Human performance in three-hands tasks.

The successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (mechanical constraints) or from cognitive limits (cognitive constraints). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.

Cortical Processing of Multimodal Sensory Learning in Human Neonates.

Following birth, infants must immediately process and rapidly adapt to the array of unknown sensory experiences associated with their new ex-utero environment. However, although it is known that unimodal stimuli induce activity in the corresponding primary sensory cortices of the newborn brain, it is unclear how multimodal stimuli are processed and integrated across modalities. The latter is essential for learning and understanding environmental contingencies through encoding relationships between sensory experiences; and ultimately likely subserves development of life-long skills such as speech and language. Here, for the first time, we map the intracerebral processing which underlies auditory-sensorimotor classical conditioning in a group of 13 neonates (median gestational age at birth: 38 weeks + 4 days, range: 32 weeks + 2 days to 41 weeks + 6 days; median postmenstrual age at scan: 40 weeks + 5 days, range: 38 weeks + 3 days to 42 weeks + 1 days) with blood-oxygen-level-dependent (BOLD) functional magnetic resonance imaging (MRI) and magnetic resonance (MR) compatible robotics. We demonstrate that classical conditioning can induce crossmodal changes within putative unimodal sensory cortex even in the absence of its archetypal substrate. Our results also suggest that multimodal learning is associated with network wide activity within the conditioned neural system. These findings suggest that in early life, external multimodal sensory stimulation and integration shapes activity in the developing cortex and may influence its associated functional network architecture.

The dominant limb preferentially stabilizes posture in a bimanual task with physical coupling.

Humans are endowed with an ability to skillfully handle objects, like when holding a jar with the nondominant hand while opening the lid with the dominant hand. Dynamic dominance, a prevailing theory in handedness research, proposes that the nondominant hand is specialized for postural stability, which would explain why right-handed people hold the jar steady using the left hand. However, the underlying specialization of the nondominant hand has only been tested unimanually, or in a bimanual task where the two hands had different functions. Using a dedicated dual-wrist robotic interface, we tested the dynamic dominance hypothesis in a bimanual task where both hands carry out the same function. We examined how left- and right-handed subjects held onto a vibrating virtual object using their wrists, which were physically coupled by the object. Muscular activity of the wrist flexors and extensors revealed a preference for cocontracting the dominant hand during both holding and transport of the object, which suggests proficiency in the dominant hand for stabilization, contradicting the dynamic dominance hypothesis. While the reliance on the dominant hand was partially explained by its greater strength, the Edinburgh inventory was a better predictor of the difference in the cocontraction between the dominant and nondominant hands. When provided with redundancy to stabilize the task, the dominant hand preferentially cocontracts to absorb perturbing forces.NEW & NOTEWORTHY We found that subjects prefer to stabilize a bimanually held object by cocontracting their dominant limb, contradicting the established view that the nondominant limb is specialized toward stabilization.

Augmented manipulation ability in humans with six-fingered hands.

Neurotechnology attempts to develop supernumerary limbs, but can the human brain deal with the complexity to control an extra limb and yield advantages from it? Here, we analyzed the neuromechanics and manipulation abilities of two polydactyly subjects who each possess six fingers on their hands. Anatomical MRI of the supernumerary finger (SF) revealed that it is actuated by extra muscles and nerves, and fMRI identified a distinct cortical representation of the SF. In both subjects, the SF was able to move independently from the other fingers. Polydactyly subjects were able to coordinate the SF with their other fingers for more complex movements than five fingered subjects, and so carry out with only one hand tasks normally requiring two hands. These results demonstrate that a body with significantly more degrees-of-freedom can be controlled by the human nervous system without causing motor deficits or impairments and can instead provide superior manipulation abilities.

Somatotopic Mapping of the Developing Sensorimotor Cortex in the Preterm Human Brain.

In the mature mammalian brain, the primary somatosensory and motor cortices are known to be spatially organized such that neural activity relating to specific body parts can be somatopically mapped onto an anatomical "homunculus". This organization creates an internal body representation which is fundamental for precise motor control, spatial awareness and social interaction. Although it is unknown when this organization develops in humans, animal studies suggest that it may emerge even before the time of normal birth. We therefore characterized the somatotopic organization of the primary sensorimotor cortices using functional MRI and a set of custom-made robotic tools in 35 healthy preterm infants aged from 31 + 6 to 36 + 3 weeks postmenstrual age. Functional responses induced by somatosensory stimulation of the wrists, ankles, and mouth had a distinct spatial organization as seen in the characteristic mature homunculus map. In comparison to the ankle, activation related to wrist stimulation was significantly larger and more commonly involved additional areas including the supplementary motor area and ipsilateral sensorimotor cortex. These results are in keeping with early intrinsic determination of a somatotopic map within the primary sensorimotor cortices. This may explain why acquired brain injury in this region during the preterm period cannot be compensated for by cortical reorganization and therefore can lead to long-lasting motor and sensory impairment.

A Simple fMRI Compatible Robotic Stimulator to Study the Neural Mechanisms of Touch and Pain.

This paper presents a simple device for the investigation of the human somatosensory system with functional magnetic imaging (fMRI). PC-controlled pneumatic actuation is employed to produce innocuous or noxious mechanical stimulation of the skin. Stimulation patterns are synchronized with fMRI and other relevant physiological measurements like electroencephalographic activity and vital physiological parameters. The system allows adjustable regulation of stimulation parameters and provides consistent patterns of stimulation. A validation experiment demonstrates that the system safely and reliably identifies clusters of functional activity in brain regions involved in the processing of pain. This new device is inexpensive, portable, easy-to-assemble and customizable to suit different experimental requirements. It provides robust and consistent somatosensory stimulation, which is of crucial importance to investigating the mechanisms of pain and its strong connection with the sense of touch.

Interpersonal strategies for disturbance attenuation during a rhythmic joint motor action.

Helping someone carry a table is fairly easy; however, our understanding of such joint motor actions is still poorly understood. We studied how pairs of human subjects (referred to as dyads) collaborate physically to attenuate external mechanical perturbations during a target tracking task. Subjects tracked a target moving in a slow and predictable way using wrist flexion/extension movements, with and without destabilizing torque perturbations. Dyad strategies were classified using interaction torques and muscular activity. During unperturbed interactions (baseline), the dyads tended to stabilize on a particular strategy. The baseline strategy was not the same in all dyads, suggesting that the solution to the task was not global but specific to each particular dyad. After several trials of unperturbed interactions, we introduced mechanical vibrations and analyzed the adaptation process. Dyads showed a tendency to counteract the external disturbances by first increasing co-contraction within each subject (independent co-contraction), and then raising the amount of opposing interaction torques (dyadic co-contraction) with increased perturbation amplitude. The introduction of perturbations impelled dyads to abandon their unperturbed baseline strategy and adopt a more common strategy across dyads, suggesting attractor solutions. Our results establish a framework for future human-human interaction studies, and have implications in human motor control as well as human-robot and robot-robot interactions.

The effects of hemorrhagic parenchymal infarction on the establishment of sensori-motor structural and functional connectivity in early infancy.

INTRODUCTION: The objective of the study was to characterize alterations of structural and functional connectivity within the developing sensori-motor system in infants with focal perinatal brain injury and at high risk of cerebral palsy. METHODS: Functional magnetic resonance imaging (fMRI) and diffusion tensor imaging (DTI) data were used to study the developing functional and structural connectivity framework in six infants born prematurely at term equivalent age. This was first characterised in three infants without focal pathology, which was then compared to that derived from three infants with unilateral haemorrhagic parenchymal infarction and a subsequent focal periventricular white matter lesion who developed later haemiparesis. RESULTS: Functional responses to passive hand movement were in the contralateral perirolandic cortex, regardless of focal pathology. In infants with unilateral periventricular injury, afferent thalamo-cortical tracts appeared to have developed compensatory trajectories which circumvented areas of damage. In contrast, efferent corticospinal tracts showed marked asymmetry at term equivalent age following focal brain injury. Sensori-motor network analysis suggested that inter-hemispheric functional connectivity is largely preserved despite pathology and that impairment may be associated with adverse neurodevelopmental outcome. CONCLUSION: Following focal perinatal brain injury, altered structural and functional connectivity is already present and can be characterized with MRI at term equivalent age. The results of this small case series suggest that these techniques may provide valuable new information about prognosis and the pathophysiology underlying cerebral palsy.

Motor adaptation with passive machines: a first study on the effect of real and virtual stiffness.

Motor adaptation to novel force fields is considered as a key mechanism not only for the understanding of skills learning in healthy subjects but also for rehabilitation of neurological subjects. Several studies conducted over the last two decades used active robotic manipulanda to generate force fields capable of perturbing the baseline trajectories of both healthy and impaired subjects. Recent studies showed how motor adaptation to novel force fields can be induced also via virtual environments, whereas the effects of the force are projected onto a virtual hand, while the real hand remains constrained within a channel. This has great potentials of being translated into passive devices, rather than robotic ones, with clear benefits in terms of costs and availability of the devices. However, passive devices and virtual environments have received much less attention at least with regard to motor adaptation. This paper investigates the effects of both the real and virtual stiffness on motor adaptation. In particular, we tested 20 healthy subjects under two different real stiffness conditions (Stiff Channel vs Compliant Channel) and two different virtual conditions (Viscous vs Springy). Our main finding is that compliance of the channel favours a better adaptation featured with less lateral errors and longer retention of the after-effect. We posit that the physical compliance of the channel induces a proprioceptive feedback which is otherwise absent in a stiff condition.

Two is better than one: physical interactions improve motor performance in humans.

How do physical interactions with others change our own motor behavior? Utilizing a novel motor learning paradigm in which the hands of two - individuals are physically connected without their conscious awareness, we investigated how the interaction forces from a partner adapt the motor behavior in physically interacting humans. We observed the motor adaptations during physical interactions to be mutually beneficial such that both the worse and better of the interacting partners improve motor performance during and after interactive practice. We show that these benefits cannot be explained by multi-sensory integration by an individual, but require physical interaction with a reactive partner. Furthermore, the benefits are determined by both the interacting partner's performance and similarity of the partner's behavior to one's own. Our results demonstrate the fundamental neural processes underlying human physical interactions and suggest advantages of interactive paradigms for sport-training and physical rehabilitation.

Upper limb functional assessment of children with cerebral palsy using a sorting box.

We investigated the use of a sorting box to obtain a quantitative assessment of upper limb motor function in children with cerebral palsy. In our study, children with and without cerebral palsy placed and removed geometrical objects of a sorting-box while their wrist position was monitored by a camera-based, motion-tracking system. We analyzed three different smoothness metrics (logarithmic dimensionless jerk, spectral arc-length and number of peaks) together with time to task completion. Our results suggest that smoothness metrics are an effective tool to distinguish between impaired and non-impaired subjects, as well as to quantify differences between the affected and less-affected sides in children with hemiparetic cerebral palsy.

Computer-controlled stimulation for functional magnetic resonance imaging studies of the neonatal olfactory system.

AIM: Olfactory sensation is highly functional early in human neonatal life, with studies suggesting that odours can influence behaviour and infant-mother bonding. Due to its good spatial properties, blood oxygen level-dependent (BOLD) contrast functional magnetic resonance imaging (fMRI) has the potential to rapidly advance our understanding of the neural activity which underlies the development of olfactory perception in this key period. We aimed to design an 'olfactometer' specifically for use with neonatal subjects for fMRI studies of odour perception. METHODS: We describe a fully automated and programmable, fMRI compatible system capable of presenting odorant liquids. To prevent contamination of the system and minimize between-subject infective risk, the majority of the olfactometer is constructed from single-use, readily available clinical equipment. The system was used to present the odour of infant formula milk in a validation group of seven neonatal subjects at term equivalent postmenstrual age (median age 40 weeks). RESULTS: A safe, reliable and reproducible pattern of stimulation was delivered leading to well-localized positive BOLD functional responses in the piriform cortex, amygdala, thalamus, insular cortex and cerebellum. CONCLUSIONS: The described system is therefore suitable for detailed studies of the ontology of olfactory sensation and perception during early human brain development.

An fMRI compatible wrist robotic interface to study brain development in neonates.

A comprehensive understanding of the mechanisms that underlie brain development in premature infants and newborns is crucial for the identification of interventional therapies and rehabilitative strategies. fMRI has the potential to identify such mechanisms, but standard techniques used in adults cannot be implemented in infant studies in a straightforward manner. We have developed an MR safe wrist stimulating robot to systematically investigate the functional brain activity related to both spontaneous and induced wrist movements in premature babies using fMRI. We present the technical aspects of this development and the results of validation experiments. Using the device, the cortical activity associated with both active and passive finger movements were reliably identified in a healthy adult subject. In two preterm infants, passive wrist movements induced a well localized positive BOLD response in the contralateral somatosensory cortex. Furthermore, in a single preterm infant, spontaneous wrist movements were found to be associated with an adjacent cluster of activity, at the level of the infant's primary motor cortex. The described device will allow detailed and objective fMRI studies of somatosensory and motor system development during early human life and following neonatal brain injury.

A robust and sensitive metric for quantifying movement smoothness.

The need for movement smoothness quantification to assess motor learning and recovery has resulted in various measures that look at different aspects of a movement's profile. This paper first shows that most of the previously published smoothness measures lack validity, consistency, sensitivity, or robustness. It then introduces and evaluates the spectral arc-length metric that uses a movement speed profile's Fourier magnitude spectrum to quantify movement smoothness. This new metric is systematically tested and compared to other smoothness metrics, using experimental data from stroke and healthy subjects as well as simulated movement data. The results indicate that the spectral arc-length metric is a valid and consistent measure of movement smoothness, which is both sensitive to modifications in motor behavior and robust to measurement noise. We hope that the systematic analysis of this paper is a step toward the standardization of the quantitative assessment of movement smoothness.

Wrist Coordination in a Kinematically Redundant Stabilization Task.

We investigated how the control of a compliant object is realized by the redundancy of wrist anatomy. Subjects had to balance a one degree-of-freedom inverted pendulum using elastic linkages controlled by wrist flexion/extension (FE) and forearm pronation/supination (PS). Haptic feedback of the interaction forces between the pendulum and the wrist was provided by a robotic interface. By tuning the mechanical properties of the virtual pendulum and the stiffness of the elastic linkages it was possible to study various dynamical regimes of the simulated object. Twenty subjects (divided in two groups) were tested in four days performing the same task but with different presentation order. The stabilization strategy adopted by the subjects was characterized by primarily using the PS DoF when the pendulum was linked to stiff springs and characterized by a relatively fast dynamic response; in contrast, the stabilization task was shared by both DoFs in case of lower spring stiffness and slower dynamics of the virtual object.

Effect of Grip Force and Training in Unstable Dynamics on Micromanipulation Accuracy.

This paper investigates whether haptic error amplification using unstable dynamics can be used to train accuracy in micromanipulation. A preliminary experiment first examines the possible confounds of visual magnification and grip force. Results show that micromanipulation precision is not affected by grip force in both naive and experienced subjects. On the other hand, precision is increased by visual magnification of up to 10×, but not further for larger magnifications. The main experiment required subjects to perform small-range point-to-point movements in 3D space in an unstable environment which amplified position errors to the straight line between start and end point. After having trained in this environment, subjects performing in the free conditions show an increase in success rate and a decrease in error and its standard deviation relative to the control subjects. This suggests that this technique can improve accuracy and reliability of movements during micromanipulation.

Instrumented sorting block box for children, a preliminary experiment.

This paper presents a prototype for an instrumented sorting block box designed for large-scale use in medical centers. A preliminary experiment was performed with unimpaired adults. Low-cost force sensors located under the top lid and realtime data processing allowed us to accurately estimate the position of the block. The data extracted from these sensors was used to develop and calculate suitable outcome measures such as the average distance to the target, overall time to complete the task, percentage of time spent far from the target, average force applied to the lid and number of mistrials. Results suggest a strong influence of the block shape, target location and movement number on the outcome measures. The tool and measures will be used for early assessment of abnormal development of motor skills in infants and for evaluation of pathological conditions such as cerebral palsy.

Classification of strategies for disturbance attenuation in human-human collaborative tasks.

Rigorous analyses of the mechanisms human-human physical interaction are only possible if corresponding means of systematically classifying dyad strategies are in place. Previous suggestions for classification of strategies neglect the high level of redundancy that is present when attenuation of external disturbances is required. To address this, we propose a quantitative classification system based on combined interaction force and EMG recordings of the flexion and extension activities of each partner in a given dyad.

Stabilizing unstable object by means of kinematic redundancy.

The paper aims to investigate how humans deal with unstable objects under the possibility of choosing different strategy of interaction. The presented task consisted in balancing a 1 degree of freedom (DoF) elastic inverted pendulum by means of 2 DoF of the wrist (fexion/extension and pronation/supination). The pendulum was simulated using a virtual environment and the haptic feedback was generated by a robotic wrist device. The task is a redundant because the subject can choose how to use the 2 DoF in order to move and stabilize a 1 DoF simulated mechanical system: the inverted pendulum. Six subjects volunteered to participate and were tested in four different days performing the same task but experiencing different mechanical systems (pendulum) characterized by lower or higher dynamics due to the possibility to tune the stiffness of the pendulum. Subjects were asked to balance the inverted pendulum maintaining it in a vertical position for a required amount of time. It was found the adopted stabilization strategy was mainly characterized by using only one of the 2 available DoFs of their wrist when the pendulum was stiffer, while in case of lower stiffness of the pendulum (slower dynamic) wrist input redundancy was a more suitable strategy to perform the balancing task.