Posture based motor planning in a sequential grasping task

Movement planning in sequential tasks is revealed by grasping postures. We explored aspects of planning a sequential drawer opening and object manipulation task with regard to arm and torso postures. We conducted a detailed kinematic analysis of joint postures at the wrist, elbow, and shoulder for a one-grasp and a two-grasp sequence of movement. The second of the two-grasp sequence was constrained (uncomfortable). We predicted that planning for the second grasp in a two-grasp sequence would influence arm, torso, and whole-body postures at the first grasp. Participants prepared for the second grasp by adjusting the posture of the elbow and shoulder and the distance they stepped to the drawer. The joint postures at the elbow and shoulder changed in the direction of the intended object grasp. These findings show that anticipatory adjustments are revealed at postures other than the end-effector and lend insight into the mechanisms of sequential movement planning.     

Knowledge Model for Selecting and Producing Reaching Movements

This article presents a new model of reaching control. The aim of the model is to characterize the computations underlying the selection of coordinated motion patterns among the limb segments. When a spatial target is selected, stored postures are evaluated for the contributions they can make to the task, and a special weighted average (the gaussian average) is taken of the postures to find a single target posture. Movement to the target posture is achieved without explicit planning of the trajectory. Rather, the reaching motion is driven by error correction (reducing the discrepancy between the current and target posture) shaped by inertia. The model solves the degrees-of-freedom problem for reaching. It also allows joints to compensate automatically for reduced mobility of other joints and explains established effects of practice, speed-accuracy trade-off, and kinematics. The model can be extended to other tasks and motor subsystems because of the generality of its underlying concepts.     

Grasping of extrafoveal targets: A robotic model

We present a computational model of grasping of non-fixated (extrafoveal) target objects which is implemented on a robot setup, consisting of a robot arm with cameras and gripper. This model is based on the premotor theory of attention (Rizzolatti et al., 1994) which states that spatial attention is a consequence of the preparation of goal-directed, spatially coded movements (especially saccadic eye movements). In our model, we add the hypothesis that saccade planning is accompanied by the prediction of the retinal images after the saccade. The foveal region of these predicted images can be used to determine the orientation and shape of objects at the target location of the attention shift. This information is necessary for precise grasping. Our model consists of a saccade controller for target fixation, a visual forward model for the prediction of retinal images, and an arm controller which generates arm postures for grasping. We compare the precision of the robotic model in different task conditions, among them grasping (1) towards fixated target objects using the actual retinal images, (2) towards non-fixated target objects using visual prediction, and (3) towards non-fixated target objects without visual prediction. The first and second setting result in good grasping performance, while the third setting causes considerable errors of the gripper orientation, demonstrating that visual prediction might be an important component of eye–hand coordination. Finally, based on the present study we argue that the use of robots is a valuable research methodology within psychology.     

Monkey see, monkey plan, monkey do: the end-state comfort effect in cotton-top tamarins (Saguinus oedipus)

The way human adults grasp objects is typically influenced by their knowledge of what they intend to do with the objects. This influence is reflected in the end-state comfort effect: Actors adopt initially uncomfortable postures to accommodate later task demands. Although many experiments have demonstrated this effect, to the best of our knowledge its phylogenetic roots have not been investigated. In two experiments, we tested whether 9 cotton-top tamarin monkeys would show the end-state comfort effect. We did so by presenting the monkeys with a small cup containing a marshmallow. The cup was suspended in different orientations. The monkeys inhibited their natural grasping tendencies and adopted unusual grasping postures to accommodate subsequent task requirements, thus demonstrating the end-state comfort effect. This outcome provides evidence for more sophisticated motor planning than has previously been ascribed to this and related species.     

Grasp posture planning during multi-segment object manipulation tasks — Interaction between cognitive and biomechanical factors

The present study examined adaptations in the planning of initial grasp postures during a multi-segment object manipulation task. Participants performed a grasping and placing task that consisted of one, two, or three movement segments. The position of the targets was manipulated such that the degree of object rotation between the home and temporally proximal positions, and between the temporally proximal and distal target positions, varied. Participants selected initial grasp postures based on the specific requirements of the temporally proximal and temporally distal action segments, and adjustments in initial grasp posture depended on the temporal order of target location. In addition, during the initial stages of the experimental session initial grasp postures were influenced to a larger extent by the demands of the temporally proximal segment. However, over time, participants overcame these cognitive limitations and adjusted their initial grasp postures more strongly to the requirements of the temporally distal segment. Taken together, these results indicate that grasp posture planning is influenced by cognitive and biomechanical factors, and that participants learn to anticipate the task demands of temporally distal task demands, which we hypothesize, reduce the burden on the central nervous system.     

Treatment Planning as Collaborative Care Map Construction: Reframing Clinical Practice to Promote Client Involvement

Collaborative care map construction is proposed as an alternative reference to the clinical practice of treatment planning. This reframe is intended to highlight the importance of client–therapist collaboration in “mapping out” care. Six therapist postures or practices are presented and discussed that promote client involvement: (a) speaking tentatively, (b) revisiting role induction, (c) inviting client preferences, (d) determining direction, (e) wondering aloud, and (f) checking for clarity and soliciting feedback. Suggestions are provided for employing these postures within the time constraints and external controls of managed care entities.     

Dynamic illusion effects in a reaching task: evidence for separate visual representations in the planning and control of reaching.

The effects of an orientation illusion on perception and 2 different actions were investigated. An 8-cm x 2-cm cylindrical bar was placed in front of participants at various orientations. A background grating was used to induce an orientation illusion. In a perception task, the illusion affected participants' ability to align the bar with their sagittal planes. In one reaching task, a similar effect of the illusion was found on the choice between 2 possible grasping postures. In a second reaching task involving a single grasping posture, the orientation illusion affected the orientation of the hand at the beginning of the reach but not near its end. The authors argue that reaching trajectories are planned and initiated through a context-dependent representation but are corrected on-line through a context-independent representation. The relation of this model to a more general dichotomy between perception and action is discussed.     

Thinking ahead: the case for motor imagery in prospective judgements of prehension

How similar are judgements concerning how we expect to perform an action, to how we actually behave? The veracity of such prospective action judgements, and the mechanisms by which they are computed, was explored in a series of tasks that involved either grasping (MC conditions) or thinking about grasping (PJ conditions) a dowel presented in various orientations. PJs concerning limits of comfortable hand supination and pronation when turning a dowel in the picture plane were highly consistent with values obtained during actual hand rotation (Exp. 1). The same was true for judgements regarding the level of awkwardness involved in adopting a prescribed grip (e.g. overhand with right hand) for dowels in various picture plane orientations (Exp. 2). When allowed to select the most natural grip (overhand versus underhand) or hand (left versus right) for engaging dowels in these orientations, subjects preferred virtually identical responses in both PJ and MC conditions. In both instances, they consistently chose the least awkward response options. As would be expected for actual movements, PJs involving awkward hand postures had longer response times (RTs), and were less accurate. Likewise, latencies for both grip and hand judgements tended to increase as a function of the angular distance between the current positions of subjects' hands, and the orientation of the chosen posture. Together, these findings are consistent with a the hypothesis that PJs involve mentally simulated actions, or motor imagery. These results suggest that motor imagery does not depend on the existence of a completed premotor plan (Jeannerod, 1994), but may instead be involved in the planning process itself. A provisional model for the involvement of imagery in motor planning is outlined, as are a set of criteria for evaluating claims of the involvement of motor imagery in problem solving.     

Whole-body posture planning in anticipation of a manual prehension task: Prospective and retrospective effects

This study examined the extent to which the anticipation of a manual action task influences whole-body postural planning and orientation. Our participants walked up to a drawer, opened the drawer, then grasped and moved an object in the drawer to another location in the same drawer. The starting placement of the object within the drawer and the final placement of the object in the drawer were varied across trials in either a blocked design (i.e., in trials where the same start and end location were repeated consecutively) or in a mixed fashion. Of primary interest was the posture adopted at the moment of grasping the drawer handle before pulling it out prior to the object manipulation task. Of secondary interest was whether there were sequential effects such that postures adopted in preceding trials influenced postures in subsequent trials. The results indicated that the spatial properties of the forthcoming object manipulation influenced both the postures adopted by the participants and the degree to which the drawer was opened, suggesting a prospective effect. In addition, the adopted postures were more consistent in blocked trials than in mixed trials, suggesting an additional retrospective effect. Overall, our findings suggest that motor planning occurs at the level of the whole body, and reflects both prospective and retrospective influences.     

Achieving Coordination in Prehension: Joint Freezing and Postural Contributions

The focus of the present study was on the intersegmental relationships that emerge when both task and oganismic constraints are imposed upon the coordination system. Seven right-handed subjects were required to reach and grasp a cup (hand transport phase) and place it on a designated target (cup transport phase), using either their preferred or nonpreferred hand. The kinematics of the movement were examined as a function of task (grasping a full cup versus grasping an empty one) and organismic (preferred or nonpreferred hand) constraints. During the hand transport phase, a task constraint effect was revealed through an increase in the low-velocity phase for the full cup condition. This constraint coexisted with a decrease in angular motion of the shoulder and elbow joints, indicating subjects reduced the number of variables to be independently controlled in the final homing-in stage of the movement. Accompanying this decrease in angular change was an increase in the displacement of the trunk. During the cup transport phase, the trunk was shown to contribute significantly more to the movement in the full cup condition and for the left hand movements, thereby increasing the stability of the movement system. These findings are in agreement with Bernstein's (1967) notion of fixating parts of the body as an initial solution to a movement problem, and they lend support to the concept of a proximodistal organization of coordination.     

Learning to Move

ABSTRACT— Locomotion—moving the body from place to place—is one of infants' greatest achievements. In addition to conquering gravity, infants must cope with variable and novel constraints on balance and propulsion. At the same time that they are learning to move, changes in infants' bodies, skills, and environments change the biomechanical constraints on movement. Recent work highlights both flexibility and specificity in infants' responses to novel and variable situations, demonstrating that infants are learning to learn as they master locomotion. Within sitting, crawling, cruising, and walking postures, experienced infants adapt their locomotor responses to the current biomechanical constraints on movement. However, what infants have learned about coping with variability and novelty in earlier-developing postures does not transfer to later-developing postures.     

Interplay of biomechanical constraints and kinematic strategies in selecting arm postures

In this study, the authors examined the interplay between biomechanics and control strategies in the resolution of excess degrees of freedom at the joint level. Seven participants made aimed arm movements from 30 starting points and several starting postures to targets. Final arm postures for movements to a target exhibited substantial joint angle variation. Through regression modeling and by comparing observed final arm postures with biomechanically plausible postures, the authors identified 3 kinematic strategies: (a) Maintain deviations from the average angle at the starting point to the joint's final posture; (b) make torso rotations that are a fixed proportion of shoulder rotations; and (c) adopt a characteristic combination of 4 wrist-positioning approaches. The results demonstrated that kinematic strategies can account for substantial variance in final arm postures, if one takes into account 2 types of individual differences-those that arise inevitably from biomechanical constraints and those that reflect choices in movement strategy.     

Interplay of Biomechanical Constraints and Kinematic Strategies in Selecting Arm Postures

In this study, the authors examined the interplay between biomechanics and control strategies in the resolution of excess degrees of freedom at the joint level. Seven participants made aimed arm movements from 30 starting points and several starting postures to targets. Final arm postures for movements to a target exhibited substantial joint angle variation. Through regression modeling and by comparing observed final arm postures with biomechanically plausible postures, the authors identified 3 kinematic strategies: (a) Maintain deviations from the average angle at the starting point to the joint's final posture; (b) make torso rotations that are a fixed proportion of shoulder rotations; and (c) adopt a characteristic combination of 4 wrist-positioning approaches. The results demonstrated that kinematic strategies can account for substantial variance in final arm postures, if one takes into account 2 types of individual differences—those that arise inevitably from biomechanical constraints and those that reflect choices in movement strategy.     

Learning to like it: Aesthetic perception of bodies,movements and choreographic structure

Appreciating human movement can be a powerful aesthetic experience. We have used apparent biological motion to investigate the aesthetic effects of three levels of movement representation: body postures, movement transitions and choreographic structure. Symmetrical (ABCDCBA) and asymmetrical (ABCDBCA) sequences of apparent movement were created from static postures, and were presented in an artificial grammar learning paradigm. Additionally, “good” continuation of apparent movements was manipulated by changing the number of movement path reversals within a sequence. In an initial exposure phase, one group of participants saw only symmetrical sequences, while another group saw only asymmetrical sequences. In a subsequent test phase, both groups rated all sequences on an aesthetic evaluation scale. We found that posture, movement, and choreographic structure all influenced aesthetic ratings. Separate ratings for the static body postures presented individually showed that both groups preferred a posture that maximized spatial symmetry. Ratings for the experimental sequences showed that both groups gave higher ratings to symmetrical sequences with “good” continuation and lower ratings to sequences with many path reversals. Further, participants who had been initially familiarized with asymmetrical sequences showed increased liking for asymmetrical sequences, suggesting a structural mere exposure effect. Aesthetic preferences thus depend on body postures, apparent movement continuation and choreographic structure. We propose a hierarchical model of aesthetic perception of human movement with distinct processing levels for body postures, movements and choreographic structure.     

Congruency effects between auditory and tactile motion: Extending the phenomenon of cross-modal dynamic capture

Behavioral studies of multisensory integration in motion perception have focused on the particular case of visual and auditory signals. Here, we addressed a new case: audition and touch. In Experiment 1, we tested the effects of an apparent motion stream presented in an irrelevant modality (audition or touch) on the perception of apparent motion streams in the other modality (touch or audition, respectively). We found significant congruency effects (lower performance when the direction of motion in the irrelevant modality was incongruent with the direction of the target) for the two possible modality combinations. This congruency effect was asymmetrical, with tactile motion distractors having a stronger influence on auditory motion perception than vice versa. In Experiment 2, we used auditory motion targets and tactile motion distractors while participants adopted one of two possible postures: arms uncrossed or arms crossed. The effects of tactile motion on auditory motion judgments were replicated in the arms-uncrossed posture, but they dissipated in the arms-crossed posture. The implications of these results are discussed in light of current findings regarding the representation of tactile and auditory space.     

The influence of time constraints on posture choices during an end-state comfort task

People adopt comfortable postures for the end states of motor actions (end-state comfort; Rosenbaum & Jorgensen, 1992). The choice to end comfortably often elicits adoption of uncomfortable beginning states, demonstrating that a sequence of movement is planned in advance of movement onset. Many factors influence the choice of comfortable end-state postures including the greater precision and speed afforded by postures at joint angle mid-ranges (Short & Cauraugh, 1999). To date, there has been little evaluation of the hypothesis that postures are chosen based on minimizing the time spent in uncomfortable postures. The aim of this experiment was to examine how the relative time required to hold beginning and end-state postures influenced the choice of posture. Participants moved a two-toned wooden dowel from one location to another with the requirement to grasp the object and place a specified color down. Participants completed four conditions where no postures were held, only one posture was held, or both postures were held. We predicted more thumb-up postures for positions held longer regardless of whether these postures were at the end or beginning state. Results verified that the constraint of holding the initial posture led to decreased end-state comfort supporting the hypothesis that estimation of time spent in postures is an important constraint in planning. We also note marked individual differences in posture choices, particularly when the object was moved to the left.     

One hand, two objects: emergence of affordance in contexts

Studies on affordances typically focus on single objects. We investigated whether affordances are modulated by the context, defined by the relation between two objects and a hand. Participants were presented with pictures displaying two manipulable objects linked by a functional (knife-butter), a spatial (knife-coffee mug), or by no relation. They responded by pressing a key whether the objects were related or not. To determine if observing other's actions and understanding their goals would facilitate judgments, a hand was: (a) displayed near the objects; (b) grasping an object to use it; (c) grasping an object to manipulate/move it; (d) no hand was displayed. RTs were faster when objects were functionally rather than spatially related. Manipulation postures were the slowest in the functional context and functional postures were inhibited in the spatial context, probably due to mismatch between the inferred goal and the context. The absence of this interaction with foot responses instead of hands in Experiment 2 suggests that effects are due to motor simulation rather than to associations between context and hand-postures.     

On the likelihood ratio test in structural equation modeling when parameters are subject to boundary constraints

The authors show how the use of inequality constraints on parameters in structural equation models may affect the distribution of the likelihood ratio test. Inequality constraints are implicitly used in the testing of commonly applied structural equation models, such as the common factor model, the autoregressive model, and the latent growth curve model, although this is not commonly acknowledged. Such constraints are the result of the null hypothesis in which the parameter value or values are placed on the boundary of the parameter space. For instance, this occurs in testing whether the variance of a growth parameter is significantly different from 0. It is shown that in these cases, the asymptotic distribution of the chi-square difference cannot be treated as that of a central chi-square-distributed random variable with degrees of freedom equal to the number of constraints. The correct distribution for testing 1 or a few parameters at a time is inferred for the 3 structural equation models mentioned above. Subsequently, the authors describe and illustrate the steps that one should take to obtain this distribution. An important message is that using the correct distribution may lead to appreciably greater statistical power.     

Planning of reach-and-grasp movements: effects of validity and type of object information

Individuals are assumed to plan reach-and-grasp movements by using two separate processes. In 1 of the processes, extrinsic (direction, distance) object information is used in planning the movement of the arm that transports the hand to the target location (transport planning); whereas in the other, intrinsic (shape) object information is used in planning the preshaping of the hand and the grasping of the target object (manipulation planning). In 2 experiments, the authors used primes to provide information to participants (N = 5, Experiment 1; N = 6, Experiment 2) about extrinsic and intrinsic object properties. The validity of the prime information was systematically varied. The primes were succeeded by a cue, which always correctly identified the location and shape of the target object. Reaction times were recorded. Four models of transport and manipulation planning were tested. The only model that was consistent with the data was 1 in which arm transport and object manipulation planning were postulated to be independent processes that operate partially in parallel. The authors suggest that the processes involved in motor planning before execution are primarily concerned with the geometric aspects of the upcoming movement but not with the temporal details of its execution.     

Planning of Reach-and-Grasp Movements: Effects of Validity and Type of Object Information

Individuals are assumed to plan reach-and-grasp movements by using two separate processes. In 1 of the processes, extrinsic (direction, distance) object information is used in planning the movement of the arm that transports the hand to the target location (transport planning); whereas in the other, intrinsic (shape) object information is used in planning the preshaping of the hand and the grasping of the target object (manipulation planning) In 2 experiments, the authors used primes to provide information to participants (N = 5, Experiment 1; N = 6, Experiment 2) about extrinsic and intrinsic object properties. The validity of the prime information was systematically varied. The primes were succeeded by a cue, which always correctly identified the location and shape of the target object. Reaction times were recorded. Four models of transport and manipulation planning were tested. The only model that was consistent with the data was 1 in which arm transport and object manipulation planning were postulated to be independent processes that operate partially in parallel. The authors suggest that the processes involved in motor planning before execution are primarily concerned with the geometric aspects of the upcoming movement but not with the temporal details of its execution.