On the nature of motor planning variables during arm pointing movement: Compositeness and speed dependence

Vu, Van Hoan; Isableu, Brice; Berret, Bastien

doi:10.1016/j.neuroscience.2016.04.027

Cited by 14 publications

(16 citation statements)

References 77 publications

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“…The only model that could explain both kinematic and kinetic aspects of the reach strategies, and their speed/load dependences, was the composite optimality criterion mixing variables of different nature. This composite cost idea was already advanced and investigated differently in previous studies212223.…”

Section: Discussionmentioning

confidence: 99%

“…23. Briefly, participants sat comfortably on a chair and were asked to perform pointing movements with their right (dominant) upper-limb to an horizontal planar target (Fig.…”

Section: Methodsmentioning

confidence: 99%

“…angular displacements, velocities and accelerations) was estimated based on a method previously described in refs 23 and 40. Local coordinate systems was built from the markers in agreement with the guidelines of the international society of biomechanics (ISB).…”

Section: Methodsmentioning

confidence: 99%

“…We conducted direct and inverse optimal control investigations along the lines of refs 22 and 23. Briefly, this approach involves the definition of a cost function that usually depends on the set of control variables (denoted here by u , chosen to be the derivative of joint accelerations, i.e.…”

Section: Methodsmentioning

confidence: 99%

“…Alternatively, if IT is compensated, such modifications should have non-significant effect on the arm trajectories, except that the MTs should be adjusted to cancel the larger ITs. Third, we aimed at accounting for the empirical pointing strategies via inverse optimal control with composite cost functions212223. Optimal control theory is an appealing framework to apprehend human motion as it points out possible high-level principles underlying arm movement formation in a concise and normative way242526.…”

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confidence: 99%

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Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Isableu

Berret

2016

Sci Rep

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The study aimed at investigating the extent to which the brain adaptively exploits or compensates interaction torque (IT) during movement control in various velocity and load conditions. Participants performed arm pointing movements toward a horizontal plane without a prescribed reach endpoint at slow, neutral and rapid speeds and with/without load attached to the forearm. Experimental results indicated that IT overall contributed to net torque (NT) to assist the movement, and that such contribution increased with limb inertia and instructed speed and led to hand trajectory variations. We interpreted these results within the (inverse) optimal control framework, assuming that the empirical arm trajectories derive from the minimization of a certain, possibly composite, cost function. Results indicated that mixing kinematic, energetic and dynamic costs was necessary to replicate the participants’ adaptive behavior at both kinematic and dynamic levels. Furthermore, the larger contribution of IT to NT was associated with an overall decrease of the kinematic cost contribution and an increase of its dynamic/energetic counterparts. Altogether, these results suggest that the adaptive use of IT might be tightly linked to the optimization of a composite cost which implicitly favors more the kinematic or kinetic aspects of movement depending on load and speed.

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Section: Discussionmentioning

confidence: 99%

“…23. Briefly, participants sat comfortably on a chair and were asked to perform pointing movements with their right (dominant) upper-limb to an horizontal planar target (Fig.…”

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

mentioning

confidence: 99%

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Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Isableu

Berret

2016

Sci Rep

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Optimality and Modularity in Human Movement: From Optimal Control to Muscle Synergies

Berret

Delis

Gaveau

et al. 2018

Springer Tracts in Advanced Robotics

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Human arm redundancy: a new approach for the inverse kinematics problem

Barliya,

Krausz,

Naaman

et al. 2024

R. Soc. Open Sci.

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The inverse kinematics (IK) problem addresses how both humans and robotic systems coordinate movement to resolve redundancy, as in the case of arm reaching where more degrees of freedom are available at the joint versus hand level. This work focuses on which coordinate frames best represent human movements, enabling the motor system to solve the IK problem in the presence of kinematic redundancies. We used a multi-dimensional sparse source separation method to derive sets of basis (or source) functions for both the task and joint spaces, with joint space represented by either absolute or anatomical joint angles. We assessed the similarities between joint and task sources in each of these joint representations, finding that the time-dependent profiles of the absolute reference frame’s sources show greater similarity to corresponding sources in the task space. This result was found to be statistically significant. Our analysis suggests that the nervous system represents multi-joint arm movements using a limited number of basis functions, allowing for simple transformations between task and joint spaces. Additionally, joint space seems to be represented in an absolute reference frame to simplify the IK transformations, given redundancies. Further studies will assess this finding’s generalizability and implications for neural control of movement.

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On the nature of motor planning variables during arm pointing movement: Compositeness and speed dependence

Cited by 14 publications

References 77 publications

Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Adaptive use of interaction torque during arm reaching movement from the optimal control viewpoint

Optimality and Modularity in Human Movement: From Optimal Control to Muscle Synergies

Human arm redundancy: a new approach for the inverse kinematics problem

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