Right–left approach and reaching arm movements of 4-month infants in free and constrained conditions

Recent theories on the evolution of language (e.g. Corballis, 2009) emphazise the interest of early manifestations of manual laterality and manual specialization in human infants. In the present study, left- and right-hand movements towards a midline object were observed in 24 infants aged 4 months in a constrained condition, in which the hands were maintained closed, and in a free condition. A left-hand dominance for approach movements without contact with the object, and a right-hand dominance for reaching movements with object contact was observed in the free condition. In the constrained condition reaching movements of the right hand decreased dramatically. These results are interpreted as strong evidence of manual specialization in 4-month olds, with approach movements having a localization role and reaching movements announcing future right-hand dominance for prehension and object manipulation.     

A simulation study of the degrees of freedom of movement in reaching and grasping

The question of independently controlled components in the act of reaching and grasping has attracted interest experimentally and theoretically. Data from 35 studies were recently found consistent with simulated kinematic finger and thumb trajectories optimised for minimum jerk. The present study closely reproduces those trajectories using a discrete-time model based on minimum acceleration. That model was further used to generate two-dimensional trajectories for finger and thumb to reach and grasp an elliptical object with varying position and/or orientation. Orthogonalisation of these four trajectories revealed one degree of freedom when direction of reach was constant and two degrees of freedom when direction of reach varied, irrespective of object distance and orientation. These simulations indicate that reach and grasp movements contain redundancy that is removable by formation of task-dependent synergies. As skilled movement can be planned and executed in a low dimension workspace, control of these independent components lessens central workload.     

Motor prediction at the edge of instability: alteration of grip force control during changes in bimanual coordination

Predicting the consequences of actions is fundamental for skilled motor behavior. We investigated whether motor prediction is influenced by the fact that some movements are easier to perform and stabilize than others. Twelve subjects performed a bimanual rhythmical task either symmetrically or asymmetrically (the latter being more difficult and less stable) while oscillating in each hand an object attached to an elastic cord. Motor prediction was monitored through the adequacy of anticipatory grip force adjustments with respect to the elastic resisting force. Results showed less adequate predictive control during asymmetrical movements (compared with symmetrical ones). Furthermore, switching between modes of coordination induced even larger alterations. An interesting finding was that grip force control did not always stabilize around the expected value after voluntary transition. We conclude that motor prediction is affected by the degree of coordination between the upper limbs and by phase transitions and is prone to carryover effects.     

Control of Trajectory Modifications in Target-Directed Reaching

Human reaching movements to fixed and displaced visual targets were recorded and compared with simulated movements generated by using a two-joint arm model based on the equilibrium-point (EP) hypothesis (lambda model) of motor control (Feldman, 1986). The aim was to investigate the form of central control signals underlying these movements. According to this hypothesis, movements result from changes in control variables that shift the equilibrium position (EP) of the arm. At any time, muscle activations and forces will depend on the difference between the arm's EP and its actual position and on the limb's velocity. In this article, we suggest that the direction of EP shift in reaching is specified at the hand level, whereas the rate of EP shift may be specified at the hand or joint level. A common mechanism underlying reaching to fixed and displaced targets is proposed whereby the EP of the hand shifts in a straight line toward the present target. After the target is displaced, the direction of the hand EP shift is modified toward the second target. The results suggest that the rate of shift of the hand EP may be modified for movements in different parts of the work space. The model, with control signals that vary in a simple fashion over time, is able to generate the kinematic patterns observed empirically.     

Visual feedback of hand trajectory and the development of infant prehension

The purpose of this longitudinal infant study was to investigate the influence of visual information of the hand trajectory in the development of reaching movements in prehension. Ten infants were observed biweekly from the age of 10 weeks to 28 weeks and 1 yr. The reach kinematics were analyzed at age of reach onset, 6 mo and 1 yr of age. The results showed that infants reached for objects earlier when the visual feedback of the hand trajectory and the object were available. However, visual feedback of the hand trajectory did not change the movement speed and smoothness of the reach component at 6 mo and 1 yr of age. Infants reached for the larger object earlier and with higher velocity than for the smaller object. Visual feedback of the hand facilitates the age of reaching onset, but when the reaching movements become sufficiently stable, infants perform equally well with or without visual trajectory feedback of the hand.     

Visual exploration of reaching space during left and right arm movements in 6-month-old infants

Infant's manual laterality and eye-hand coordination emerge during the second part of the first year of life with the development of reaching. Nevertheless, little is known about the potential asymmetric characteristics of this coordination. The aim of this study was to describe visuo-spatial exploration in 6-month-old infants during reaching, according to the hand used. More specifically, we examined if the use of the left or the right hand was linked to a specific type of visual exploration. Gaze direction during goal-directed reaching towards an object placed on the table was measured with a remote ASL 504 eye tracker (Bedford MA). Twelve babies aged 6 months were observed during six reaching sessions, alterning three sessions with an object on the left side of the subject and three with an object on the right side. Gaze direction and some hand variables (hand activity, hand opening and hand position from the body) were coded with The Observer software. Results showed that babies visually explore their reaching space differently according to the hand used: they look more at the object when they use their right hand and more around the object when they use their left hand; they also look more often at their left hand than at their right one. These results suggest that an asymmetric visuo-manual coordination exists as early as 6 months: vision seems to support (1) left hand during reaching for evaluate distances from object to baby by means of visual feedbacks and (2) right hand for identify what sort of object is. Results are discussed in light of manual specialization and specific hemispheric skills at this age.     

Control of Trajectory Modifications in Target-Directed Reaching

Human reaching movements to fixed and displaced visual targets were recorded and compared with simulated movements generated by using a two-joint arm model based on the equilibrium-point (EP) hypothesis (λ model) of motor control (Feldman, 1986). The aim was to investigate the form of central control signals underlying these movements. According to this hypothesis, movements result from changes in control variables that shift the equilibrium position (EP) of the arm. At any time, muscle activations and forces will depend on the difference between the arm's EP and its actual position and on the limb's velocity. In this article, we suggest that the direction of EP shift in reaching is specified at the hand level, whereas the rate of EP shift may be specified at the hand or joint level. A common mechanism underlying reaching to fixed and displaced targets is proposed whereby the EP of the hand shifts in a straight line toward the present target. After the target is displaced, the direction of the hand EP shift is modified toward the second target. The results suggest that the rate of shift of the hand EP may be modified for movements in different parts of the work space. The model, with control signals that vary in a simple fashion over time, is able to generate the kinematic patterns observed empirically.     

Anticipatory modulation of precision grip force with variations in limb velocity of a curvilinear movement

The authors examined the relationship between peak velocity of a discrete horizontal elbow flexion movement in which the hand path was curvilinear and premovement modulation of precision grip force. The velocity of the movements of 7 participants was varied from maximal velocity to a velocity that required several seconds to reach a target. An object instrumented with force transducers for the forefinger and thumb measured precision grip force. There was a positively accelerating quadratic relationship between grip force change before movement and peak velocity of the ensuing limb movement. On some low-velocity trials, premovement grip force modulation reflected a net decrease. In contrast, high-velocity trials were preceded by net increases in grip force. Using cluster analysis, the authors classified grip forces in low-velocity movements as an empirically distinct set of entities from grip forces in high-velocity movements. The cluster of high-value grip forces suggested an anticipatory strategy that allowed participants a large safety margin in grip force to avoid object slip on movement initiation. The cluster of low-value grip forces at movement initiation suggested a second anticipatory strategy in which participants changed grip force very little, perhaps to increase the ability of proprioceptors in the hand to sense force changes. Those findings suggest that modulation of grip force before initiation of movements in which the hand path is curvilinear may be governed by two distinct velocity-dependent anticipatory strategies.     

Lateralization of the Approach Movement and the Prehension Movement in Infants from 4 to 7 Months

The aim of the study was to analyse lateralized preferences during reaching and grasping in infants relative to changes in manual actions from 4 to 7 months of age. Reaching and grasping movements with visual fixation were studied with objects placed in one of three places on a table: to the left, to the right and in the midline of the infant. Although the two lateralized objects were approached and grasped with ipsilateral hand, movements towards the object in the midline were most often performed with a preferential hand. There was preferential use of the left hand for reaching around the fourth month, then a preferential use of the right hand for grasping from the sixth month. The shape of the left hand during reaching movements terminated in the vicinity of the object. The slower the speed, the closer the hand came to the object. The onset of the prehension was associated with a preferential use of the right hand, which performed grasping, more finely than the left hand. Thus, manual specialization is already present in early infancy: the left hand appears to be dedicated to spatial calibration and the right hand to the task of prehension.     

Minimum Muscle-Tension Change Trajectories Predicted by Using a 17-Muscle Model of the Monkey's Arm

Four computational problems to be solved for visually guided reaching movements, hand path, and trajectory formations, coordinate transformation, and calculations of muscle tensions are ill-posed in redundant biological control systems. These problems are ill-posed in the sense that there exist an infinite number of possible solutions. In this article, it is shown that the nervous system can solve those problems simultaneously by imposing a single global constraint: finding the smoothest muscle- tension trajectory that satisfies the desired final hand position, velocity, and acceleration. Horizontal trajectories were simulated by using a l7-muscle model of the monkey's arm as the controlled object. The simulations predicted gently curved hand paths for lateral hand movements and for movements from the side of the body to the front, and a roughly straight hand path for anterioposterior movements. The tangential hand velocities were roughly bell shaped. The simulated results were in agreement with the actual biological movements.     

On-line trajectory modifications of planar,goal-directed arm movements

Sometimes a goal-directed arm movement has to be modified en route due to an unforeseen perturbation such as a target displacement or a hand displacement by an external force. In this paper several aspects of that modification process are addressed. Subjects had to perform a point-to-point movement task on a computer screen using a mouse-coupled pointer as the representation of the hand position. Trajectory modifications were imposed by unexpectedly changing the position of the target or by changing the relation between mouse and screen pointer.In the first series of experiments, we examined how often a trajectory is updated. Here, trajectory modifications were imposed by unexpectedly changing the normal relation between mouse and pointer to a shear-like relation, where a percentage of the forward/backward position of the hand was added to the pointer position in the left/right direction. Withdrawal of visual feedback during the movement revealed that trajectories were updated at interval times shorter than 200 ms. From the similarity with experiments where the original relation between mouse and pointer was restored during the movements, we conclude that motor plans are updated on-line to move the hand from its current perceived position to the target.In a second series of experiments, we studied whether a continuous change in target position yields similar trajectory modifications as a continuous hand displacement. To mimic the latter perturbation, we used the above-mentioned distortion of the mouse-pointer relation. We found that the resulting hand paths did not differ for the two visual perturbations and conclude that the perturbed, goal-directed movements are modified in a consistent way, irrespective of whether the position of the target or hand was perturbed. Simulations of the experimental data with a kinematic reaching model support this conclusion.     

Infants generate goal-based action predictions

Predicting the actions of others is critical to smooth social interactions. Prior work suggests that both understanding and anticipation of goal-directed actions appears early in development. In this study, on-line goal prediction was tested explicitly using an adaptation of Woodward's (1998) paradigm for an eye-tracking task. Twenty 11-month-olds were familiarized to movie clips of a hand reaching to grasp one of two objects. Then object locations were swapped, and the hand made an incomplete reach between the objects. Here, infants reliably made their first look from the hand to the familiarized goal object, now in a new location. A separate control condition of 20 infants familiarized to the same movements of an unfamiliar claw revealed the opposite pattern: reliable prediction to the familiarized location, rather than the familiarized object. This study suggests that by 11 months infants actively use goal analysis to generate on-line predictions of an agent's next action.     

Hand Grip and Load Force Coordination of the Ipsilesional Hand of Chronic Stroke Individuals

Object manipulation depends on a refined control of grip force (GF) and load force (LF). After a brain injury, the GF control is altered in the paretic hand but what happens with the non-paretic hand is still unclear. In this study, we compared the GF control and GF–LF coordination of the non-paretic hand of 10 stroke individuals who suffered right brain damage (RBD) and 10 who suffered left brain damage (LBD), with 20 healthy individuals during lifting and oscillation task, using an instrumented object. GF was recorded with a force transducer, and LF was estimated from the object weight and acceleration. Overall, the ipsilesional hand of stroke individuals, independent of the lesion side, presented similar GF control and GF–LF coordination. However, LBD individuals took longer to start lifting the object, which may be due to the need of more time to obtain somatosensory information from the contact with the object. The findings indicate that stroke individuals preserve their ability to control and coordinate GF and LF when using their ipsilesional hand for object manipulation and the left hemisphere may play an essential role in the processing of somatosensory information needed for the GF control.     

Effects of increased response effort on self-injury and object manipulation as competing responses

We evaluated the effects of a response-effort intervention on the occurrence of self-injurious hand mouthing and a competing response (object manipulation) with 4 individuals who had profound developmental disabilities. During Phase 1, results of functional analyses showed that all participants engaged in high levels of hand mouthing in the absence of social contingencies, suggesting that the behavior was maintained by automatic reinforcement. In Phase 2, preferred leisure items were identified for participants during assessments in which duration of leisure item manipulation was used as the index of preference. In Phase 3, participants were observed to engage in high levels of hand mouthing and in varying levels of object manipulation when they had free access to their most preferred leisure items during baseline. The effects of increased response effort on hand mouthing and object manipulation were then evaluated in mixed multiple baseline and reversal designs. The response-effort condition was identical to baseline, except that participants wore soft, flexible sleeves that increased resistance for elbow flexion but still enabled participants to engage in hand mouthing. Results showed consistent decreases in SIB and increases in object manipulation during the response-effort condition for all participants. These results suggested that a less preferred reinforcer (produced by object manipulation) may substitute for a more highly preferred reinforcer (produced by hand mouthing) when response effort for hand mouthing was increased. DESCRIPTORS: self-injurious behavior, automatic reinforcement, reinforcer substitutability, response effort     

Coordinated flexibility: how initial gaze position modulates eye-hand coordination and reaching

Reaching to targets in space requires the coordination of eye and hand movements. In two experiments, we recorded eye and hand kinematics to examine the role of gaze position at target onset on eye-hand coordination and reaching performance. Experiment 1 showed that with eyes and hand aligned on the same peripheral start location, time lags between eye and hand onsets were small and initiation times were substantially correlated, suggesting simultaneous control and tight eye-hand coupling. With eyes and hand departing from different start locations (gaze aligned with the center of the range of possible target positions), time lags between eye and hand onsets were large and initiation times were largely uncorrelated, suggesting independent control and decoupling of eye and hand movements. Furthermore, initial gaze position strongly mediated manual reaching performance indexed by increments in movement time as a function of target distance. Experiment 2 confirmed the impact of target foveation in modulating the effect of target distance on movement time. Our findings reveal the operation of an overarching, flexible neural control system that tunes the operation and cooperation of saccadic and manual control systems depending on where the eyes look at target onset.     

Typical predictive eye movements during action observation without effector-specific motor simulation

When watching someone reaching to grasp an object, we typically gaze at the object before the agent’s hand reaches it—that is, we make a “predictive eye movement” to the object. The received explanation is that predictive eye movements rely on a direct matching process, by which the observed action is mapped onto the motor representation of the same body movements in the observer’s brain. In this article, we report evidence that calls for a reexamination of this account. We recorded the eye movements of an individual born without arms (D.C.) while he watched an actor reaching for one of two different-sized objects with a power grasp, a precision grasp, or a closed fist. D.C. showed typical predictive eye movements modulated by the actor’s hand shape. This finding constitutes proof of concept that predictive eye movements during action observation can rely on visual and inferential processes, unaided by effector-specific motor simulation.     

Motor training in the manipulation of flexible objects in haptic environments.

A system with interchangeable constraints for studying skillful human movements via haptic displays is presented. It is shown how this system can be applied to the analysis of reaching movements in the manipulation of flexible objects. In the experiment, progress in arm motor training is considered for several subjects. Experimental data are obtained for slow, moderate, and fast movements. Future applications of the system and its limitations are discussed.     

Eye-hand coupling during closed-loop drawing: evidence of shared motor planning?

Previous paradigms have used reaching movements to study coupling of eye-hand kinematics. In the present study, we investigated eye-hand kinematics as curved trajectories were drawn at normal speeds. Eye and hand movements were tracked as a monkey traced ellipses and circles with the hand in free space while viewing the hand's position on a computer monitor. The results demonstrate that the movement of the hand was smooth and obeyed the 2/3 power law. Eye position, however, was restricted to 2-3 clusters along the hand's trajectory and fixed approximately 80% of the time in one of these clusters. The eye remained stationary as the hand moved away from the fixation for up to 200 ms and saccaded ahead of the hand position to the next fixation along the trajectory. The movement from one fixation cluster to another consistently occurred just after the tangential hand velocity had reached a local minimum, but before the next segment of the hand's trajectory began. The next fixation point was close to an area of high curvature along the hand's trajectory even though the hand had not reached that point along the path. A visuo-motor illusion of hand movement demonstrated that the eye movement was influenced by hand movement and not simply by visual input. During the task, neural activity of pre-motor cortex (area F4) was recorded using extracellular electrodes and used to construct a population vector of the hand's trajectory. The results suggest that the saccade onset is correlated in time with maximum curvature in the population vector trajectory for the hand movement. We hypothesize that eye and arm movements may have common, or shared, information in forming their motor plans.     

Encoding the goal of an object-directed but uncompleted reaching action in 6- and 9-month-old infants

Infants start to interpret completed human actions as goal-directed in the second half of the first year of life. In a series of three studies, the understanding of a goal-directed but uncompleted action was investigated in 6- and 9-month-old infants using a preferential looking paradigm. Infants saw the video of an actor's reaching movement towards one of two objects. This reaching movement was only presented until the hand passed the midpoint between the starting position and the position of the target object. Subsequently, two final states of the reaching movement were presented simultaneously. In the plausible final state, the hand grasped the object to which the reaching movement was geared; in the implausible final state, the hand grasped the other object. In Studies 1 and 3, infants watched the actor from an allocentric perspective, and in Studies 2 and 3 from an egocentric perspective. Results indicate a discrimination of the two final states if the scene was presented from an allocentric perspective: both 6- and 9-month-olds looked longer at the implausible final state. This was not the case if infants saw the action from an egocentric perspective. The presented findings show that using this paradigm, 6-month-olds are already able to infer the goal of an uncompleted action without seeing the achievement of the goal itself. However, they encoded the goal of the reaching action only when it was presented from an allocentric perspective but not from an egocentric perspective.     

Grip and load force control and coordination in individuals with diabetes in different manipulation tasks

The study aimed to investigate the control and coordination of grip force (normal component) and load force (tangential component) in three different manipulation tasks in individuals with diabetes with and with no diagnosis of diabetic peripheral neuropathy (DPN) and healthy controls. Twenty-four individuals with type 2 diabetes mellitus, 12 with no (nDPN) and 12 with DPN (wDPN), and 12 healthy controls performed three manipulation tasks (static holding, lifting and holding, and oscillation) with the dominant hand, using an instrumented handle. Relative safety margin (% of GF exerted above the minimum GF needed to hold the object) was measured in all tasks. Individuals with diabetes from the nDPN and wDPN groups set lower relative safety margin than controls only in the static holding task. No other group effect was revealed, except a lower coefficient of friction between skin and object surface in individuals with DPN. The coordination between grip and load force and grip force control was not affected by the diabetes during dynamic manipulation tasks (lifting and holding and oscillation). However, when individuals with diabetes without and with DPN performed a manipulation task in which the inflow of cutaneous information was small and stable (static holding), grip force control was affected by the disease. This finding indicates that individuals with type 2 diabetes mellitus not diagnosed with DPN, already show mild impairments in the nervous system that could affect grip force control and that could be one of the first signs of neuropathy caused by the diabetes.