A minimal control schema for goal-directed arm movements based on physiological inter-joint coupling

Bockemühl T, Dürr V. A minimal control schema for goal-directed arm movements based on physiological inter-joint coupling. In: Proceedings of the International Conference on Neural Computation (ICNC 2010, Valencia, Spain). 2010.Substantial evidence suggests that nervous systems simplify motor control of complex body geometries by use of higher level functional units, so called motor primitives or synergies. Although simpler, such high level functional units still require an adequate controller. In a previous study, we found that kinematic inter-joint couplings allow the extraction of simple movement synergies during unconstrained 3D catching movements of the human arm and shoulder girdle. Here, we show that there is a bijective mapping between movement synergy space and 3D Cartesian hand coordinates within the arm's physiological working range. Based on this mapping, we propose a minimal control schema for a 10-DoF arm and shoulder girdle. All key elements of this schema are implemented as artificial neural networks (ANNs). For the central controller, we evaluate two different ANN architectures: a feed-forward network and a recurrent Elman network. We show that this control schema is capable of controlling goal-directed movements of a 10-DoF arm with as few as five hidden units. Both controller variants are sufficient for the task. However, end-point stability is better in the feed-forward controller

Chaotic exploration and learning of locomotion behaviours

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage

Constraints on movement variability during a discrete multi-articular action

The aim of this programme of work was to examine how the manipulation of organismic and task constraints affected movement variability during a basketball shooting task. The specific constraints that were manipulated included task expertise, state anxiety and dioptric blur (organismic constraints), and, shooting distance and attentional focus instruction (task constraints). The aim of Study 1 was to investigate the effect of shooting distance and task expertise on movement variability. Task expertise was characterised by decreased coordination variability and heightened compensatory variability between wrist, elbow and shoulder joints. However, no significant difference was found in joint angle variability at release as a function of task expertise. There was no significant change in movement variability with shooting distance, a finding that was consistent across all expertise groups. In Study 2, the aims were to examine the effect of induced dioptric blur on shooting performance and movement variability during basketball free-throw shooting, and, to ascertain whether task expertise plays a mediating role in the capacity to stabilise performance against impaired visual information. Significant improvements in shooting performance were noted with the introduction of moderate visual blur (+1.00 and +2.00 D). This performance change was evident in both expert and novice performers. Only with the onset of substantial dioptric blur (+3.00 D), equivalent to the legal blindness limit, was there a significant decrease in coordination variability. Despite the change in coordination variability at +3.00 D, there was no significant difference in shooting performance when compared to the baseline condition. The aims of Study 3 were to examine the effect of elevated anxiety on shooting performance and movement variability and, again, to determine whether task expertise plays a mediating role in stabilising performance and movement kinematics against perturbation from emotional fluctuations. Commensurate with the results of Study 2, both expert and novice performers were able to stabilise performance and movement kinematics, this time with elevated anxiety. Stabilisation was achieved through the allocation of additional attentional resources to the task. Study 4, had two aims. The first was to examine the interactive effects of practice and focus of attention on both performance and learning of an accuracy-based, discrete multi-articular action. The second was to identify potential focus-dependent changes on joint kinematics, intra-limb coordination and coordination variability. Support was found for the role of an external focus of attention on shooting performance during both acquisition and retention. However, there was evidence to suggest that internal focus instruction could play a pivotal role in shaping emerging patterns of intra-limb coordination and channelling the learners‟ search towards a smaller range of kinematic solutions within the perceptual-motor workspace. Collectively, this programme of work consistently highlighted the fundamental role that constraints play in governing shooting performance, movement variability and, more broadly, perceptual-motor organisation. For instance, task expertise was characterised by decreased coordination variability and heightened compensatory control. However, in light of the data pertaining to joint angle variability at release, general assumptions about expertise-variability relations cannot be made and should be viewed with caution. In addition, there is strong evidence to suggest that adaptation to constraints is, perhaps, a universal human response, and consequently not mediated by task expertise. Further research is needed to fully elucidate this proposition

Computational Methods for Cognitive and Cooperative Robotics

In the last decades design methods in control engineering made substantial progress in the areas of robotics and computer animation. Nowadays these methods incorporate the newest developments in machine learning and artificial intelligence. But the problems of flexible and online-adaptive combinations of motor behaviors remain challenging for human-like animations and for humanoid robotics. In this context, biologically-motivated methods for the analysis and re-synthesis of human motor programs provide new insights in and models for the anticipatory motion synthesis. This thesis presents the author’s achievements in the areas of cognitive and developmental robotics, cooperative and humanoid robotics and intelligent and machine learning methods in computer graphics. The first part of the thesis in the chapter “Goal-directed Imitation for Robots” considers imitation learning in cognitive and developmental robotics. The work presented here details the author’s progress in the development of hierarchical motion recognition and planning inspired by recent discoveries of the functions of mirror-neuron cortical circuits in primates. The overall architecture is capable of ‘learning for imitation’ and ‘learning by imitation’. The complete system includes a low-level real-time capable path planning subsystem for obstacle avoidance during arm reaching. The learning-based path planning subsystem is universal for all types of anthropomorphic robot arms, and is capable of knowledge transfer at the level of individual motor acts. Next, the problems of learning and synthesis of motor synergies, the spatial and spatio-temporal combinations of motor features in sequential multi-action behavior, and the problems of task-related action transitions are considered in the second part of the thesis “Kinematic Motion Synthesis for Computer Graphics and Robotics”. In this part, a new approach of modeling complex full-body human actions by mixtures of time-shift invariant motor primitives in presented. The online-capable full-body motion generation architecture based on dynamic movement primitives driving the time-shift invariant motor synergies was implemented as an online-reactive adaptive motion synthesis for computer graphics and robotics applications. The last chapter of the thesis entitled “Contraction Theory and Self-organized Scenarios in Computer Graphics and Robotics” is dedicated to optimal control strategies in multi-agent scenarios of large crowds of agents expressing highly nonlinear behaviors. This last part presents new mathematical tools for stability analysis and synthesis of multi-agent cooperative scenarios.In den letzten Jahrzehnten hat die Forschung in den Bereichen der Steuerung und Regelung komplexer Systeme erhebliche Fortschritte gemacht, insbesondere in den Bereichen Robotik und Computeranimation. Die Entwicklung solcher Systeme verwendet heutzutage neueste Methoden und Entwicklungen im Bereich des maschinellen Lernens und der künstlichen Intelligenz. Die flexible und echtzeitfähige Kombination von motorischen Verhaltensweisen ist eine wesentliche Herausforderung für die Generierung menschenähnlicher Animationen und in der humanoiden Robotik. In diesem Zusammenhang liefern biologisch motivierte Methoden zur Analyse und Resynthese menschlicher motorischer Programme neue Erkenntnisse und Modelle für die antizipatorische Bewegungssynthese. Diese Dissertation präsentiert die Ergebnisse der Arbeiten des Autors im Gebiet der kognitiven und Entwicklungsrobotik, kooperativer und humanoider Robotersysteme sowie intelligenter und maschineller Lernmethoden in der Computergrafik. Der erste Teil der Dissertation im Kapitel “Zielgerichtete Nachahmung für Roboter” behandelt das Imitationslernen in der kognitiven und Entwicklungsrobotik. Die vorgestellten Arbeiten beschreiben neue Methoden für die hierarchische Bewegungserkennung und -planung, die durch Erkenntnisse zur Funktion der kortikalen Spiegelneuronen-Schaltkreise bei Primaten inspiriert wurden. Die entwickelte Architektur ist in der Lage, ‘durch Imitation zu lernen’ und ‘zu lernen zu imitieren’. Das komplette entwickelte System enthält ein echtzeitfähiges Pfadplanungssubsystem zur Hindernisvermeidung während der Durchführung von Armbewegungen. Das lernbasierte Pfadplanungssubsystem ist universell und für alle Arten von anthropomorphen Roboterarmen in der Lage, Wissen auf der Ebene einzelner motorischer Handlungen zu übertragen. Im zweiten Teil der Arbeit “Kinematische Bewegungssynthese für Computergrafik und Robotik” werden die Probleme des Lernens und der Synthese motorischer Synergien, d.h. von räumlichen und räumlich-zeitlichen Kombinationen motorischer Bewegungselemente bei Bewegungssequenzen und bei aufgabenbezogenen Handlungs übergängen behandelt. Es wird ein neuer Ansatz zur Modellierung komplexer menschlicher Ganzkörperaktionen durch Mischungen von zeitverschiebungsinvarianten Motorprimitiven vorgestellt. Zudem wurde ein online-fähiger Synthesealgorithmus für Ganzköperbewegungen entwickelt, der auf dynamischen Bewegungsprimitiven basiert, die wiederum auf der Basis der gelernten verschiebungsinvarianten Primitive konstruiert werden. Dieser Algorithmus wurde für verschiedene Probleme der Bewegungssynthese für die Computergrafik- und Roboteranwendungen implementiert. Das letzte Kapitel der Dissertation mit dem Titel “Kontraktionstheorie und selbstorganisierte Szenarien in der Computergrafik und Robotik” widmet sich optimalen Kontrollstrategien in Multi-Agenten-Szenarien, wobei die Agenten durch eine hochgradig nichtlineare Kinematik gekennzeichnet sind. Dieser letzte Teil präsentiert neue mathematische Werkzeuge für die Stabilitätsanalyse und Synthese von kooperativen Multi-Agenten-Szenarien

Optimising cycle frequency: the effects of imposed cycle frequency training on the coordination and performance of skilled age-group swimmers

PURPOSE: Underwater undulatory swimming (UUS) is a fundamental skill incorporated during the starts and turns of three of the four competitive swimming strokes. Significant competitive advantage can be gained if UUS performance is optimised. The cycle frequency adopted during UUS in both animal and human swimmers have been extensively studied and it has been shown to have a strong relationship with the UUS velocity (U) achieved. The purpose of this thesis was to investigate the changes in performance and coordination in UUS which occur as a consequence of training at an imposed cycle frequency (identical to preferred) in skilled age -group swimmers (Study 3). To achieve the stated purpose, the reliability (systematic bias, within -subject variation and test -retest reliability) of the kinematic variables commonly used to describe and analyse UUS were established (Study 1). Once reliability was determined, the key kinematic performance and coordination variables in relation to the production of maximum U were identified (Study 2) to enable the key measures of performance and coordination to be monitored in response to a training perturbation (imposition of a cycle frequency) in the final study. METHODS: Measures of systematic bias, within- subject (WS) variation and inter -class correlation (ICC) of nineteen kinematic variables were determined over four sessions. This was undertaken to establish the requirement of any familiarisation training, number of cycles of data required to provide an accurate representation of each variable when reporting a mean value, and the related variability associated when reporting mean values based on a set number of data cycles (Study 1). Backward elimination ANCOVA statistical models with participant as a fixed -factor were employed to establish which of the performance and coordination variables were best in explaining the variance of cycle frequency, cycle length (CL) and ultimately U (Study 2). In the final study (Study 3) the performance and coordination variables identified from study 2 were analysed in sixteen skilled age -group swimmers which participated in a randomised controlled study. An experimental group of eight participants completed a four week imposed frequency (matched to their own preferred frequency) training programme, while a control group of eight participants completed a four week programme training at a self selected preferred cycle frequency. The UUS kinematics for both preferred cycle frequency UUS and imposed cycle frequency UUS were measured at weekly intervals throughout the training period. An additional retest (RT) was conducted 2 weeks after the cessation of the training period. RESULTS: Systematic bias was identified between the 1st and the remaining 3 testing sessions for cycle frequency, CL and U. The minimum number of data cycles required to achieve an acceptable measure of retest reliability (ICC >0.85) across all kinematic variables was 6 cycles. At 6 cycles WS variation ranged from 0.86 to 8.92 %CV. A total of 10 kinematic variables were identified as key to explaining the variance in cycle frequency and CL. A final parsimonious ANCOVA model revealed that 2 variables (maximum knee angle velocity and wave velocity between knee and ankle) explained a large proportion (Adj. r² = 0.944) of the variance in maximal U. However, when the participant was removed as a fixed factor the explained variance reduced (Adj. r²= 0.535). No significant difference in maximal U was found over the training or RT period. No variables were found to differ significantly by Session x Frequency Tested x Training Group (p <0.01). However, several discrete kinematic variables and measures of coordination showed statistically significant changes, either between Frequency Tested or across testing sessions. Discussion: After determining the systematic bias and establishing the requirement for a familiarization session, 6 cycles of data were found to be sufficient to provide high levels of reliability for each of the UUS kinematic variables. The identified key determinants of the variance in cycle frequency, CL and maximal U, revealed that the successful transmission of the propulsive waveform along the caudal aspects of the swimming body (specifically the kinematics/coordination at or around the knee) and the control of the shedding of the vortices and simultaneous recapture /reuse of previous shed rotational energy are key discriminating factors between the faster and slower UUS in skilled age-group swimmers. The 4-week training period did not result in changes in maximal U for either of the training groups. However, there were significant differences in the magnitude and process of adaptation between preferred and imposed frequency training groups' kinematics and measures of coordination over the training and testing period. The importance of each individual's own solution to the maximal UUS problem was highlighted, with coordination constrained by an individual's own idiosyncratic constraints. Further research is required to establish the efficacy of the imposition of a cycle frequency identical to an individual's own preferred frequency as an appropriate training modality for maximal U. In conclusion, the present research provides valuable insight into the effects of the simple act of cycle frequency imposition, providing a baseline for future cycle frequency interventions which take place at higher/lower cycle frequency or over longer training periods

Chaotic exploration and learning of locomotor behaviours

Recent developments in the embodied approach to understanding the generation of adaptive behaviour, suggests that the design of adaptive neural circuits for rhythmic motor patterns should not be done in isolation from an appreciation, and indeed exploitation, of neural-body-environment interactions. Utilising spontaneous mutual entrainment between neural systems and physical bodies provides a useful passage to the regions of phase space which are naturally structured by the neuralbody- environmental interactions. A growing body of work has provided evidence that chaotic dynamics can be useful in allowing embodied systems to spontaneously explore potentially useful motor patterns. However, up until now there has been no general integrated neural system that allows goal-directed, online, realtime exploration and capture of motor patterns without recourse to external monitoring, evaluation or training methods. For the first time, we introduce such a system in the form of a fully dynamic neural system, exploiting intrinsic chaotic dynamics, for the exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modelled as a network of neural oscillators which are coupled only through physical embodiment, and goal directed exploration of coordinated motor patterns is achieved by a chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organised dynamics each of which is a candidate for a locomotion behaviour. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states using its intrinsic chaotic dynamics as a driving force and stabilises the system on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced which results in an increased diversity of motor outputs, thus achieving multi-scale exploration. A rhythmic pattern discovered by this process is memorised and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronisation method. The dynamical nature of the weak coupling through physical embodiment allows this adaptive weight learning to be easily integrated, thus forming a continuous exploration-learning system. Our result shows that the novel neuro-robotic system is able to create and learn a number of emergent locomotion behaviours for a wide range of body configurations and physical environment, and can re-adapt after sustaining damage. The implications and analyses of these results for investigating the generality and limitations of the proposed system are discussed

Turning up the variable noise: the quiet eye, functional variability and advancements in perceptual cognitive expertise

Background: It has now become widely accepted that a prominent component of sport expertise is in part due to more effective, and efficient perceptual mechanisms. In comparison to lesser-skilled athletes, experts can identify key sources of information earlier (Helsen and Pauwels, 1993). With the introduction of the Financial Fair Play (FFP) rules within the English Football League System, the development of young players has increased in prominence, with a greater emphasis on the understanding of what it takes to become an expert. The Quiet Eye (QE) has emerged as a key perceptual variable associated with expertise (Vickers, 2007). The QE is defined as the final fixation towards a location in the environment that supports a coupled motor action. The QE is a fixation that lasts over 100ms, remaining within 3* of visual angle (Vickers, 2016). In the field of Goalkeeping (GK) the QE has been found to be one of the key mechanisms in understanding skilled performance (Piras and Vickers, 2011). It is widely accepted that expert performance is generally contrived of longer QE fixations, earlier and later offsets, yet the locations GK’s use is still contested. As such current experimental protocols fail to truly understand expert performance of individuals in more complex environments. Objectives: Theoretical and empirical attempts are made to meet an ecological ‘call to arms’ and challenge the traditional perceptual research in goalkeeping. The importance of maintaining a representative experimental trial is stressed to understand expertise from the natural performance environment. Secondly, youth and senior GK of similar relative skill level are used to understand QE behaviours between ages in a representatively designed experimental task. Methods: Study 1 compares the traditional penalty kick protocol with a 1 v 1 dynamic condition, where the striker can move the ball before shooting at the goal. Study 2 compares expert senior goalkeepers against youth goalkeepers in the dynamic task to understand QE differences between ages with relative skill levels. QE behaviour is collected with SMI-ETG as well as an external camera capturing the motor action of the goalkeeper. Results: In study 1, QE duration was significantly longer in the penalty kick trial, with an earlier onset and later offset. Further findings also showed goalkeepers dependence upon the ball in penalty kick tasks. Goalkeepers viewed the visual pivot (VP) more during dynamic kick tasks than in the penalty kick task. 7 | P a g e In study 2 senior goalkeepers had a longer QE duration and a later onset and offset than the youth goalkeepers. Specific QE behaviours could be attributed with specific locations, the ball requiring longer onset and duration than the VP. It was observed without statistical significance that senior expert goalkeepers operated within a solution bandwidth comprised of variability in QE behaviour. Discussion: It is suggested a more representative performance environment is required due to the causal nature of manipulated task constraints, and the QE. It was shown that by increasing variability in the experimental condition, goalkeepers utilised different QE behaviours. The significance of these findings aids researchers understanding of expertise and the link to representative tasks and their fidelity to the athlete’s natural environment. Previous research understanding in goalkeeping expertise in the penalty kick paradigm may only provide a minor insight into goalkeepers skilled performance. In the second study, we find that similar to the novice v expert domain, senior and youth experts have significantly different QE behaviours. Senior goalkeepers used longer fixations, later onsets and offsets. The later onsets are a particularly interesting finding, as it generally goes against the grain of previous QE research. We suggest that the later onset is a product of extreme temporal and spatial constraints that youth goalkeepers face. They potentially may not have the physical capabilities to move on later visual information, whereas senior goalkeepers may do. Secondly, it is suggested that expertise comes in the form of a functional relationship with information in the visual feed. Due to significant differences occurring in the QE between different locations (ball and visual pivot), it is recommended that the use of putative optimal visual search patterns is irresponsible and that athletes define their expertise by a complimentary relationship with the environment. Further still, it is shown that experts act within a solution manifold characterised by variability between the QE onset and offset behaviours. Developing this finding across bigger samples is key, as it provides ground to challenge current developments of QE training methods that opt for a single generalisable QE behaviour. We provide an account for the importance of adopting a practical lens to developing the QE beyond novel visual interventions, and into an embodied pedagogy

Haptic Media Scenes

The aim of this thesis is to apply new media phenomenological and enactive embodied cognition approaches to explain the role of haptic sensitivity and communication in personal computer environments for productivity. Prior theory has given little attention to the role of haptic senses in influencing cognitive processes, and do not frame the richness of haptic communication in interaction design—as haptic interactivity in HCI has historically tended to be designed and analyzed from a perspective on communication as transmissions, sending and receiving haptic signals. The haptic sense may not only mediate contact confirmation and affirmation, but also rich semiotic and affective messages—yet this is a strong contrast between this inherent ability of haptic perception, and current day support for such haptic communication interfaces. I therefore ask: How do the haptic senses (touch and proprioception) impact our cognitive faculty when mediated through digital and sensor technologies? How may these insights be employed in interface design to facilitate rich haptic communication? To answer these questions, I use theoretical close readings that embrace two research fields, new media phenomenology and enactive embodied cognition. The theoretical discussion is supported by neuroscientific evidence, and tested empirically through case studies centered on digital art. I use these insights to develop the concept of the haptic figura, an analytical tool to frame the communicative qualities of haptic media. The concept gauges rich machine- mediated haptic interactivity and communication in systems with a material solution supporting active haptic perception, and the mediation of semiotic and affective messages that are understood and felt. As such the concept may function as a design tool for developers, but also for media critics evaluating haptic media. The tool is used to frame a discussion on opportunities and shortcomings of haptic interfaces for productivity, differentiating between media systems for the hand and the full body. The significance of this investigation is demonstrating that haptic communication is an underutilized element in personal computer environments for productivity and providing an analytical framework for a more nuanced understanding of haptic communication as enabling the mediation of a range of semiotic and affective messages, beyond notification and confirmation interactivity

Analysis of the Interlimb similarity of motor patterns for improving stroke assessment and neurorehabilitation

Stroke is the leading cause of adult disability, with upper limb hemiparesis being one of the most common consequences. Regaining voluntary arm movement is one of the major goals of rehabilitation. However, even with intensive rehabilitation, approximately 30% of patients remain permanently disabled and only 5 to 20% of them recover full independence. Hence, there is an increasing interest in incorporating the latest advances in neuroscience, medicine and engineering to improve the efficacy of conventional therapies. In the last years, a variety of promising targets have been identified to improve rehabilitation. However, there is no consensus on which measure should be applied as a gold standard to study functional recovery. This fact dramatically hinders the development of new interventions since it turns difficult to compare different clinical trials and draw consistent conclusions about therapeutic efficiency. In addition, available scales are subjective, qualitative and often lead to incongruent outcomes. Indeed, there is increasing suspicion that the lack of optimal assessment measures hampers the detection of benefits of new therapies. Moreover, existing scales totally ignore the neuromuscular state of the patient masking the ongoing recovery processes. In consequence, making appropriate clinical decisions in such environment is almost impossible. In light of all these facts, the need for new objective biomarkers to develop effective therapies is undeniable. To give response to these demands we have organized this thesis into two main branches. On the one hand, we have developed an innovative physiological scale that reveals the neuromuscular state of the patient and is able to discriminate between motor impairment levels. The innovation here resides in the concept of interlimb similarity (ILS). Based on the latest findings about the modular organization of the motor system and taking into account that stroke provokes unilateral motor damage, we propose comparing the control structure of the unaffected arm with the control structure of the paretic arm to quantify motor impairment. We have defined the control structure as the set of muscle synergies and activation coefficients needed to complete a task. The advantage of this approach is not only its capacity to provide neuromuscular information about the patient, but also that the ILS is personalized to each patient and can purposely guide rehabilitation based on the patient¿s own physiological patterns. This supposes a huge advance taking into account the heterogeneity of stroke pathogenesis. On other hand, we have characterized the therapeutic potential of Visual Feedback (VF) as a tool to purposely induce neuroplastic changes. We have chosen VF among the various interventions proven to improve motor performance, because VF is a cheap strategy that can be implemented in almost any rehabilitation center. We demonstrate that VF is able to modulate the human control structure. In healthy subjects, it seems that VF makes accessible the refined dominant motor programs for the nondominant hemisphere giving rise to an increased interlimb similarity of the control structure. Interestingly, in stroke patients VF is able to manipulate the ILS of upper-limb kinematics in favor of finer motor control but a single training session seems not to be enough to fix those changes in the neuromuscular system of a damaged brain. Overall, these findings offer a new promising framework to develop and assess an effective intervention to guide the restoration of the original neuromuscular patterns and avoid unwanted maladaptive neuroplasticity. In conclusion, this thesis seeks moving forward in the understanding of human motor recovery processes and their relationship with neuroplasticity. In this sense, it provides important advances in the design of a new biomarker of motor impairment and tests the power of VF to modulate the neuromuscular control of patients with stroke.L'ictus és la principal causa de discapacitat en adults, essent l'hemiparèsia del membre superior una de les conseqüències més comunes. Els programes de rehabilitació tenen com a objectiu fonamental restituir la mobilitat del braç afectat. No obstant això, es calcula que només entre el 5 i el 20% dels pacients aconsegueixen recuperar la seva independència mentre que el 30% queden incapacitats permanentment. En front d'aquest escenari es fa necessari incorporar els últims avenços de la neurociència, la medicina i l'enginyeria en aquesta àrea. En els darrers anys s'han identificat diversos aspectes clau per intentar millorar la rehabilitació. El problema, però, és que no hi ha consens per definir una mesura com a "gold estàndard" per avaluar la recuperació funcional, motiu pel qual, el desenvolupament de noves teràpies queda profundament afectat, ja que esdevé impossible poder comparar diferents assajos clínics i extreure conclusions consistents sobre la seva eficiència terapèutica. A més, les diverses mesures que s'utilitzen són subjectives, qualitatives i sovint donen resultats incongruents. De fet, se sospita que la manca de mesures d'avaluació òptimes dificulta la detecció dels beneficis de noves teràpies. A tot això se li ha d'afegir que les mesures actuals no consideren l'estat neuromuscular del pacient, emmascarant els processos reparadors subjacents. Així doncs, prendre les decisions clíniques adequades sota aquestes condicions esdevé pràcticament impossible. En aquestes circumstàncies, no es pot ignorar el requeriment de nous biomarcadors que proporcionin dades objectives per catalitzar el disseny de teràpies efectives. Per donar resposta a aquesta situació, la tesi s'ha estructurat en dues parts. Per una banda, s'ha desenvolupat una innovadora escala fisiològica que revela l'estat neuromuscular del pacient i és capaç de discriminar entre diferents nivells d'incapacitat motora. La innovació rau en el concepte de similitud entre membres (ILS, en anglès). Així, basant-nos en els darrers descobriments sobre l'organització modular del sistema motor, i en el fet que l'ictus provoca dany unilateral, proposem comparar l'estructura de control del braç no-afectat amb l'estructura de control del braç parètic per quantificar la incapacitat motora. L'estructura de control l'hem definida com el conjunt de sinergies musculars i coeficients d'activació que es necessiten per a dur a terme una tasca. L'avantatge d'aquesta proposta és doble, ja que proporciona informació sobre l'estat neuromuscular del pacient i en ser personalitzable, pot guiar la rehabilitació d'acord amb els patrons fisiològics propis de cada pacient. Això suposa un enorme avenç en aquesta àrea, donada la immensa heterogeneïtat de la patogènesi d'aquest trastorn. D'altra banda, s'ha caracteritzat el potencial terapèutic del feedback visual (VF) per induir canvis neuroplàstics. Aquesta és una eina molt interessant perquè a més de millorar el control motor, és assequible per gairebé qualsevol centre de rehabilitació. S'ha demostrat que el VF és capaç de modular l'estructura de control. Concretament, el VF sembla transferir els programes motors de l'hemisferi dominant al costat no dominant augmentant així el ILS dels subjectes sans. En pacients amb ictus, el VF és capaç d'augmentar el ILS cinemàtic afavorint patrons de control més fins. En conclusió, l'objectiu d'aquesta tesi és aprofundir en la comprensió dels processos de recuperació motora i la seva relació amb la neuroplasticitat. La tesi ofereix un nou i prometedor marc per desenvolupar i avaluar procediments efectius per guiar la restauració dels patrons neuromusculars originals i evitar que el cervell pateixi canvis neuroplàstics indesitjables. Així, la tesi proporciona avanços importants en el disseny d'un biomarcador per quantificar la incapacitat motora i avaluar el potencial del VF per modular el control neuromuscular de pacients amb ictus.Postprint (published version