John P. Scholz

The uncontrolled manifold concept: identifying control variables for a functional task

Abstract The degrees of freedom problem is often posed by asking which of the many possible degrees of freedom does the nervous system control? By implication, other degrees of freedom are not controlled. We give an operational meaning to ”controlled” and ”uncontrolled” and describe a method of analysis through which hypotheses about controlled and uncontrolled degrees of freedom can be tested. In this conception, control refers to stabilization, so that lack of control implies reduced stability. The method was used to analyze an experiment on the sit-to-stand transition. By testing different hypotheses about the controlled variables, we systematically approximated the structure of control in joint space. We found that, for the task of sit-to-stand, the position of the center of mass in the sagittal plane was controlled. The horizontal head position and the position of the hand were controlled less stably, while vertical head position appears to be no more controlled than joint motions.

Motor control strategies revealed in the structure of motor variability.

LATASH, M.L., J.P. SCHOLZ, and G. SCHÖNER. Motor control strategies revealed in the structure of motor variability. Exerc. Sport Sci. Rev., Vol. 30, No. 1, pp 26–31, 2002. We describe an uncontrolled manifold hypothesis, which suggests a particular solution for the notorious problem of motor redundancy. A body of recent experiments supports the uncontrolled manifold hypothesis and shows its ability to discover biological strategies of the coordination of apparently redundant motor systems. The hypothesis and associated computational apparatus have great potential for application in the areas of motor rehabilitation and motor skill acquisition.

The effect of real-time gait retraining on hip kinematics, pain and function in subjects with patellofemoral pain syndrome

Background Patellofemoral pain syndrome (PFPS) is the most common overuse injury in runners. Recent research suggests that hip mechanics play a role in the development of this syndrome. Currently, there are no treatments that directly address the atypical mechanics associated with this injury. Objective The purpose of this study was to determine whether gait retraining using real-time feedback improves hip mechanics and reduces pain in subjects with PFPS. Methods Ten runners with PFPS participated in this study. Real-time kinematic feedback of hip adduction (HADD) during stance was provided to the subjects as they ran on a treadmill. Subjects completed a total of eight training sessions. Feedback was gradually removed over the last four sessions. Variables of interest included peak HADD, hip internal rotation (HIR), contralateral pelvic drop, as well as pain on a verbal analogue scale and the lower-extremity function index. We also assessed HADD, HIR and contralateral pelvic drop during a single leg squat. Comparisons of variables of interest were made between the initial, final and 1-month follow-up visit. Results Following the gait retraining, there was a significant reduction in HADD and contralateral pelvic drop while running. Although not statistically significant, HIR decreased by 23% following gait retraining. The 18% reduction in HADD during a single leg squat was very close to significant. There were also significant improvements in pain and function. Subjects were able to maintain their improvements in running mechanics, pain and function at a 1-month follow-up. An unexpected benefit of the retraining was an 18% and 20% reduction in instantaneous and average vertical load rates, respectively. Conclusions Gait retraining in individuals with PFPS resulted in a significant improvement of hip mechanics that was associated with a reduction in pain and improvements in function. These results suggest that interventions for PFPS should focus on addressing the underlying mechanics associated with this injury. The reduction in vertical load rates may be protective for the knee and reduce the risk for other running-related injuries.

Understanding finger coordination through analysis of the structure of force variability

Abstract. Most common motor acts involve highly redundant effector systems. Understanding how such systems are controlled by the nervous system is a long-standing scientific challenge. Most proposals for solving this problem are based on the assumption that a particular solution, which optimizes additional constraints, is selected by the nervous system out of the many possible solutions. This study attempts to address this question in the context of coordinating individual finger forces to produce a controlled total force oscillation between 5% and 35% of each subjects maximum force of voluntary contraction, under two different combinations of four fingers. The structure of variability of individual finger forces was evaluated with respect to hypotheses that, at each instance in time, subjects attempt to: (1) stabilize the value of total force and (2) stabilize the total moment created by the fingers about the long axis passing through the forearm and midline of the hand. The results provide evidence that a range of goal-equivalent finger force combinations is generated to stabilize the values of total force and the total moment. The control of total force was specified explicitly by the task. However, it was stabilized only near the time of peak force. In contrast, the total moment was stabilized throughout most of the force cycle. The results lead to the suggestion that successful task performance is achieved, not by selecting a single optimal solution, but by discovering an appropriate control law that selectively stabilizes certain combinations of degrees of freedom relevant to the task while releasing from control other combinations.

High-arched runners exhibit increased leg stiffness compared to low-arched runners

Leg stiffness between high-arched (HA) and low-arched (LA) runners was compared. It was hypothesized that high-arched runners would exhibit increased leg stiffness, increased sagittal plane support moment, greater vertical loading rates, decreased knee flexion excursion and increased activation of the knee extensor musculature. Twenty high-arched and 20 low-arched subjects were included in this study. Leg stiffness, knee stiffness, vertical loading rate and lower extremity support moment were compared between groups. Electromyographic data were collected in an attempt to explain differences in leg stiffness between groups. High-arched subjects were found to have increased leg stiffness and vertical loading rate compared to low-arched runners. Support moment at the impact peak of the vertical ground reaction force was related to leg stiffness across all subjects. High-arched subjects demonstrated decreased knee flexion excursion during stance. Finally, high-arched subjects exhibited a significantly earlier onset of the vastus lateralis (VL) than the low-arched runners. Differences exist in leg stiffness and vertical loading rate between runners with different foot types. Differences in lower extremity kinetics in individuals with different foot types may have implications for new treatment strategies or preventative measures.

Gravity-Balancing Leg Orthosis and Its Performance Evaluation

In this paper, we propose a device to assist persons with hemiparesis to walk by reducing or eliminating the effects of gravity. The design of the device includes the following features: 1) it is passive, i.e., it does not include motors or actuators, but is only composed of links and springs; 2) it is safe and has a simple patient-machine interface to accommodate variability in geometry and inertia of the subjects. A number of methods have been proposed in the literature to gravity-balance a machine. Here, we use a hybrid method to achieve gravity balancing of a human leg over its range of motion. In the hybrid method, a mechanism is used to first locate the center of mass of the human limb and the orthosis. Springs are then added so that the system is gravity-balanced in every configuration. For a quantitative evaluation of the performance of the device, electromyographic (EMG) data of the key muscles, involved in the motion of the leg, were collected and analyzed. Further experiments involving leg-raising and walking tasks were performed, where data from encoders and force-torque sensors were used to compute joint torques. These experiments were performed on five healthy subjects and a stroke patient. The results showed that the EMG activity from the rectus femoris and hamstring muscles with the device was reduced by 75%, during static hip and knee flexion, respectively. For leg-raising tasks, the average torque for static positioning was reduced by 66.8% at the hip joint and 47.3% at the knee joint; however, if we include the transient portion of the leg-raising task, the average torque at the hip was reduced by 61.3%, and at the knee was increased by 2.7% at the knee joints. In the walking experiment, there was a positive impact on the range of movement at the hip and knee joints, especially for the stroke patient: the range of movement increased by 45% at the hip joint and by 85% at the knee joint. We believe that this orthosis can be potentially used to design rehabilitation protocols for patients with stroke

A mode hypothesis for finger interaction during multi-finger force-production tasks

Abstract. Finger forces are known to change involuntarily during multi-finger force-production tasks, even when a fingers involvement in a task is not consciously changed (the enslaving effect). Furthermore, during maximal force-production (MVC) tests, the force produced by a given finger in a multi-finger task is smaller than the force generated by this finger in its single-finger MVC test (the force-deficit effect). A set of hypothetical control variables – modes – is introduced. Modes can be estimated based on individual finger forces during single-finger MVC tests. We show that a simple formal model based on modes with only one free parameter accounts for finger forces during a variety of multi-finger MVC tests. The free parameter accounts for the force-deficit effect, and its value depends only on the number of explicitly involved fingers. This approach offers a simple framework for the analysis of finger interaction during multi-finger actions.

Mirror gait retraining for the treatment of patellofemoral pain in female runners.

BACKGROUND Abnormal hip mechanics are often implicated in female runners with patellofemoral pain. We sought to evaluate a simple gait retraining technique, using a full-length mirror, in female runners with patellofemoral pain and abnormal hip mechanics. Transfer of the new motor skill to the untrained tasks of single leg squat and step descent was also evaluated. METHODS Ten female runners with patellofemoral pain completed 8 sessions of mirror and verbal feedback on their lower extremity alignment during treadmill running. During the last 4 sessions, mirror and verbal feedback were progressively removed. Hip mechanics were assessed during running gait, a single leg squat and a step descent, both pre- and post-retraining. Subjects returned to their normal running routines and analyses were repeated at 1-month and 3-month post-retraining. Data were analyzed via repeated measures analysis of variance. FINDINGS Subjects reduced peaks of hip adduction, contralateral pelvic drop, and hip abduction moment during running (P<0.05, effect size=0.69-2.91). Skill transfer to single leg squatting and step descent was noted (P<0.05, effect size=0.91-1.35). At 1 and 3 months post retraining, most mechanics were maintained in the absence of continued feedback. Subjects reported improvements in pain and function (P<0.05, effect size=3.81-7.61) and maintained through 3 months post retraining. INTERPRETATION Mirror gait retraining was effective in improving mechanics and measures of pain and function. Skill transfer to the untrained tasks of squatting and step descent indicated that a higher level of motor learning had occurred. Extended follow-up is needed to determine the long term efficacy of this treatment.

Redundancy, self-motion, and motor control

Outside the laboratory, human movement typically involves redundant effector systems. How the nervous system selects among the task-equivalent solutions may provide insights into how movement is controlled. We propose a process model of movement generation that accounts for the kinematics of goal-directed pointing movements performed with a redundant arm. The key element is a neuronal dynamics that generates a virtual joint trajectory. This dynamics receives input from a neuronal timer that paces end-effector motion along its path. Within this dynamics, virtual joint velocity vectors that move the end effector are dynamically decoupled from velocity vectors that do not. Moreover, the sensed real joint configuration is coupled back into this neuronal dynamics, updating the virtual trajectory so that it yields to task-equivalent deviations from the dynamic movement plan. Experimental data from participants who perform in the same task setting as the model are compared in detail to the model predictions. We discover that joint velocities contain a substantial amount of self-motion that does not move the end effector. This is caused by the low impedance of muscle joint systems and by coupling among muscle joint systems due to multiarticulatory muscles. Back-coupling amplifies the induced control errors. We establish a link between the amount of self-motion and how curved the end-effector path is. We show that models in which an inverse dynamics cancels interaction torques predict too little self-motion and too straight end-effector paths.

Muscle modes during shifts of the center of pressure by standing persons: effect of instability and additional support

Muscle synergies in postural tasks have recently been studied using the framework of the uncontrolled manifold (UCM) hypothesis. A set of three hypothetical control variables, named M-modes, derived from the activity of 11 postural muscles, were identified. It was shown that postural synergies composed of these three M-modes preserve a certain shift of the center of pressure (COP) when subjects perform postural tasks while standing on a stable surface. In the present study we investigated the effects of support surface instability and availability of a light touch or grasp of a stable external support on the M-modes and their co-variation. The study was performed in two sessions. In the first session subjects released a load behind the body under four conditions: standing on a stable surface with no support (ST), standing on an unstable surface with no support (UN), standing on an unstable surface with a light touch (UN,T) and standing on an unstable surface with grasp of a stable object (UN,G). In the second session subjects performed two tasks: an arm movement backward and voluntary sway forward (towards the toes) under three conditions—ST, UN and UN,T. Principal component analysis was used to identify M-modes from data in the first session, and a UCM analysis was performed to study M-mode synergies in postural stabilization from data in the second session. A ‘menu’ of five M-modes was found, which were named either reciprocal M-modes or co-contraction M-modes based on the agonist–antagonist relationship of muscles comprising each mode. For a given task, subjects chose any three of these five M-modes in a subject- and task-specific manner. The reciprocal and co-contraction M-modes occurred equally frequently whether subjects stood on a stable or unstable support surface or whether a light touch was available or not. However, the co-contraction M-modes predominated when grasp of an object was available. In this condition, when the arm could be used for stabilization, there were M-modes uniting hip and shoulder muscles. However, the identified M-mode synergies were not found to lead to a consistent shift in the COP in any of the stability conditions. Possible reasons for this finding are discussed.