicating a prominent role for nonautogenic reflex feedbacks with unequal gains for elbow and wrist muscles. 4. A complex temporal modulation of angular stiffness and viscosity was observed during the catching task. The changes in the direct coefficients of angular stiffness tended to covary with those in the coupling coefficients from trial start up to approximately 30 ms before impact time. Around impact time, however, there was a complete dissociation: the direct terms peaked, whereas the coupling terms dropped. The direct terms of angular viscosity also increased before impact, whereas the viscosity coupling terms remained close to zero throughout.(ABSTRACT TRUNCATED AT 400 WORDS)

Adult↗

PubMed1992

Automatic control of limb movement and posture.

Studies are reviewed that address the problem of the variables controlled by the central nervous system in the maintenance of body posture and limb movement against disturbing forces. The role of global variables of control, which take into account the dynamic state of the limb, is discussed. Neural substrates that are involved in the distributed control of kinematic and dynamic parameters are also considered.

Adaptation, Physiological↗

PubMed1992

Internal models of limb geometry in the control of hand compliance.

The aim of this article is to describe the role of some neural mechanisms in the adaptive control of limb compliance during preplanned mechanical interaction with objects. We studied the EMG responses and the kinematic responses evoked by pseudorandom perturbations continuously applied by means of a torque motor before and during a catching task. The temporal changes of these responses were studied by means of an identification technique for time-varying systems. We found a transient reversal of EMG stretch reflex responses centered on the time of ball impact on the hand; this reversal results in a transient coactivation of antagonist muscles at both the elbow and the wrist. The kinematic responses describe the relation between torque input and position output. Thus, they provide a global measure of limb compliance. The changes in limb compliance during catching were quantified by computing error criteria either in the Cartesian coordinates of the hand or in the angular coordinates of the elbow and wrist joints. We found that only the hand compliance in Cartesian coordinates is consistently minimized around impact, in coincidence with the transient reversal of the stretch reflex responses. By contrast, the error criteria expressed in the angular coordinates of the joints have a variable time course and are not minimized around impact. It is known that hand compliance depends on both the pattern of muscle activities and the geometrical configuration of the limb. Therefore, the lack of consistent correlation between the changes in hand compliance and the changes in the geometrical configuration of the limb during catching indicates that the gating of the stretch reflex responses around impact time is based on an internal model of limb geometry.

Brain↗

PubMed1991

Transient reversal of the stretch reflex in human arm muscles.

1. Load perturbation responses can violate the law of reciprocal innervation between antagonist muscles under particular conditions. Thus flexor and extensor muscles of wrist and elbow joints are reflexly coactivated by the impact of a ball on the hand during a catching task. The aim of this study was to determine whether reflex coactivation can be preset within the central nervous system (CNS) or whether it is entirely due to the peripheral stimulus. To this end, we studied the behavior of stretch reflex responses of arm muscles evoked by torque motor perturbations applied before and during the catching task. 2. Subjects were instructed to catch a ball dropped from 1.6 m. A torque motor delivered perturbations to the elbow joint, resulting in angular motion at both elbow and wrist joints because of their dynamic mechanical coupling. Two series of experiments were performed that differed in the perturbation waveform. In the first series, a single torque pulse could be randomly applied at different times during the task. The corresponding responses were recovered by subtracting the average of the unperturbed trials from the averages of perturbed trials. In the second series of experiments, a train of pseudorandom pulses was applied continuously during each trial. The time-varying impulse responses were computed at 20-ms intervals by cross-correlation methods. 3. The pattern of the short-latency electromyographic responses evoked by either single pulses or pseudorandom perturbations obeyed the law of reciprocal innervation of antagonist muscles under basal conditions. However, the pattern of the responses evoked by the same perturbations around the time of ball impact on the hand consisted of a substantial coactivation of both stretched and shortening muscles. Reflex coactivation resulted from response patterns that differed at different joints. At the elbow, reflex coactivation resulted from a transient reversal of the direction of the short-latency responses of flexor muscles, with little changes of the responses of extensor muscles. At the wrist, instead, reflex coactivation resulted from simultaneous changes in the response waveform of both flexor and extensor muscles. 4. The peripheral conditions associated with the applied perturbations were constant before the time of ball impact. Thus, because the changes of the stretch reflex responses began before that time, they must have been generated within the CNS. It is here hypothesized that the reversal of the reflex responses is centrally gated by switching from the pathways of reciprocal inhibition to those of coactivation of antagonist alpha-motoneurons.(ABSTRACT TRUNCATED AT 400 WORDS)

Arm↗

PubMed1990

The control of limb geometry in cat posture.

1. The aim of this study is to address the problem of the controlled variable in quadrupedal stance. In particular, we considered whether the projection of the centre of mass of the body on the support surface or the joint torques or the geometrical configuration of the limbs are primarily controlled. 2. Cats were trained to stand freely on a platform which could be tilted in the sagittal plane by up to +/- 20 deg. The normal and tangential components of the contact forces at each paw were measured by means of load cells. The position of limb joints was recorded by means of the ELITE system. 3. The projection of the centre of body mass on the platform, as well as the orientation and length of limb axes, varied to only a limited extent with tilt angle. In particular, the limb axes were closely lined up with the vertical, as were the vectors of the contact forces at the paws. As a result, the torques at the proximal joints (scapula and hip) were close to zero and the torques at the other joints varied little with table tilt. 4. In order to test the different hypotheses on postural control, an external load (10-20% of the animal weight) was applied to the cat forequarters. The projected centre of mass consistently shifted forwards, contrary to the hypothesis that this parameter is controlled in stance. Instead, the geometry of limb posture remained unmodified after load application, even though the torques at forelimb joints were much greater than in the control. 5. This postural behaviour showed no sign of adaptation over a period of 24 h of continuous load application. 6. It is concluded that limb geometry is primarily controlled in stance. The results are discussed in the context of current notions on hierarchical control and body scheme.

Animals↗

PubMed1989

An assessment of the existence of muscle synergies during load perturbations and intentional movements of the human arm.

A cross-correlation analysis was performed on EMG activities in elbow and shoulder flexors evoked by force perturbations acting in different directions on the forearm and during intentionally generated movements with the purpose of characterizing the temporal relationships between patterns of activation of different muscles. Qualitatively it was found that the shape of the cross-correlation function differed from one experimental condition to the next. A principal component analysis permitted a quantitative assessment of this point. In general it was found that two principal components could account for the data. Furthermore when the cross-correlograms are represented in principal component space, there was no clustering of the data points. Several possible definitions of 'muscle synergies' are discussed from the perspective of this finding. It is concluded that the most restrictive definition is incompatible with the data. Less restrictive definitions, while compatible with the data, do not lead to a simplification of the control problem.

Arm↗

PubMed1989

Central representations of human limb movement as revealed by studies of drawing and handwriting.

In order to move, we must know 'where' to go and 'how' to get there. Since limb movement unfolds simultaneously in the space extrinsic to the subject ('where' to go) and in the intrinsic space of the joints and muscles ('how' to go), the brain must be able to represent the movement in both spaces and to map information from one space to the other. Here Francesco Lacquaniti reviews the experimental evidence in support of the hypothesis that these central representations consist of a limited, well-defined ensemble of movement properties, which are coded in specific coordinate systems. The discussion will be focused on drawing and handwriting movements, because much progress has recently been made in understanding them. However, most of the concepts apply to other arm movements as well.

Arm↗

PubMed1989

The role of preparation in tuning anticipatory and reflex responses during catching.

The pattern of muscle responses associated with catching a ball in the presence of vision was investigated by independently varying the height of the drop and the mass of the ball. It was found that the anticipatory EMG responses comprised early and late components. The early components were produced at a roughly constant latency (about 130 msec) from the time of ball release. Their mean amplitude decreased with increasing height of fall. Late components represented the major build-up of muscle activity preceding the ball's impact and were accompanied by limb flexion. Their onset time was roughly constant (about 100 msec) with respect to the time of impact (except in wrist extensors). This indicates that the timing of these responses was based on an accurate estimate of the instantaneous values of the time-to-contact (time remaining before impact). The mean amplitude of the late anticipatory responses increased linearly with the expected momentum of the ball at impact. The reflex responses evoked by the ball's impact consisted in a short-latency coactivation of flexor and extensor muscles at the elbow and wrist joints. Their mean amplitude generally increased with the intensity of the perturbation both in the stretched muscles and in the shortening muscles. We argue that both the anticipatory and the reflex coactivation are centrally preset in preparation for catching and are instrumental for stabilizing limb posture after impact. A model with linear, time-varying viscoelastic coefficients was used to assess the neural and mechanical contributions to the damping of limb oscillations induced by the ball's impact. The model demonstrates that (1) anticipatory muscle stiffening and anticipatory flexion of the limb are synergistic in building up resistance of the hand to vertical displacement and (2) the reflex coactivation produces a further increment of hand stiffness and viscosity which tends to offset the decrement which would result from the limb extension produced by the impact.

Adult↗

PubMed1989

Adaptation to suppression of visual information during catching.

We address the problem of whether and how adaptation to suppression of visual information occurs in catching behavior. To this end, subjects were provided with advance information about the height of fall and the mass of a ball and an auditory cue signaled the time of release. Adaptation did occur, as indicated by the unimpaired ability to catch the ball without vision; however, it involved a major reorganization of the muscle responses. The subjects were unable to produce anticipatory activity consistently, but preset the responses elicited by the impact. These responses were more complex and prolonged than those observed in the control experiments (with vision). In particular, medium- and long-latency responses were much larger, and the changes in elbow, wrist, and metacarpophalangeal angles following impact were more oscillatory than in the control. The general pattern of the EMG responses switched from that characteristic of catching with vision to that characteristic of catching without vision from the first trial of each experiment. However, the responses produced without vision were calibrated adaptively in the course of an experiment. In fact, the limb oscillations induced by the impact were significantly larger in the first trial than in the following trials. This seems to suggest that the parameters of the responses are adjusted based on an internal model of the dynamic interaction between the falling ball and the limb. This model is initially constructed from a priori knowledge on impact parameters and is subsequently updated on the basis of the kinesthetic and cutaneous information obtained during the first trial.

Adaptation, Psychological↗

PubMed1988

Quantitative evaluation of the electromyographic responses to multidirectional load perturbations of the human arm.

1. Force perturbations consisting of a random train of pulses were applied to the forearms of human subjects, the direction of the force being varied +/- 60 degrees from vertical in the sagittal plane in different trials. 2. Both forearm and upper arm were free to move, and the perturbations resulted in angular motion and torque at both joints. By varying the direction of the force, different combinations of these variables could be obtained. 3. Average angular motion and net torque at the shoulder and elbow joints and electromyographic activity of shoulder and elbow muscles due to a single pulse of force were computed by cross-correlation methods. 4. The pattern of responses in biceps, brachio-radialis, and anterior deltoid was not related uniquely to angular motion at the shoulder or elbow joints. Furthermore, the responses appeared to consist of two distinct components, an "early" one with a latency less than 40 ms and a "late" one with a latency of approximately 80 ms. 5. The average amplitude of the early response was best correlated with the average change in angular velocities, whereas that of the late one was best correlated with average changes in torque resulting from the perturbation. The data are consistent with the hypothesis that the two components have different anatomical substrates and that they have different functional implications for the stabilization of the limb in the face of perturbations.

Arm↗

PubMed1987

Anticipatory and reflex coactivation of antagonist muscles in catching.

Reflex and anticipatory coactivation of antagonist muscles is demonstrated to occur when human subjects catch a ball. Amplitude and time course of the electromyographic (EMG) responses are strongly modulated by the presence of visual information. It is argued that these responses are centrally preset to stabilize the limb after ball impact.

Central Nervous System↗

PubMed1987

Transient responses to load perturbations of the forearm in a monkey with a chronic lesion in the internal capsule.

Small electrolytic lesions were produced in the internal capsule of a monkey. The changes in muscle tone were quantified by studying the EMG responses of elbow muscles and the mechanical responses of the forearm to pseudo-random torque perturbations applied to the elbow joint. Immediately following the lesion, the EMG responses of both biceps and triceps muscles were depressed. Subsequently, biceps responses recovered and became eventually greater than in the control. Triceps responses, instead, remained low throughout the follow-up period (3 months). The mechanical behavior of the forearm was characterized in terms of the dynamic relationship between the applied torque perturbations and the resulting changes in elbow angle. After the lesion, the damping of the elbow responses decreased relative to the control. Possible mechanisms for the observed changes in the EMG and mechanical behavior are discussed.

Animals↗

PubMed1987

A note on the kinematcis of drawing movements in children.

The relationship between instantaneous tangential velocity and radius of curvature (power 1/3) that is characteristic of adult subjects was found to be already present in children 3 to 11 years old. The correlation coefficient between these two parameters increases gradually with age without apparent discontinuities. However, even at the upper limit of the age range examined, the values are still lower than in the adults.

Journal Article↗

PubMed1987

Changes in spatial scale in drawing and handwriting: kinematic contributions by proximal and distal joints.

The coordination of arm and hand motions was studied in tasks involving drawing and handwriting movements of different amplitudes. To this end, pen motion was recorded by means of a digitizing table, while the positions of different markers on the limb were monitored by the ELITE system. It was found that the amplitude of shoulder and elbow angular motions scales roughly with the size of the figure drawn or of the script, whereas the amplitude of wrist and finger motions is small, independent of size. Consequently, the larger the limb movement, the smaller the magnitude of the contributions by motions at distal joints relative to that at proximal joints. Furthermore, while shoulder and elbow motions are tightly coupled (constant phase relation), motions at distal joints are loosely coupled to those at the proximal joints (variable phase relation). On the other hand, motion at distal joints increases the accuracy of the movement, as indicated by the smaller variability of pen trajectories compared to that of wrist trajectories.

Art↗