Charmayne Hughes

Goal-related planning constraints in bimanual grasping and placing of objects

Our primary objective was to examine the possible interplay of the end-state comfort effect and bimanual temporal and spatial coupling constraints in a grasp-to-place task. Unimanual and bimanual grasping and placing tasks were employed with manipulations on initial comfort (by use of potentially interfering obstacles) and target goals (using various demands on end goal object orientations). Confirming previous temporal findings, incongruent bimanual tasks were considerably slower in initiation time and movement time than congruent ones, reflecting costs in conceptualizing, planning, and completion of the task. With respect to spatial constraints, when the same goal was present for both hands there was strong evidence of the influence of both end-state comfort and bimanual constraints. This was often not the case when the task demands differed for the two hands, although the primary task goals were still attained. We suggest that the implementation of constraints is not based on a strict hierarchy; rather, certain constraints become dominant depending on the task and situation.

Noise and complexity in human postural control: Interpreting the different estimations of entropy

Background Over the last two decades, various measures of entropy have been used to examine the complexity of human postural control. In general, entropy measures provide information regarding the health, stability and adaptability of the postural system that is not captured when using more traditional analytical techniques. The purpose of this study was to examine how noise, sampling frequency and time series length influence various measures of entropy when applied to human center of pressure (CoP) data, as well as in synthetic signals with known properties. Such a comparison is necessary to interpret data between and within studies that use different entropy measures, equipment, sampling frequencies or data collection durations. Methods and Findings The complexity of synthetic signals with known properties and standing CoP data was calculated using Approximate Entropy (ApEn), Sample Entropy (SampEn) and Recurrence Quantification Analysis Entropy (RQAEn). All signals were examined at varying sampling frequencies and with varying amounts of added noise. Additionally, an increment time series of the original CoP data was examined to remove long-range correlations. Of the three measures examined, ApEn was the least robust to sampling frequency and noise manipulations. Additionally, increased noise led to an increase in SampEn, but a decrease in RQAEn. Thus, noise can yield inconsistent results between the various entropy measures. Finally, the differences between the entropy measures were minimized in the increment CoP data, suggesting that long-range correlations should be removed from CoP data prior to calculating entropy. Conclusions The various algorithms typically used to quantify the complexity (entropy) of CoP may yield very different results, particularly when sampling frequency and noise are different. The results of this study are discussed within the context of the neural noise and loss of complexity hypotheses.

Motor planning and execution in left- and right-handed individuals during a bimanual grasping and placing task

The issue of handedness has been the topic of great interest for researchers in a number of scientific domains. It is typically observed that the dominant hand yields numerous behavioral advantages over the non-dominant hand during unimanual tasks, which provides evidence of hemispheric specialization. In contrast to advantages for the dominant hand during motor execution, recent research has demonstrated that the right hand has advantages during motor planning (regardless of handedness), indicating that motor planning is a specialized function of the left hemisphere. In the present study we explored hemispheric advantages in motor planning and execution in left- and right-handed individuals during a bimanual grasping and placing task. Replicating previous findings, both motor planning and execution was influenced by object end-orientation congruency. In addition, although motor planning (i.e., end-state comfort) was not influenced by hand or handedness, motor execution differed between left and right hand, with shorter object transport times observed for the left hand, regardless of handedness. These results demonstrate that the hemispheric advantages often observed in unimanual tasks do not extend to discrete bimanual tasks. We propose that the differences in object transport time between the two hands arise from overt shifting visual fixation between the two hands/objects.

An investigation into manual asymmetries in grasp behavior and kinematics during an object manipulation task.

Manual asymmetries in the control of movements have been investigated in a variety of experimental paradigms. Initial studies demonstrated that the dominant right hand has advantages over the non-dominant left hand in many aspects of motor control. However, more recent studies have shown that the presence and extent of these asymmetries depends on the task context and accuracy demands. Typically, manual asymmetries on a motor planning and motor execution level are examined separately. However, given that recent research has demonstrated that specific task constraints do not influence both levels equally, the purpose of the present experiment was to investigate manual asymmetries in motor planning and execution. To this end, initial grasp behavior (motor planning) and kinematics (motor execution) were examined in thirteen right-handed participants during a unimanual grasping and placing task. We specifically manipulated grasping hand, target location, object end orientation, and object grasp time at the start location. There were three main findings. First, motor planning or movement execution was similar regardless of grasping hand. Second, prospectively planned actions were influenced by target location and the required end orientation of the object. Third, the amount of time spent in an initial posture did not influence initial grasp postures. However, it did alter the movement kinematics during the grasping (approach phase) and placing (transport phase) portion of the task. We posit that grasping and placing movements are comprised of an initial grasp and a transport component, which are differentially influenced by task constraints.

Physically coupling two objects in a bimanual task alters kinematics but not end-state comfort

People often grasp objects with an awkward grip to ensure a comfortable hand posture at the end of the movement. This end-state comfort effect is a predominant constraint during unimanual movements. However, during bimanual movements the tendency for both hands to satisfy end-state comfort is affected by factors such as end-orientation congruency and task context. Although bimanual end-state comfort has been examined when the hands manipulate two independent objects, no research has examined end-state comfort when the hands are required to manipulate two physically-coupled objects. In the present experiment, kinematics and grasp behavior during a unimanual and bimanual reaching and placing tasks were examined, when the hands manipulate two physically-connected objects. Forty-five participants were assigned to one of three groups; unimanual, bimanual no-spring (the objects were not physically connected), and bimanual spring (the objects were connected by a spring), and instructed to grasp and place objects in various end-orientations, depending on condition. Physically connecting the objects did not affect end-state comfort prevalence. However, it resulted in decreased interlimb coupling. This finding supports the notion of a flexible constraint hierarchy, in which action goals guide the selection of lower level action features (i.e., hand grip used for grasping), and the particular movements used to accomplish that goal (i.e., interlimb coupling) are controlled throughout the movement.

The Influence of Initial and Final Precision on Motor Planning: Individual Differences in End-State Comfort During Unimanual Grasping and Placing

ABSTRACT People will often grasp an object with an uncomfortable initial grasp if this affords more comfort at the end of the movement. The authors’ primary objective was to examine whether grasp planning is influenced by precision demands at the start and end of the movement. Twenty right-handed individuals performed a unimanual grasping and placing task in which the precision requirements at the start and end of the movement were either identical (low initial and final precision, high initial and final precision) or different (low initial and high final precision, high initial and low final precision). The major finding to emerge was the presence of individual differences. 50% of participants changed their initial grasps based on the precision requirements of the task, and were more likely to satisfy end-state comfort when the final precision requirements were high than when they were low. In contrast, 50% of participants generally planned their movements to satisfy end-state comfort (regardless of precision requirements). The authors hypothesized that the former group of participants was sensitive to the precision demands of the task, and participants planned their grips in accordance with these demands. In contrast, the latter group of participants reduced the cognitive costs by using previously successful grasp plans.

The tool in the brain: apraxia in ADL. Behavioral and neurological correlates of apraxia in daily living

Humans differ from other animals in the way they can skilfully and precisely operate or invent tools to facilitate their everyday life. Tools have dominated our home, travel and work environment, becoming an integral step for our motor skills development. What happens when the part of the brain responsible for tool use is damaged in our adult life due to a cerebrovascular accident? How does daily life change when we lose the previously mastered ability to make use of the objects around us? How do patients suffering from compromised tool use cope with food preparation, personal hygiene, grooming, housework, or use of home appliances? In this literature review we present a state of the art for single and multiple tool use research, with a focus on the impact that apraxia (impaired ability to perform tool-based actions) and action disorganization syndrome (ADS; impaired ability to carry out multi-step actions) have on activities of daily living (ADL). Firstly, we summarize the behavioral studies investigating the impact of apraxia and other comorbidity syndromes, such as neglect or visual extinction, on ADL. We discuss the hallmarks of the compromised tool use in terms of the sequencing of action steps, conceptual errors committed, spatial motor control, and temporal organization of the movement. In addition, we present an up-to-date overview of the neuroimaging and lesion analyses studies that provide an insight into neural correlates of tool use in the human brain and functional changes in the neural organization following a stroke, in the context of ADL. Finally we discuss the current practice in neurorehabilitation of ADL in apraxia and ADS aiming at increasing patients’ independence.

Postural Asymmetries in Response to Holding Evenly and Unevenly Distributed Loads During Self-Selected Stance

ABSTRACT The authors examined postural asymmetries during quiet stance and while holding evenly or unevenly distributed loads. Right-hand dominant subjects preferentially loaded their right lower limb when holding no load or a load evenly distributed in both hands, but no differences in center of pressure (CoP) were observed between the left and right limbs. However, longer CoP displacement was observed under the preferentially loaded limb, which may reflect a functional asymmetry that allows quick movement of one limb in response to a potential perturbation. When a load was held only in the nondominant hand, sample entropy decreased in the left (loaded) limb but increased in the right (unloaded) limb, suggesting the unloaded foot compensated for a loss of control flexibility in the loaded foot.

Handmade Task Tracking Applied to Cognitive Rehabilitation

This article presents research focused on tracking manual tasks that are applied in cognitive rehabilitation so as to analyze the movements of patients who suffer from Apraxia and Action Disorganization Syndrome (AADS). This kind of patients find executing Activities of Daily Living (ADL) too difficult due to the loss of memory and capacity to carry out sequential tasks or the impossibility of associating different objects with their functions. This contribution is developed from the work of Universidad Politécnica de Madrid and Technical University of Munich in collaboration with The University of Birmingham. The Kinect™ for Windows© device is used for this purpose. The data collected is compared to an ultrasonic motion capture system. The results indicate a moderate to strong correlation between signals. They also verify that Kinect™ is very suitable and inexpensive. Moreover, it turns out to be a motion-capture system quite easy to implement for kinematics analysis in ADL.

Upper Extremity Proprioception in Healthy Aging and Stroke Populations, and the Effects of Therapist- and Robot-Based Rehabilitation Therapies on Proprioceptive Function

The world’s population is aging, with the number of people ages 65 or older expected to surpass 1.5 billion people, or 16% of the global total. As people age, there are notable declines in proprioception due to changes in the central and peripheral nervous systems. Moreover, the risk of stroke increases with age, with approximately two-thirds of stroke-related hospitalizations occurring in people over the age of 65. In this literature review, we first summarize behavioral studies investigating proprioceptive deficits in normally aging older adults and stroke patients, and discuss the differences in proprioceptive function between these populations. We then provide a state of the art review the literature regarding therapist- and robot-based rehabilitation of the upper extremity proprioceptive dysfunction in stroke populations and discuss avenues of future research.