Humans need only 200†ms to generate posture-specific muscle activation patterns for successful vertical jumps in reaction to an auditory trigger.

Introduction: It is currently unknown how the central nervous system controls ballistic whole-body movements like vertical jumps. Here we set out to study the time frame of generating muscle activation patterns for maximum-effort jumps from different initial postures. Methods: We had ten healthy male participants make a slow countermovement from an upright position and initiate a maximal vertical jump as soon as possible following an auditory trigger. The trigger was produced when hip height dropped below one of three preselected values, unknown in advance to the participant, so that the participant was uncertain about the posture from which to initiate the jump. Furthermore, we determined the ensuing bottom postures reached during jumps, and from these postures had the participants perform maximum-effort squat jumps in two conditions: whenever they felt ready, or as soon as possible following an auditory trigger. Kinematics and ground reaction forces were measured, and electromyograms were collected from gluteus maximus, biceps femoris, rectus femoris, vastus lateralis, gastrocnemius and soleus. For each muscle, we detected activation onsets, as well as reaction times defined as the delay between trigger onset and activation onset. Results: In the jumps preceded by a slow countermovement, the posture from which to initiate the jump was unknown before trigger onset. Nevertheless, in these jumps, posture-specific muscle activation patterns were already released within 200 ms after trigger onset and reaction times were not longer and jump heights not less than in squat jumps from corresponding bottom postures. Discussion: Our findings suggest that the generation of muscle activation patterns for jumping does not start before trigger onset and requires only about 200 ms.

The Force-Velocity Profile for Jumping: What It Is and What It Is Not.

INTRODUCTION: Force-velocity profiling has been proposed in the literature as a method to identify the overall mechanical characteristics of lower extremities. A force-velocity profile is obtained by plotting for jumps at different loads the effective work as a function of the average push-off velocity, fitting a straight line to the results, and extrapolating this line to find the theoretical maximum isometric force and unloaded shortening velocity. Here we investigated whether the force-velocity profile and its characteristics can be related to the intrinsic force-velocity relationship. METHODS: We used simulation models of various complexity, ranging from a simple mass actuated by a linearly damped force to a planar musculoskeletal model comprising four segments and six muscle-tendon complexes. The intrinsic force-velocity relationship of each model was obtained by maximizing the effective work during isokinetic extension at different velocities. RESULTS: Several observations were made. First, at the same average velocity, less effective work can be done during jumping than during isokinetic lower extremity extension at this velocity. Second, the intrinsic relationship is curved; fitting a straight line and extrapolating it seem arbitrary. Third, the maximal isometric force and the maximal velocity corresponding to the profile are not independent. Fourth, they both vary with inertial properties of the system. CONCLUSIONS: For these reasons, we concluded that the force-velocity profile is specific for the task and is just what it is: the relationship between effective work and an arbitrary estimate of average velocity; it does not represent the intrinsic force-velocity relationship of the lower extremities.

Limiting radial pedal forces greatly reduces maximal power output and efficiency in sprint cycling: an optimal control study.

A cyclist's performance depends critically on the generated average mechanical power output (AMPO). The instantaneous mechanical power output equals the product of crank angular velocity, crank length, and the tangential pedal force. Radial pedal forces do not contribute to mechanical power. It has been suggested that radial pedal forces arise from suboptimal pedaling technique and that limiting these would increase AMPO and efficiency. Here, we presented an optimal control musculoskeletal model of a cyclist (consisting of five segments driven by nine Hill-type muscle-tendon units) to predict maximal AMPO during sprint cycling at different levels of allowed radial pedal forces. Our findings showed that limiting radial pedal forces has a detrimental effect on maximal AMPO; it dropped from 1,115 W without a limit on radial forces to 528 W when no radial forces were allowed (both at 110 rpm). We explained that avoiding radial pedal forces causes ineffective use of muscles: muscles deliver less positive power and have a higher muscle power dissipation ratio (average mechanical power dissipated per unit of average positive power delivered). We concluded that radial pedal forces are an unavoidable by-product when optimizing for maximal AMPO and that limiting these leads to a performance decrease.NEW & NOTEWORTHY In the literature, but also in the "cycling field" [e.g., trainers, coaches, and (professional) cyclists], it is often suggested that trying to limit/avoid radial pedal forces enhances cycling technique and with that maximal average power output and efficiency. In this paper, we introduce an optimal control model of a human cyclists (consisting of five segments and driven by nine Hill-type muscle-tendon complex models). With that we not only show, but also explain why limiting radial forces is a bad idea: it will decrease maximal attainable AMPO and will decrease efficiency.

Motion information plays only a secondary role in sex identification of walking persons in frontal view.

Observers have a success rate above chance in identifying the sex of walking persons on the basis of movies showing only point lights. It has been claimed that observers rely heavily on motion information for their judgment. Here, we studied, for the frontal plane, the added value of motion information over just form information. In the first experiment, we asked 209 observers to identify the sex of frontal-plane still images of point lights of six male and six female walkers. We used two types of point-light images: (1) cloud-like images, showing just point lights, and (2) skeleton-like images with point lights interconnected. On the basis of cloud-like still images, observers had a mean success rate of 63%; on the basis of skeleton-like still images, they had a higher mean success rate of 70% (p < 0.001). In the second experiment, we asked 273 observers to identify the sex of skeleton-like still images and skeleton-like movies of eight full walking strides. The overall success rate based on movies was 73%. Among the observers first presented with still images, the success rate based on still images was 68%, but for observers first presented with movies the success rate based on still images was 74%, not different from that based on movies (p > 0.05). Our interpretation was that motion information revealed what the point lights represented but had no additional value when this became clear. Hence, we concluded that motion information plays only a secondary role in sex identification of walking persons in the frontal plane.

3D trunk orientation measured using inertial measurement units during anatomical and dynamic sports motions.

Trunk motion is related to the performance and risk of injuries during dynamic sports motions. Optical motion capture is traditionally used to measure trunk motion during dynamic sports motions, but these systems are typically constrained to a laboratory environment. Inertial measurement units (IMUs) might provide a suitable alternative for measuring the trunk orientation during dynamic sports motions. The objective of the present study was to assess the accuracy of the three-dimensional trunk orientation measured using IMUs during dynamic sports motions and isolated anatomical trunk motions. The motions were recorded with two IMUs and an optical motion capture system (gold standard). Ten participants performed a total of 71 sports motions (19 golf swings, 15 one-handed ball throws, 19 tennis serves, and 18 baseball swings) and 125 anatomical trunk motions (42, 41, and 42 trials of lateral flexion, axial rotation, and flexion/extension, respectively). The root-mean-square differences between the IMU- and optical motion capture-based trunk angles were less than 5 degrees, and the similarity between the methods was on average across all trials "very good" to "excellent" (R ≥ 0.85; R2 ≥ 0.80). Across the dynamic sports motions, even higher measures of similarity were found (R ≥ 0.90; R2 ≥ 0.82). When aligned to the relevant segment, the current IMUs are a promising alternative to optical motion capture and previous presented IMU-based systems for the field-based measurement of the three-dimensional trunk orientation during dynamic sports motions and the anatomical trunk motions.

Effect of vasti morphology on peak sprint cycling power of a human musculoskeletal simulation model.

Fascicle length of m. vastus lateralis in cyclists has been shown to correlate positively with peak sprint cycling power normalized for lean body mass. We investigated whether vasti morphology affects sprint cycling power via force-length and force-velocity relationships. We simulated isokinetic sprint cycling at pedaling rates ranging from 40 to 150 rpm with a forward dynamic model of the human musculoskeletal system actuated by eight leg muscles. Input of the model was muscle stimulation over time, which was optimized to maximize the average power output over a pedal cycle. This was done for a reference model and for models in which the vasti had equal volume but different morphology. It was found that models with longer muscle fibers but a reduced physiological cross-sectional area of the vasti produced a higher sprint cycling power. This was partly explained by better alignment of the peak power-pedaling rate curve of the vasti with the corresponding curves of the other leg muscles. The highest sprint cycling power was achieved in a model in which the increase in muscle fiber length of the vasti was accompanied by a concomitant shift in optimum knee angle. It was concluded that muscle mechanics can partly explain the positive correlations between fascicle length of m. vastus lateralis and normalized peak sprint cycling power. It should be investigated whether muscle fiber length of the vasti and optimum knee angle are suitable training targets for athletes who want to concurrently improve their sprint and endurance cycling performance.NEW & NOTEWORTHY We simulated isokinetic sprint cycling at pedaling rates ranging from 40 to 150 rpm with a forward dynamic model of the human musculoskeletal system actuated by eight leg muscles. We selectively modified vasti morphology: we lengthened the muscle fibers and reduced the physiological cross-sectional area. The modified model was able to produce a higher sprint cycling power.

The Metabolic Cost of Walking in healthy young and older adults - A Systematic Review and Meta Analysis.

The Metabolic Cost of Walking (MCoW) is an important variable of daily life that has been studied extensively. Several studies suggest that MCoW is higher in Older Adults (OA) than in Young Adults (YA). However, it is difficult to compare values across studies due to differences in the way MCoW was expressed, the units in which it was reported and the walking speed at which it was measured. To provide an overview of MCoW in OA and YA and to investigate the quantitative effect of age on MCoW, we have conducted a literature review and performed two meta-analyses. We extracted data on MCoW in healthy YA (18-41 years old) and healthy OA (≥59 years old) and calculated, if not already reported, the Gross (GCoW) and Net MCoW (NCoW) in J/kg/m. If studies reported MCoW measured at multiple speeds, we selected those values for YA and OA at which MCoW was minimal. All studies directly comparing YA and OA were selected for meta-analyses. From all studies reviewed, the average GCoW in YA was 3.4 ± 0.4 J/kg/m and 3.8 ± 0.4 J/kg/m in OA (~12% more in OA), and the average NCoW in YA was 2.4 ± 0.4 J/kg/m and 2.8 ± 0.5 J/kg/m in OA (~17% more in OA). Our meta-analyses indicated a statistically significant elevation of both GCoW and NCoW (p < 0.001) for OA. In terms of GCoW, OA expended about 0.3 J/kg/m more metabolic energy than YA and about 0.4 J/kg/m more metabolic energy than YA in terms of NCoW. Our study showed a statistically significant elevation in MCoW of OA over YA. However, from the literature it is unclear if this elevation is directly caused by age or due to an interaction between age and methodology. We recommend further research comparing MCoW in healthy OA and YA during "natural" over-ground walking and treadmill walking, after sufficient familiarization time.

30 min of treadmill walking at self-selected speed does not increase gait variability in independent elderly.

Walking is one of the preferred exercises among elderly, but could a prolonged walking increase gait variability, a risk factor for a fall in the elderly? Here we determine whether 30 min of treadmill walking increases coefficient of variation of gait in elderly. Because gait responses to exercise depend on fitness level, we included 15 sedentary and 15 active elderly. Sedentary participants preferred a lower gait speed and made smaller steps than the actives. Step length coefficient of variation decreased ~16.9% by the end of the exercise in both the groups. Stride length coefficient of variation decreased ~9% after 10 minutes of walking, and sedentary elderly showed a slightly larger step width coefficient of variation (~2%) at 10 min than active elderly. Active elderly showed higher walk ratio (step length/cadence) than sedentary in all times of walking, but the times did not differ in both the groups. In conclusion, treadmill gait kinematics differ between sedentary and active elderly, but changes over time are similar in sedentary and active elderly. As a practical implication, 30 min of walking might be a good strategy of exercise for elderly, independently of the fitness level, because it did not increase variability in step and stride kinematics, which is considered a risk of fall in this population.

Acute Effects of Walking Exercise on Stair Negotiation in Sedentary and Physically Active Older Adults.

BACKGROUND: In negotiating stairs, low foot clearance increases the risk of tripping and a fall. Foot clearance may be related to physical fitness, which differs between active and sedentary participants, and be acutely affected by exercise. Impaired stair negotiation could be an acute response to exercise. Here we determined acute changes in foot clearances during stair walking in sedentary (n = 15) and physically active older adults (n = 15) after prolonged exercise. METHODS: Kinematic data were acquired during negotiation with a 3-steps staircase while participants walked at preferred speed, before and after 30 min walking at preferred speed and using a treadmill. Foot clearances were compared before and after exercise and between the groups. RESULTS: Sedentary older adults presented larger (0.5 cm for lead and 2 cm for trail leg) toe clearances in ascent, smaller (0.7 cm) heel clearance in the leading foot in descent, and larger (1 cm) heel clearance in the trailing foot in descent than physically active. CONCLUSION: Sedentary older adults negotiate stairs in a slightly different way than active older adults, and 30 min walking at preferred speed does not affect clearance in stair negotiation.

Searching for strategies to reduce the mechanical demands of the sit-to-stand task with a muscle-actuated optimal control model.

BACKGROUND: The sit-to-stand task, which involves rising unassisted from sitting on a chair to standing, is important in daily life. Many people with muscle weakness, reduced range of motion or loading-related pain in a particular joint have difficulty performing the task. How should a person suffering from such impairment best perform the sit-to-stand task and, in the case of pain in a particular joint, with reduced loading of that joint? METHODS: We developed a musculoskeletal model with reference parameter values based on properties of healthy strong subjects. The model's muscle stimulation-time input was optimized using direct collocation to find strategies that yielded successful sit-to-stand task performance with minimum 'control effort' for the reference set and modified sets of parameter values, and with constraints on tibiofemoral compression force. FINDINGS: The sit-to-stand task could be performed successfully and realistically by the reference model, by a model with isometric knee extensor forces reduced to 40% of reference, by a model with isometric forces of all muscles reduced to 45% of reference, and by the reference model with the tibiofemoral compression force constrained during optimization to 65% of the peak value in the reference condition. INTERPRETATION: The strategies found by the model in conditions other than reference could be interpreted well on the basis of cost function and task biomechanics. The question remains whether it is feasible to teach patients with musculoskeletal impairments or joint pain to perform the sit-to-stand task according to strategies that are optimal according to the simulation model.

Optimizing the Distribution of Leg Muscles for Vertical Jumping.

A goal of biomechanics and motor control is to understand the design of the human musculoskeletal system. Here we investigated human functional morphology by making predictions about the muscle volume distribution that is optimal for a specific motor task. We examined a well-studied and relatively simple human movement, vertical jumping. We investigated how high a human could jump if muscle volume were optimized for jumping, and determined how the optimal parameters improve performance. We used a four-link inverted pendulum model of human vertical jumping actuated by Hill-type muscles, that well-approximates skilled human performance. We optimized muscle volume by allowing the cross-sectional area and muscle fiber optimum length to be changed for each muscle, while maintaining constant total muscle volume. We observed, perhaps surprisingly, that the reference model, based on human anthropometric data, is relatively good for vertical jumping; it achieves 90% of the jump height predicted by a model with muscles designed specifically for jumping. Alteration of cross-sectional areas-which determine the maximum force deliverable by the muscles-constitutes the majority of improvement to jump height. The optimal distribution results in large vastus, gastrocnemius and hamstrings muscles that deliver more work, while producing a kinematic pattern essentially identical to the reference model. Work output is increased by removing muscle from rectus femoris, which cannot do work on the skeleton given its moment arm at the hip and the joint excursions during push-off. The gluteus composes a disproportionate amount of muscle volume and jump height is improved by moving it to other muscles. This approach represents a way to test hypotheses about optimal human functional morphology. Future studies may extend this approach to address other morphological questions in ethological tasks such as locomotion, and feature other sets of parameters such as properties of the skeletal segments.

Muscle contractile properties as an explanation of the higher mean power output in marmosets than humans during jumping.

The muscle mass-specific mean power output (PMMS,mean) during push-off in jumping in marmosets (Callithrix jacchus) is more than twice that in humans. In the present study it was tested whether this is attributable to differences in muscle contractile properties. In biopsies of marmoset m. vastus lateralis (VL) and m. gastrocnemius medialis (GM) (N=4), fibre-type distribution was assessed using fluorescent immunohistochemistry. In single fibres from four marmoset and nine human VL biopsies, the force-velocity characteristics were determined. Marmoset VL contained almost exclusively fast muscle fibres (>99.0%), of which 63% were type IIB and 37% were hybrid fibres, fibres containing multiple myosin heavy chains. GM contained 9% type I fibres, 44% type IIB and 47% hybrid muscle fibres. The proportions of fast muscle fibres in marmoset VL and GM were substantially larger than those reported in the corresponding human muscles. The curvature of the force-velocity relationships of marmoset type IIB and hybrid fibres was substantially flatter than that of human type I, IIA, IIX and hybrid fibres, resulting in substantially higher muscle fibre mass-specific peak power (PFMS,peak). Muscle mass-specific peak power output (PMMS,peak) values of marmoset whole VL and GM, estimated from their fibre-type distributions and force-velocity characteristics, were more than twice the estimates for the corresponding human muscles. As the relative difference in estimated PMMS,peak between marmosets and humans is similar to that of PMMS,mean during push-off in jumping, it is likely that the difference in in vivo mechanical output between humans and marmosets is attributable to differences in muscle contractile properties.

Effect of unloading and loading on power in simulated countermovement and squat jumps.

PURPOSE: In the literature, substantial decreases in power output in jumping have been described for both unloading and loading, and these have been attributed to the intrinsic force-velocity-power relationship of muscle. The purpose of this study was to gain a solid understanding of how and why unloading and loading affect power output during jumping. METHODS: Vertical jumps were simulated with a model of the musculoskeletal system, consisting of four rigid segments actuated by six muscles. Muscle stimulation over time was optimized to ensure maximal performance in each loading condition. RESULTS: It was found that, in contrast to what is reported in the literature, unloading by an extra vertical force of -60% of body weight caused a small increase in the peak of the rate of change of the effective energy of the center of mass (dEeff/dt). Loading by an extra vertical force of +60% of body weight caused a decrease in peak dEeff/dt, but this decrease was much smaller than that described in the literature. The small variations in peak dEeff/dt among loading conditions in the simulated jumps were only in part due to the intrinsic force-velocity-power relationship of muscle. Why did the effects of unloading and loading in the simulation model deviate from effects reported in subjects? One possible explanation is that subjects tend to make a smaller countermovement when loaded; in the simulation model, making a smaller countermovement caused a major reduction in peak dEeff/dt. A second possible explanation is that subjects cannot quickly optimize their control and therefore produce submaximal power output in unfamiliar loading conditions. CONCLUSION: The effects of unloading and loading are due only in part to the intrinsic force-velocity-power relationship of muscle.

Mechanical output in jumps of marmosets (Callithrix jacchus).

In this study we determined the mechanical output of common marmosets (Callithrix jacchus) during jumping. Vertical ground reaction forces were measured in 18 animals while they jumped from an instrumented crossbar to a crossbar located 70 cm higher. From the vertical force time histories, we calculated the rate of change of mechanical energy of the centre of mass (dE/dt). The mean value of dE/dt during the push-off amounted to 51.8±6.2 W kg(-1) body mass, and the peak value to 116.4±17.6 W kg(-1) body mass. We used these values in combination with masses of leg muscles, determined in two specimens, to estimate mean and peak values of dE/dt of 430 and 970 W kg(-1) muscle, respectively. These values are higher than values reported in the literature for jumps of humans and bonobos, but smaller than those of jumps of bushbabies. Surprisingly, the mean value of dE/dt of 430 W kg(-1) muscle was close to the maximal power output of 516 W kg(-1) muscle reported in the literature for isokinetic contractions of rat medial gastrocnemius, one of the fastest mammalian muscles. Further study of the force-velocity relationship of muscle tissue of small primates is indicated.

Effects of isometric scaling on vertical jumping performance.

Jump height, defined as vertical displacement in the airborne phase, depends on vertical takeoff velocity. For centuries, researchers have speculated on how jump height is affected by body size and many have adhered to what has come to be known as Borelli's law, which states that jump height does not depend on body size per se. The underlying assumption is that the amount of work produced per kg body mass during the push-off is independent of size. However, if a big body is isometrically downscaled to a small body, the latter requires higher joint angular velocities to achieve a given takeoff velocity and work production will be more impaired by the force-velocity relationship of muscle. In the present study, the effects of pure isometric scaling on vertical jumping performance were investigated using a biologically realistic model of the human musculoskeletal system. The input of the model, muscle stimulation over time, was optimized using jump height as criterion. It was found that when the human model was miniaturized to the size of a mouse lemur, with a mass of about one-thousandth that of a human, jump height dropped from 40 cm to only 6 cm, mainly because of the force-velocity relationship. In reality, mouse lemurs achieve jump heights of about 33 cm. By implication, the unfavourable effects of the small body size of mouse lemurs on jumping performance must be counteracted by favourable effects of morphological and physiological adaptations. The same holds true for other small jumping animals. The simulations for the first time expose and explain the sheer magnitude of the isolated effects of isometric downscaling on jumping performance, to be counteracted by morphological and physiological adaptations.

Humans make near-optimal adjustments of control to initial body configuration in vertical squat jumping.

We investigated adjustments of control to initial posture in squat jumping. Eleven male subjects jumped from three initial postures: preferred initial posture (PP), a posture in which the trunk was rotated 18° more backward (BP) and a posture in which it was rotated 15° more forward (FP) than in PP. Kinematics, ground reaction forces and electromyograms (EMG) were collected. EMG was rectified and smoothed to obtain smoothed rectified EMG (srEMG). Subjects showed adjustments in srEMG histories, most conspicuously a shift in srEMG-onset of rectus femoris (REC): from early in BP to late in FP. Jumps from the subjects' initial postures were simulated with a musculoskeletal model comprising four segments and six Hill-type muscles, which had muscle stimulation (STIM) over time as input. STIM of each muscle changed from initial to maximal at STIM-onset, and STIM-onsets were optimized using jump height as criterion. Optimal simulated jumps from BP, PP and FP were similar to jumps of the subjects. Optimal solutions primarily differed in STIM-onset of REC: from early in BP to late in FP. Because the subjects' adjustments in srEMG-onsets were similar to adjustments of the model's optimal STIM-onsets, it was concluded that the former were near-optimal. With the model we also showed that near-maximum jumps from BP, PP and FP could be achieved when STIM-onset of REC depended on initial hip joint angle and STIM-onsets of the other muscles were posture-independent. A control theory that relies on a mapping from initial posture to STIM-onsets seems a parsimonious alternative to theories relying on internal optimal control models.

Conclusions on motor control depend on the type of model used to represent the periphery.

Within the field of motor control, there is no consensus on which kinematic and kinetic aspects of movements are planned or controlled. Perturbing goal-directed movements is a frequently used tool to answer this question. To be able to draw conclusions about motor control from kinematic responses to perturbations, a model of the periphery (i.e., the skeleton, muscle-tendon complexes, and spinal reflex circuitry) is required. The purpose of the present study was to determine to what extent such conclusions depend on the level of simplification with which the dynamical properties of the periphery are modeled. For this purpose, we simulated fast goal-directed single-joint movement with four existing types of models. We tested how three types of perturbations affected movement trajectory if motor commands remained unchanged. We found that the four types of models of the periphery showed different robustness to the perturbations, leading to different predictions on how accurate motor commands need to be, i.e., how accurate the knowledge of external conditions needs to be. This means that when interpreting kinematic responses obtained in perturbation experiments the level of error correction attributed to adaptation of motor commands depends on the type of model used to describe the periphery.

Why is the force-velocity relationship in leg press tasks quasi-linear rather than hyperbolic?

Force-velocity relationships reported in the literature for functional tasks involving a combination of joint rotations tend to be quasi-linear. The purpose of this study was to explain why they are not hyperbolic, like Hill's relationship. For this purpose, a leg press task was simulated with a musculoskeletal model of the human leg, which had stimulation of knee extensor muscles as only independent input. In the task the ankles moved linearly, away from the hips, against an imposed external force that was reduced over contractions from 95 to 5% of the maximum isometric value. Contractions started at 70% of leg length, and force and velocity values were extracted when 80% of leg length was reached. It was shown that the relationship between leg extension velocity and external force was quasi-linear, while the relationship between leg extension velocity and muscle force was hyperbolic. The discrepancy was explained by the fact that segmental dynamics canceled more and more of the muscle force as the external force was further reduced and velocity became higher. External power output peaked when the imposed external force was ∼50% of maximum, while muscle power output peaked when the imposed force was only ∼15% of maximum; in the latter case ∼70% of muscle power was buffered by the leg segments. According to the results of this study, there is no need to appeal to neural mechanisms to explain why, in leg press tasks, the force-velocity relationship is quasi-linear rather than hyperbolic.

Do we use a priori knowledge of gravity when making elbow rotations?

In this study, we aim to investigate whether motor commands, emanating from movement planning, are customized to movement orientation relative to gravity from the first trial on. Participants made fast point-to-point elbow flexions and extensions in the transverse plane. We compared movements that had been practiced in reclined orientation either against or with gravity with the same movement relative to the body axis made in the upright orientation (neutral compared to gravity). For each movement type, five rotations from reclined to upright orientation were made. For each rotation, we analyzed the first trial in upright orientation and the directly preceding trial in reclined orientation. Additionally, we analyzed the last five trials of a 30-trial block in upright position and compared these trials with the first trials in upright orientation. Although participants moved fast, gravitational torques were substantial. The change in body orientation affected movement planning: we found a decrease in peak angular velocity and a decrease in amplitude for the first trials made in the upright orientation, regardless of whether the previous movements in reclined orientation were made against or with gravity. We found that these decreases disappeared after participants familiarized themselves with moving in upright position in a 30-trial block. These results indicate that participants used a general strategy, corresponding to the strategy observed in situations with unreliable or limited information on external conditions. From this, we conclude that during movement planning, a priori knowledge of gravity was not used to specifically customize motor commands for the neutral gravity condition.

Motor commands for fast point-to-point arm movements are customized for small changes in inertial load.

For repeated point-to-point arm movements it is often assumed that motor commands are customized in a trial-to-trial manner, based on previous endpoint error. To test this assumption, we perturbed movement execution without affecting the endpoint error by using a modest manipulation of inertia. Participants made point-to-point elbow flexion and extension movements in the horizontal plane, under the instruction to move as fast as possible from one target area to another. In selected trials the moment of inertia of the lower arm was increased or decreased by 25%. First, we found that an unexpected increase or decrease of inertia did not affect the open loop controlled part of the movement path (and thus endpoint error was not affected). Second, we found that when the increased or decreased inertia was presented repeatedly, after 5-11 trials motor commands were customized: the first 100ms of agonistic muscle activity in the smoothed and rectified electromyographic signal of agonistic muscles was higher for the high inertia compared to the low inertia. We conclude that endpoint error is not the only parameter that is used to evaluate if motor commands lead to movements as planned.