The Effects of Objectives and Constraints on Motor Control Strategy in Reciprocal Aiming Movements

The goal of this study was to examine how the kinematics of reciprocal aiming movements were affected by both the objective of the movement and the constraints operating on that movement. In Experiment 1, the objective of the movement was indirectly manipulated by capitalizing on the fact that subjects determine their own accuracy and speed limits, despite uniform task instructions to move as quickly and accurately as possible. A Fitts' type reciprocal aiming paradigm was employed, in which 69 subjects were asked to move a stylus repetitively between two spatially separated targets. Four target widths were orthogonally combined with four movement amplitudes, resulting in 16 conditions. Movements were made on an X-Y digitizing tablet. Based on the mean variable error produced on both targets, subjects were differentiated post hoc into three movement objective groups: speed, accuracy, and speed-plus-accuracy. Kinematic analyses revealed that the programming and execution of movements were systematically influenced by both the movement objective and the movement constraints. That is, movement time, peak velocity, dwell time, acceleration and deceleration time, normalized acceleration and normalized deceleration varied systematically as a function of both the speed-accuracy movement objective and the movement constraints of target size and movement distance. Moreover, the consequences of changing the constraints of the movement were affected by an interaction with the objective of the movement. In Experiment 2, the objective of the movement was directly manipulated by varying speed and/or accuracy instructions to subjects. The basic results of Experiment 1 were substantiated. Overall, the results were consistent with the view that motor control is dependent upon sensory consequences.     

The effects of instructions to subjects on the programming of visually directed reaching movements

Numerous studies of human motor control have examined the effects of constraints on the programming and execution of visually directed limb movements. Only a few studies, however, have explored how the subject's objective in making the movement affects the coordinated sequence of eye and limb movements that unfolds as the subject points to or grasps an object in space. In the present study, the characteristics of the targets and the environment remained constant while the demands for speed and accuracy were varied across blocks of trials by changing the instructions to the subject. In other words, the constraints operating in the situation were kept constant, but the objective of the movement was systematically varied by changing the relative demands for speed and accuracy. All subjects were required to point to visual targets presented on a screen in front of them. Eye position was monitored by infrared reflection. The position of each subject's hand in three-dimensional space was reconstructed by a computer-assisted analysis of the images provided by two rotary-shutter video cameras. The speed and accuracy demands of the task were varied in blocks of trials by requiring the subjects to point to the target "as quickly as you can" (speed condition); "as accurately as you can" (accuracy condition); or both "quickly and accurately" (speed/accuracy condition). The time to initiate an eye movement to the target was found to be reduced by increasing either the speed or accuracy demands of the task although the time to initiate the hand movement was reduced only in the speed condition. While the duration of the acceleration phase of the reach remained constant in real time, the duration of the deceleration phase was increased with increased demands for accuracy. As expected, both variable and absolute errors were largest in the speed condition. The findings indicated that the programming of the limb movement and its coordination with the associated eye movements were affected by varying the objective of the task.     

Kinematic adaptation to sudden changes in visual task constraints during reciprocal aiming

In a series of three experiments the visual modulation of movement during a reciprocal aiming task was examined when participants were confronted with sudden changes in visually specified task constraints. Amplitude and precision constraints were manipulated independently in Experiments 1 and 2, respectively, while their simultaneous effects were analyzed in Experiment 3. Analysis of the evolution of kinematic characteristics following a sudden change in task constraints revealed two different times scales of adaptation: a rapid adjustment occurring during the deceleration phase of the first movement following change and a more gradual adaptation, affecting the kinematic pattern as a whole, occurring over the next few movements. Overall, the results indicate that visual information with respect to the adequacy of the unfolding movement is continuously monitored, even under the least constraining conditions, and serves to modulate the pattern of movement to (a) comply with the (new) task constraints and (b) optimally tailor the pattern of movement to the situation at hand. We interpret these findings in the framework of a dynamical perspective on movement organization, with information modulating the parameters of an otherwise invariant underlying dynamical structure.     

Changes in the variability of movement trajectories with practice

We studied variability in movement phase plane trajectories (velocity-position relation) during movement. Human subjects performed 10 degrees and 30 degrees elbow flexion and extension movements in a visual step tracking paradigm. The area of ellipses with radii equal to one standard deviation in position and velocity was taken as a measure of trajectory variability. Trajectory variability was determined at 10-ms intervals throughout movements. Trajectory variability in both the acceleration and deceleration phases of movement decreased with practice. The average trajectory variability during deceleration was greater than that during acceleration even after extended practice (1000 trials). During practice, subjects usually increased movement speed while maintaining end-position accuracy. Trajectory variability was also related to movement speed when equal amounts of practice were given. Short duration (fast) movements had greater trajectory variability than long duration movements. Thus there is a tradeoff between movement speed and trajectory variability similar to the classical speed-accuracy tradeoff. Trajectory variability increased rapidly during the acceleratory phase of movement. The rate of increase was positively related to both movement amplitude and speed. Thus, the forces producing limb acceleration were variable and this variability was more marked in faster and larger movements. In contrast, trajectory variability increased more slowly or actually decreased during the deceleratory phase of movements. Forces involved in limb deceleration thus appeared to compensate to a greater or lesser degree for the variability in accelerative forces. The experiments indicate that the entire trajectory of simple limb movements is controlled by the central nervous system. Variations in accelerative forces may be compensated for by associated variations in decelerative forces. The linkage between accelerative and decelerative forces is progressively refined with practice resulting in decreased variability of the movement trajectory.     

Reaching beyond spatial perception: Effects of intended future actions on visually guided prehension

Three experiments examined whether manipulating actors' intentions, regarding forthcoming actions, influences the time course and kinematics of visually guided, reach‐to‐grasp movements. Subjects performed two‐step action sequences where the initial movement always involved reaching for and grasping cubes located at a constant distance. Demands of the second movement were systematically manipulated. Although the spatial parameters (cube size and distance) remained constant across all conditions, the durations of the initial movements differed substantially depending on the actions subjects intended to perform once the objects were in hand. Less time was required to engage a small (1 cm³) cube when the intention was to transport it to a new location on the workspace vs. a large (4 cm³) cube when the goal was to merely lift it above its current resting position (Experiment 1). This difference in duration of the initial movement reflects more time spent in the deceleration phase of the reach when the task does not require transporting the cube to a new location on the workspace. Further, this context effect is not related to accuracy demands (Experiment 2), or complexity (Experiment 3) of the intended second movement. These findings demonstrate that actions are determined both by the perceived spatial demands of the immediate movement as well as the intended goal of the entire action sequence.     

The utilization of visual feedback information during rapid pointing movements

Three experiments were conducted to determine how variables other than movement time influence the speed of visual feedback utilization in a target-pointing task. In Experiment 1, subjects moved a stylus to a target 20 cm away with movement times of approximately 225 msec. Visual feedback was manipulated by leaving the room lights on over the whole course of the movement or extinguishing the lights upon movement initiation, while prior knowledge about feedback availability was manipulated by blocking or randomizing feedback. Subjects exhibited less radial error in the lights-on/blocked condition than in the other three conditions. In Experiment 2, when subjects were forced to use vision by a laterally displacing prism, it was found that they benefited from the presence of visual feedback regardless of feedback uncertainty even when moving very rapidly (e.g. less than 190 msec). In Experiment 3, subjects pointed with and without a prism over a wide variety of movement times. Subjects benefited from vision much earlier in the prism condition. Subjects seem able to use vision rapidly to modify aiming movements but may do so only when the visual information is predictably available and/or yields an error large enough to detect early enough to correct.     

The role of impulse variability in manual-aiming asymmetries

Summary Two experiments are reported in which we examined the hypothesis that the advantage of the right hand in target aiming arises from differences in impulse variability. Subjects made aiming movements with the left and right hands. The force requirements of the movements were manipulated through the addition of mass to the limb (Experiments 1 and 2) and through control of movement amplitude (Experiment 1). Although the addition of mass diminished performance (i. e., it increased movement times in Experiment 1 and increased error in Experiment 2), the two hands were not differently affected by the manipulation of required force. In spite of the fact that the right hand exhibited enhanced performance (i. e., lower movement times in Experiment 1 and greater accuracy in Experiment 2), these advantages were not reflected in kinematic measures of impulse variability.We are grateful to an anonymous reviewer for clarification of this distinction.     

The micro-structure of tapping movements in children

In order to investigate the development of movement speed in relation to movement organization, children of 5, 6, 7, 8 and 9 years of age and adults carried out a reciprocal tapping task, in which time pressure and distance were manipulated. The duration, velocity, acceleration and accuracy of the movements were compared between age groups. Age differences appeared mainly in the homing time, not in the duration of the distance covering movement phase. Accuracy and velocity of the distance covering movement phase differed with age. Time pressure affected the homing time, but not the duration of the distance covering phase. Distance manipulation affected mainly the velocity and duration of the distance covering movement phase and the homing time. In the discussion it is contended that age differences in homing time may be related to both the accuracy of the distance covering movement phase and the rate of information processing of the subject.     

The Micro-Structure of Tapping Movements in Children

In order to investigate the development of movement speed in relation to movement organization, children of 5, 6, 7, 8 and 9 years of age and adults carried out a reciprocal tapping task, in which time pressure and distance were manipulated. The duration, velocity, acceleration and accuracy of the movements were compared between age groups. Age differences appeared mainly in the homing time, not in the duration of the distance covering movement phase. Accuracy and velocity of the distance covering movement phase differed with age. Time pressure affected the homing time, but not the duration of the distance covering phase. Distance manipulation affected mainly the velocity and duration of the distance covering movement phase and the homing time. In the discussion it is contended that age differences in homing time may be related to both the accuracy of the distance covering movement phase and the rate of information processing of the subject.     

Visual Feedback of Target Position Affects Accuracy of Sequential Movements at Even Spaces

The role of visual feedback during movement is attributed to its accuracy, but findings regarding the utilization of this information are inconsistent. We developed a novel dot-placing task to investigate the role of vision in arm movements. Participants conducted pointing-like movements between two target stimuli at even spaces. In Experiment 1, visual feedback of targets and response positions was manipulated. Although visual loss of target stimuli hindered accuracy of movements, the absence of the position of previously placed dots had little effect. In Experiment 2, the effect of movement time on accuracy was assessed, as the relationship between these has been traditionally understood as a speed/accuracy trade-off. Results revealed that duration of movement did not impact movement accuracy.     

Optimal control strategies under different feedback schedules: kinematic evidence

Two experiments were conducted in which participants (N = 12, Experiment 1; N = 12, Experiment 2) performed rapid aiming movements with and without visual feedback under blocked, random, and alternating feedback schedules. Prior knowledge of whether vision would be available had a significant impact on the strategies that participants adopted. When they knew that vision would be available, less time was spent preparing movements before movement initiation. Participants also reached peak deceleration sooner but spent more time after peak deceleration adjusting limb trajectories. Consistent with those findings, analysis of spatial variability at different points in the trajectory indicated that variability increased up to peak deceleration but then decreased from peak deceleration to the end of the movement.     

Information entropy analysis of discrete aiming movements

Information entropy and mutual information were investigated in discrete movement aiming tasks over a wide range of spatial (20-160 mm) and temporal (250-1250 ms) constraints. Information entropy was calculated using two distinct analyses: (1) with no assumption on the nature of the data distribution; and (2) assuming the data have a normal distribution. The two analyses showed different results in the estimate of entropy that also changed as a function of task goals, indicating that the movement trajectory data were not from a normal distribution. It was also found that the information entropy of the discrete aiming movements was lower than the task defined indices of difficulty (ID) that were selected for the congruence with Fitts' law. Mutual information between time points of the trajectory was strongly influenced by the average movement velocity and the acceleration/deceleration segments of the movement. The entropy analysis revealed structure to the variability of the movement trajectory and outcome that has been masked by the traditional distributional analyses of discrete aiming movements.     

Subjective motion and acceleration induced by the movement of the observer’s entire visual field

Three experiments were carried out to trace the developmental time course of apparent subjective rotation induced by rotating a tall striped drum around an observer. In Experiment 1, rotation of the drum led to increasingly frequent reports of subjective rotation over the first 30 sec of stimulation by the optokinetic stimulus, after which subjects experienced mostly apparent subjective rotation and a small amount of drum rotation. In Experiment 2, using a magnitude estimation technique to assess the speed of drum and subjective rotation, subjects reported subjective acceleration and drum deceleration of about the same magnitude over the first 30 sec of the 1-rain trial, followed by a steady level of subjective rotation with some residual drum movement. In Experiment 3, using three different drum speeds, it was found that the speed of steady-state rotation, as well as subjective acceleration and drum deceleration, are linear functions of the speed of the inducing stimulus. Implications of these observations towards the explanation of how we perceive a stable environment during locomotion are discussed.     

Coding processes in preselected and constrained movements: effect of vision

Three experiments were conducted in which visual information was manipulated either at the endpoint or during preselected, subject defined and constrained, experimenter-defined movements. In Experiments 1 and 2 the subject's task was to reproduce the movement in the absence of vision. Augmenting the terminal location of the criterion movement with vision had no differential effect on reproduction in Experiment 1, although preselected movement accuracy was significantly superior to constrained. Providing vision throughout the criterion movement in Experiment 2 not only failed to improve the accuracy of constrained movements but decreased reproduction performance in preselected movements. In Experiment 3 procedures were adopted to control the allocation of the subjects' attention during the criterion movement. The subjects reproduced by vision alone, movement alone, or with both visual and movement information available. When subjects were informed of the modality of reproduction prior to criterion presentation, they were able to ignore concurrent input from vision and attend to movement information. In the absence of precues visual information was spontaneously attended. The data were interpreted as contrary to closed-loop assumptions that additional information necessarily enhances the strength of a motor memory representation. Rather, they can be accommodated in terms of Posner, Nissen and Klein's (1976) theoretical account of visual dominance and serve to illustrate the importance of selective attention effects in movement coding.     

Error processing in pointing at randomly feedback-induced double-step stimuli

Two experiments were conducted to determine the spatial and temporal organization of the arm trajectory in human subjects as they pointed to single- and double-step target displacements. Subjects pointed either without (Experiment 1) or with (Experiment 2) vision of their moving hand throughout the trial. In both experiments, target perturbation occurring in double-step trials was clearly perceived by the subjects and was randomly introduced either at the onset or at peak velocity of hand movement. Regardless of whether or not visual reafference from the pointing hand was available, subjects corrected the trajectory of their moving hand to accommodate the double-step. Moreover, asymmetrical velocity profiles were observed for responses to both types of target, with or without vision of the moving hand. The acceleration phase was a fixed pattern independent of the type of step stimulation. However, a clear dissociation, both in the deceleration phase and accuracy of responses to double-step targets, emerged according to the timing of target perturbation. When targets were perturbed at the onset of hand movement, subjects modulated the deceleration phase of their response to compensate for 88 to 100% of the second target displacement. In contrast, when targets were perturbed at peak velocity of hand movement, subjects were unable to modulate the deceleration phase adequately and compensated for only 20 to 40% of the perturbation. These results suggest that motor error is dynamically evaluated during the acceleration phase of a movement toward a perturbed target, allowing amendments to the trajectory to be performed during the deceleration phase. This main corrective process appears to be basically independent of visual reafference from the moving hand.     

Orienting the Finger Opposition Space during Prehension Movements

Two experiments are reported that examined the act of prehension when subjects were asked to grasp with their thumb and index finger pads an elongated object resting horizontally on a surface and placed at different orientations with respect to the subject. In Experiment 1, the pad opposition preferences were determined for the six angles of orientation examined. For angles of 90° (object parallel to frontal plane) or less, no rotation of the wrist (pronation) was used; for angles 110° or greater, pronation was systematically employed to reorient the finger opposition space. Only one angle, 100°, produced any evidence of ambiguity in how to grasp the object: Approximately 60% of these grasps involved pronation and 40% did not.

Using the foregoing grasp preference data, in Experiment 2 we examined the kinematics of the wrist and elbow trajectories during prehension movements directed at an object in different orientations. Movement time, time to peak acceleration, velocity, and deceleration were measured. No kinematic differences were observed when the object orientation either required (110°) or did not require (80°) a pronation. By contrast, if the orientation was changed at the onset of the movement, such that an unpredicted pronation had to be introduced to achieve the grasp, kinematics were affected: Movement time was increased, and the time devoted to deceleration was lengthened.

These data are interpreted as evidence that when natural prehension occurs, pronation can be included in the motor plan without affecting the movement kinematics. When constraints are imposed on the movement execution as a consequence of a perturbation, however, the introduction of a pronation component requires kinematic rearrangement.     

The role of movement speed in learning a visuo-manual coordination in children

Summary The aim of the present study was to investigate the processes underlying aiming movements (motor programming and feedback control), and to explore their modification through learning. Two groups of 6- and 9-year-old children were asked to perform a directional aiming task without visual feedback (open-loop situation). After 15 trials (pretest) all subjects were submitted to a practice session which consisted of three series of trials with visual feedback (closed-loop situation). Half of the subjects had to perform the task at maximum speed (programmed movements), while the other half was required to perform slow movements (feedback-controlled movements). After the practice session all subjects were tested again in the openloop situation without time constraints (posttest). The results showed that during the practice session, accuracy was greater than in the two test conditions. It was greater in the case of slow movements than in the case of rapid ones. Moreover, in the case of rapid movements, it did not improve over the three practice series, while it did improve with slow movements. The difference between pre- and posttests showed that both groups improved their accuracy with practice in all conditions, the greatest improvement being obtained with rapid practice movements in 9-year-old children. It is suggested that different types of feedback (on-line and delayed feedback) contribute in varying degrees to the improvement of the aiming movements. However, the rapid movement condition, which requires a greater efficiency of programming, was found to be more effective for learning than the slow movement condition. The age-related differences found in learning suggest that feedback information can be fully integrated into motor programming only after 6 years of age.     

Movement related EMGs become more variable during learning of fast accurate movements

Human subjects performed simple flexion and extension movements about the elbow in a visual step-tracking paradigm. Movements were self-terminated. Subjects were instructed to increase movement velocity while maintaining end-point accuracy during practice. The effects of practice on the pattern and variability of EMG activity of the biceps and triceps muscles were studied. Initial movements were performed using reciprocal phasic activation of agonist and antagonist muscles as indicated by surface EMGs. With practice, increases in movement speed were associated with larger agonist and antagonist bursts and an earlier onset of the antagonist burst. Decreased duration of the premovement antagonist silence was also observed during practice. Decreases in variability of movements during practice were not accompanied by equivalent decreases in variability of the associated EMGs. Surprisingly, both agonist and antagonist EMGs were more variable in faster, practiced movements. The combined agonist-antagonist EMG variability depended on both movement speed and trajectory variability. Lower variability in movements in the presence of greater variability in the related EMGs occurred because of linked variations in agonist and antagonist muscle activities. Variations in the first agonist burst were often compensated for by associated variations in the antagonist and late agonist bursts. These linked variations maintained the limb trajectory relatively constant in spite of large variations in the first agonist burst. Modifications to impulse-variability models are therefore needed to explain compensations for variability in accelerative impulses (produced by the first agonist burst) by linked variations in impulses for deceleration (produced by the antagonist and late agonist bursts).     

Movement Related EMGs Become More Variable During Learning of Fast Accurate Movements

Human subjects performed simple flexion and extension movements about the elbow in a visual step-tracking paradigm. Movements were self-terminated. Subjects were instructed to increase movement velocity while maintaining end-point accuracy during practice. The effects of practice on the pattern and variability of EMG activity of the biceps and triceps muscles were studied. Initial movements were performed using reciprocal phasic activation of agonist and antagonist muscles as indicated by surface EMGs. With practice, increases in movement speed were associated with larger agonist and antagonist bursts and an earlier onset of the antagonist burst. Decreased duration of the premovement antagonist silence was also observed during practice.

Decreases in variability of movements during practice were not accompanied by equivalent decreases in variability of the associated EMGs. Surprisingly, both agonist and antagonist EMGs were more variable in faster, practiced movements. The combined agonist-antagonist EMG variability depended on both movement speed and trajectory variability. Lower variability in movements in the presence of greater variability in the related EMGs occurred because of linked variations in agonist and antagonist muscle activities. Variations in the first agonist burst were often compensated for by associated variations in the antagonist and late agonist bursts. These linked variations maintained the limb trajectory relatively constant in spite of large variations in the first agonist burst. Modifications to impulse-variability models are therefore needed to explain compensations for variability in accelerative impulses (produced by the first agonist burst) by linked variations in impulses for deceleration (produced by the antagonist and late agonist bursts).     

Stimulus-response compatibility with wheel-rotation responses: Will an incompatible response coding be used when a compatible coding is possible?

Three experiments were conducted in which subjects responded to left-right tones with clockwise-counterclockwise rotations of a steering wheel using one of two stimulus-response assignments. When the hands were at the bottom of the wheel, where hand movement is opposite to wheel movement, subjects coded responses according to the frame that yielded a compatible mapping when the instructions did not emphasize either hand or wheel movements (Experiment 1). When instructions emphasized hand movements, responses were coded relative to the hand-referenced frame (Experiment 2), and when the wheel controlled a visual cursor, responses were coded relative to a cursor-referenced frame (Experiment 3). Coding with respect to these frames occurred even when the resulting mapping was incompatible.