Coordination Dynamics of the Bipedal Galloping Pattern

A motion equation in relative phase was developed that incorporates the spatial-temporal pattern of the bipedal gallop along with the more commonplace patterns of the bipedal jump and walk-run. In 3 experiments, human participants (N = 6 per experiment) simulated the bipedal gait patterns through the rhythmic motions of hand-held pendulums. Predictions of the motion equation for coordination equilibria and their respective degrees of stability were confirmed. In particular, the gallop pattern was less stable than the fundamental in-phase and antiphase patterns but changed in qualitatively similar ways to those gaits as a function of limb asymmetry and movement frequency. The relation between the modeled coordination dynamics and the kinematic characteristics of real bipedal galloping is discussed.     

Learning as change of coordination dynamics: theory and experiment

Learning of coordination patterns was investigated theoretically from the point of view of a dynamic theory of biological coordination and with reference to recent experiments on the learning of relative timing patterns. The theory is based on theoretical and experimental work showing that coordinated movement is characterized not only by the actually performed pattern of coordination but by an entire dynamics of coordination. Theoretically, such dynamics are captured as equations of motion of relevant collective variables. Experimentally, signatures of these underlying dynamics can be found in the temporal stability of coordination patterns, which can be assessed through various stability measures as well as through processes of pattern change. We argue that not only intrinsic coordination tendencies, but also specific behavioral requirements, be they perceived, memorized, or intended, must be expressed in terms of such dynamics. The concept of behavioral information captures such requirements as part of the coordination dynamics. We expound two hypotheses on the nature of learning in this framework. First, we assume that at each point during the learning process the system is governed by a well-defined coordination dynamics. This equation of motion evolves with learning so as to acquire an attractor solution near the to-be-learned pattern. Second, we hypothesize that this change of the coordination dynamics, captured by the time course of memorized behavioral information, can itself be ascribed to an additional layer of dynamics, the slower learning dynamics. Testable consequences of these views are discussed in the light of recent experimental findings on the learning of a relative phase in rhythmic movement: (a) Learning affects dynamic properties of performed coordination patterns, in particular, their stability; (b) the change of the coordination dynamics due to learning leads to specific changes of behavior also under conditions other than the learned condition, namely, to systematic deviation toward the learned patterns; (c) learning may lead to instabilities in the coordination behavior if initial and learned performance differ sufficiently; and (d) the dynamic properties of the performed coordination patterns are distinct on the two time scales of learning and of performance.     

Inter-limb coupling in bimanual rhythmic coordination in Parkinson's disease

Recently, it has been shown that rhythmic inter-limb coordination is disturbed in patients with Parkinson's disease (PD). The present study aims to investigate whether this coordination deficit is primarily the result of an impaired coupling, related to hypoactivation of the supplementary motor area (SMA), or primarily the indirect result of an asymmetrical distribution of PD symptoms over the left and right limbs (a peripheral process). Thirty PD patients and 30 matched control participants tapped with the index fingers anti-phase and left and right leading gallop patterns in four visual feedback conditions. Symmetrically affected participants performed significantly worse than asymmetrically affected and control participants in the gallop patterns. This result suggested that the central deficit has a stronger effect on inter-limb coupling in PD than the neuromuscular and biomechanical asymmetry between the limbs. Detailed analysis of inter-tap intervals (variability and correlation) suggested that this deficit leads to a compensatory asymmetrical inter-limb coupling in the primarily right-affected patient group, and under specific circumstances also in the primarily left-affected patient group. The difference in coordination strategy between left- and right-affected patients suggested that pre-morbid hand preference is an important structural constraint on the coupling strategies available to the participants.     

The effect of visuo-motor transformations on hand-foot coordination: evidence in favor of the incongruency hypothesis

Understanding how multiple constraints contribute to the emergence of coordinated behavior has been the topic of considerable debate in cognitive sciences. The present experiment addressed the issue of the effects of visual motion structures (iso- and non-isodirectionality) on the stability of hand-foot coordination patterns. Visuo-motor transformations--decorrelating the perceived movement direction from the actually generated direction--were applied to both in-phase and anti-phase patterns. Two mutually exclusive hypotheses--the "visual grouping hypothesis" and the "incongruency hypothesis"--were tested. The results indicated that both conditions of transformed visual feedback destabilized the actual performed coordination patterns. Thus, despite the existence of common underlying principles that govern both the perceived motion pattern and the generation of hand-foot coordination patterns, it appeared that perceptual grouping principles were not exploited to monitor the production of coordination. These results strongly suggest that the congruency between the performed pattern and the perceived visual feedback is the primary factor determining the (in)stability of hand-foot coordination patterns.     

The coordinated movement of the spine and pelvis during running

Previous research into running has demonstrated consistent patterns in pelvic, lumbar and thoracic motions between different human runners. However, to date, there has been limited attempt to explain why observed coordination patterns emerge and how they may relate to centre of mass (CoM) motion. In this study, kinematic data were collected from the thorax, lumbar spine, pelvis and lower limbs during over ground running in n = 28 participants. These data was subsequently used to develop a theoretical understanding of the coordination of the spine and pelvis in all three body planes during the stance phase of running. In the sagittal plane, there appeared to be an antiphase coordinate pattern which may function to increase femoral inclination at toe off whilst minimising anterior–posterior accelerations of the CoM. In the medio-lateral direction, CoM motion appears to facilitate transition to the contralateral foot. However, an antiphase coordination pattern was also observed, most likely to minimise unnecessary accelerations of the CoM. In the transverse plane, motion of the pelvis was observed to lag slightly behind that of the thorax. However, it is possible that the close coupling between these two segments facilitates the thoracic rotation required to passively drive arm motion. This is the first study to provide a full biomechanical rationale for the coordination of the spine and pelvis during human running. This insight should help clinicians develop an improved understanding of how spinal and pelvic motions may contribute to, or result from, common running injuries.     

Symmetry constraints mediate the learning and transfer of bimanual coordination patterns across planes of motion

The authors investigated whether neuromuscular and directional constraints are dissociable limitations that affect learning and transfer of a bimanual coordination pattern. Participants (N = 9) practiced a 45 degrees muscular relative phasing pattern in the transverse plane over 4 days. The corresponding to-be-learned spatial relative phasing was 225 degrees. Before, during, and following practice, the authors administered probe tests in the sagittal plane to assess transfer of learning. In the probe tests, participants performed various patterns characterized by different muscular and spatial relative phasing (45 degrees, 45 degrees, 45 degrees, 225 degrees, 225 degrees, 45 degrees, and 225 degrees, 225 degrees). The acquisition of the to-be-learned pattern in the transverse plane resulted in spontaneous positive transfer of learning only to coordination patterns having 45 degrees of spatial relative phase, irrespective of muscular phasing. Moreover, transfer occurred in the sagittal plane to coordination patterns that had symmetry properties similar to those of the to-be-learned pattern. The authors conclude that learning and transfer of spatial features of coordination patterns from the transverse to the sagittal plane of motion are mediated by mirror-symmetry constraints.     

How do children coordinate simultaneous upper and lower extremity tasks? The development of dual motor task coordination

When performing simultaneous clapping with walking or galloping, adults adopt coupled, consistent and stable dual motor task coordination; do developmental trends in this coordination exist? In this study, we measured and compared coupling characteristics, consistency across trials and variability of phasing in 4-, 6-, 8-, and 10-year-olds (n=44) as they also performed the same dual motor task. For walk/clap, children adopted specific coupling patterns like adults by 8 years and with the same consistency by 10 years. Across age, children became less variable in clap and step movements separately and as coupled together. In the gallop/clap, children did not resemble adults in coupling patterns by 10 years but all measures were becoming more consistent across age. We discuss dual motor task coordination as a function of age and task complexity using a "dynamic" perspective within a developmental context.     

Limiting the recruitment of degrees of freedom reduces the stability of perception-action patterns

The goal of the present study was to examine how recruiting/suppressing degrees of freedom affects the (differential) stability of two rhythmic perception-action patterns. In particular, participants synchronized either adduction-on-the-beat or abduction-on-the-beat movements of the right index finger with an auditory metronome. The stability of both patterns as performed in the horizontal plane was predicted to depend on the utilization, or recruitment, of the vertical plane of motion. Movements of the index finger were either free or physically restricted to the horizontal plane. The results showed that in the free condition, the vertical plane was recruited more in the more stable pattern (abduction-on-the-beat) than in the less stable pattern (adduction-on-the-beat). In the constrained condition, abduction-on-the-beat pattern was destabilized, whereas the stability of the adduction-on-the-beat pattern was preserved. These results suggest that the recruitment of the vertical plane of motion in the abduction-on-the-beat movements brought about an increase in the stability of this pattern. More generally, the trade-off between the stability of coordination patterns in the horizontal plane is based on a self-organizing process of recruitment in which neuromuscular factors are an intrinsic aspect.     

Effects of gait pattern and arm swing on intergirdle coordination

Mature locomotion in humans is characterized by an anti-phase coordination (moving in opposite directions) between the pelvic and the scapular girdles. This pattern involves a specific relationship between the arm and leg motion is deemed to be most flexible and dynamically efficient. Still, when the arms are involved in another task, like a field player running with a ball in the hands, locomotion is still possible. In order to probe the flexibility of the locomotor synergy, the present study aimed to determine the persistence and the strength of the coordination patterns between the pelvic and scapular girdles when no arm swing was allowed during walking and running. Relative phase, the time difference between the girdle rotations, measured the ongoing inter-girdle coordination of eight healthy participants asked to walk and run with or without arm swing. Results showed that an absence of arm swing led to a change from an anti-phase to in-phase pattern (girdles moving in the same direction) and that an increase in velocity strengthened the adopted pattern. Moreover, the frequency distribution of relative phase for all gait patterns with arm swing proved to be bimodal, indicating that the prevailing anti-phase pattern was always mixed with a noticeable proportion of in-phase coordination. The presence of the in-phase pattern in the easy, natural locomotion with arm swing manifests its persistence and its stability, perhaps pertaining to its prevalence in earlier times in ontogeny or evolution.     

A developmental study of the interlimb coordination in running and galloping

Using a dynamical systems perspective on motor behavior, it was predicted that interlimb coordination of running and galloping would behave like coupled, nonlinear, limit-cycle oscillators, which show the properties of phase locking, entrainment, and structural stability. Female subjects ranging in age from 2.5 years to adult were filmed while running and galloping with and without a weight perturbation. Analysis of both temporal- and amplitude-phasing measures revealed that both gaits demonstrated oscillatory properties. Differences between gaits and across age were primarily a matter of degree. In general, children 4 years of age and below had slightly less table phasing patterns, and all age groups showed slightly less ability in the gallop, particularly with amplitude phasing.     

An Exchange on Franz,Rowse, and Ballantine (2002)

Using a dynamical systems perspective on motor behavior, it was predicted that interlimb coordination of running and galloping would behave like coupled, nonlinear, limit-cycle oscillators, which show the properties of phase locking, entrainment, and structural stability. Female subjects ranging in age from 2.5 years to adult were filmed while running and galloping with and without a weight perturbation. Analysis of both temporal- and amplitude-phasing measures revealed that both gaits demonstrated oscillatory properties. Differences between gaits and across age were primarily a matter of degree. In general, children 4 years of age and below had slightly less stable phasing patterns, and all age groups showed slightly less stability in the gallop, particularly with amplitude phasing.     

The efficacy of the Microsoft Kinect<Superscript>TM</Superscript> to assess human bimanual coordination

The Microsoft Kinect has been used in studies examining posture and gait. Despite the advantages of portability and low cost, this device has not been used to assess interlimb coordination. Fundamental insights into movement control, variability, health, and functional status can be gained by examining coordination patterns. In this study, we investigated the efficacy of the Microsoft Kinect to capture bimanual coordination relative to a research-grade motion capture system. Twenty-four healthy adults performed coordinated hand movements in two patterns (in-phase and antiphase) at eight movement frequencies (1.00–3.33 Hz). Continuous relative phase (CRP) and discrete relative phase (DRP) were used to quantify the means (mCRP and mDRP) and variability (sdCRP and sdDRP) of coordination patterns. Between-device agreement was assessed using Bland–Altman bias with 95 % limits of agreement, concordance correlation coefficients (absolute agreement), and Pearson correlation coefficients (relative agreement). Modest-to-excellent relative and absolute agreements were found for mCRP in all conditions. However, mDRP showed poor agreement for the in-phase pattern at low frequencies, due to large between-device differences in a subset of participants. By contrast, poor absolute agreement was observed for both sdCRP and sdDRP, while relative agreement ranged from poor to excellent. Overall, the Kinect captures the macroscopic patterns of bimanual coordination better than coordination variability.     

Attentional load associated with performing and stabilizing a between-persons coordination of rhythmic limb movements

This study addressed the issue of intentional stabilization of between-persons coordination patterns (in-phase/isodirectional and anti-phase/non-isodirectional) and the attentional cost incurred by the nervous system in maintaining and further stabilizing these coordination patterns. Five pairs of participants performed in-phase and anti-phase interpersonal coordination patterns in dual-task conditions (coordination+RT task). Results showed that: (1) isodirectional pattern (in-phase) was more stable than non-isodirectional pattern (anti-phase), (2) both iso- and non-isodirectional pattern were stabilized intentionally, (3) RT was lower for the isodirectional pattern (i.e., the most stable), and (4) attentional manipulation led to a trade-off between pattern stability and RT performance. These results suggest that performing between-persons coordination patterns incurs a central cost that depends on the coupling strength between the limbs. These findings are consistent with the previous studies in intrapersonal coordination.     

Inter-joint coordination patterns differ between younger and older runners

Older runners are at greater risk of certain running-related injuries. Previous work demonstrated that aging influences running biomechanics, and suggest a compensatory relation between changes in the proximal and distal joints. Previous comparisons of interjoint coordination strategies between young and older runners could potentially have missed relevant differences by averaging coordination measures across time.ObjectiveTo compare coordination strategies between male runners under the age of 30 to those over the age of 60.MethodsTwelve young (22 ± 3 yrs, 1.80 ± 0.07 m, 78.0 ± 12.1 kg) and 12 older (63 ± 3 yrs, 1.78 ± 0.06 m, 73.2 ± 15.8 kg) male runners ran at 3.35 m/s on an instrumented treadmill. Ankle frontal plane, tibial transverse plane, knee sagittal plane, and hip frontal plane motion were measured. Inter-joint coordination was calculated using a modified vector coding technique. Coordination patterns and variability time series were compared between groups throughout stance using ANOVA for circular data.ResultsAt the ankle, older runners use in-phase propulsion (inversion, tibia external rotation) pattern following midstance (46–47% stance) while young runners are still in an in-phase collapse pattern (eversion, tibia external rotation). In coordination of the knee and hip, older runners maintained an in-phase collapse pattern (knee flexion, hip adduction) approaching midstance (35–37% stance), while younger runners use an out of phase strategy (knee extension, hip adduction). In coordination of the ankle and hip in the frontal plane, older runners again maintained an in phase collapse pattern up to midstance (34–39% stance), while younger runners used an out of phase strategy (ankle inversion, hip adduction). Variability was similar between age groups.ConclusionOlder runners appear to display altered coordination patterns during mid-stance, which may indicate protective biomechanical adaptations. These changes may also have implications for performance in older runners.     

To Switch or Not to Switch: Recruitment of Degrees of Freedom Stabilizes Biological Coordination

Recruitment and suppression processes were studied in the swinging-pendulum paradigm (cf. P. N. Kugler & M. T. Turvey, 1987). The authors pursued the hypothesis that active recruitment of previously unmeasured degrees of freedom serves to stabilize an antiphase bimanual coordination pattern and thereby obviates the need for pattern switching from an antiphase to an in-phase coordination pattern, a key prediction of the H. Haken, J. A. S. Kelso, and H. Bunz (1985) model. In Experiment 1, 7 subjects swung single hand-held pendulums in time with an auditory metronome whose frequency increased. Pendulum motion changed from planar (2D) to elliptical (3D), and forearm motion (produced by elbow flexion-extension) was recruited with increasing movement rate for cycling frequencies typically above the pendulum's eigenfrequency. In Experiment 2, 7 subjects swung paired pendulums in either an in-phase or an antiphase coordinative mode as movement rate was increased. With the systematic increase in movement rate, the authors attempted to induce transitions from the antiphase to the in-phase coordinative pattern, with loss of stability the key mechanism of pattern change. Transitions from the antiphase to the in-phase coordinative mode were not observed. Pattern stability, as defined by the variability of the phase relation between the pendulums, was affected only a little by increasing movement rate. As in the single-pendulum case, pendulum motion changed from planar to elliptical, and forearm motion was recruited with increasing cycling frequency. Those results reveal a richer dynamics than previously observed in the pendulum paradigm and support the hypothesis that recruitment processes stabilize coordination in biomechanically redundant systems, thereby reducing the need for pattern switching.     

Unilateral vs. bilateral coordination of circle-drawing tasks

The number of joint motions available in the upper extremity provides for multiple solutions to the coordination of a motor task. Making use of these abundant joint motions provides for task flexibility. Controlling bimanual movements poses another level of complexity because of possible tradeoffs between coordination within a limb and coordination between the limbs. We examined how flexible patterns of joint coordination were used to stabilize the hand's path when drawing a circle independently compared to a bimanual pattern. Across-trial variance of joint motions was partitioned into two components: goal-equivalent variance (GEV), representing variance of joint motions consistent with a stable hand path and non-goal-equivalent variance (NGEV) representing variance of joint motions that led to deviations of the hand's path. GEV was higher than NGEV in both unimanual and bimanual drawing, with one exception. Both GEV and NGEV, related to control of the individual hands' motion, decreased when engaged in the bimanual compared to unimanual drawing. Moreover, NGEV, leading to variability in the vectorial distance between the hands, was higher when the two hands drew circles in a bimanually asymmetric vs. symmetric pattern, consistent with reported differences in the relative phasing of the two hands. Our results suggest that the nervous system controls the individual hands' motions by separate intra-limb synergies during both unimanual and bimanual drawing, and superimposes an additional synergy to achieve stable relative motion of the two hands during bimanual drawing.     

Analysis of Pelvis-Thorax Coordination Patterns of Professional and Amateur Golfers during Golf Swing

The aim of this research was to quantify the coordination pattern between thorax and pelvis during a golf swing. The coordination patterns were calculated using vector coding technique, which had been applied to quantify the coordination changes in coupling angle (γ) between two different segments. For this, fifteen professional and fifteen amateur golfers who had no significant history of musculoskeletal injuries. There was no significant difference in coordination patterns between the two groups for rotation motion during backswing (p = 0.333). On the other hand, during the downswing phase, there were significant differences between professional and amateur groups in all motions (flexion/extension: professional [γ] = 187.8°, amateur [γ] = 167.4°; side bending: professional [γ] = 288.4°, amateur [γ] = 245.7°; rotation: professional [γ] = 232.0°, amateur [γ] = 229.5°). These results are expected to be a discriminating measure to assess complex coordination of golfers' trunk movements and preliminary study for interesting comparison by golf skilled levels.     

Cognitive activity shifts the attractors of bimanual rhythmic coordination

The attractors of bimanual rhythmic coordination are given as the solutions of a motion equation in relative phase. How are those attractors affected by cognitive activity? In 3 experiments, participants (N = 10 in Experiments 1 and 2; N = 5 in Experiment 3) were required to produce in-phase or antiphase coordination while they either did or did not perform an information-reduction task. The average absolute deviation from in-phase (0 degrees ) and antiphase (180 degrees ) satisfying a particular parameterization of the motion equation was amplified by cognitive activity. That amplification of absolute phase shift was the same for both in-phase and antiphase coordination. Furthermore, the amplification (in degrees) increased linearly with the magnitude of cognitive activity (in bits). Cognitive activity had limited influence on the variability of relative phase and did not affect its average signed deviation. Collectively, the results suggest that cognitive activity produces a shift in the attractors of bimanual coordination dynamics that is directionally nonspecific and is independent of movement speed, detuning, and the in-phase-antiphase distinction.