Simultaneous Robotic Manipulation and Functional Magnetic Resonance Imaging: Feasibility in Children with Autism Spectrum Disorders

An unanswered question concerning the neural basis of autism spectrum disorders (ASD) is how sensorimotor deficits in individuals with ASD are related to abnormalities of brain function. We previously described a robotic joystick and video game system that allows us to record functional magnetic resonance images (FMRI) while adult humans make goal- directed wrist motions. We anticipated several challenges in extending this approach to studying goal-directed behaviors in children with ASD and in typically developing (TYP) children. In particular we were concerned that children with autism may express increased levels of anxiety as compared to typically developing children due to the loud sounds and small enclosed space of the MRI scanner. We also were concerned that both groups of children might become restless during testing, leading to an unacceptable amount of head movement. Here we performed a pilot study evaluating the extent to which autistic and typically developing children exhibit anxiety during our experimental protocol as well as their ability to comply with task instructions. Our experimental controls were successful in minimizing group differences in drop-out due to anxiety. Kinematic performance and head motion also were similar across groups. Both groups of children engaged cortical regions (frontal, parietal, temporal, occipital) while making goal- directed movements. In addition, the ASD group exhibited task- related correlations in subcortical regions (cerebellum, thalamus), whereas correlations in the TYP group did not reach statistical significance in subcortical regions. Four distinct regions in frontal cortex showed a significant group difference such that TYP children exhibited positive correlations between the hemodynamic response and movement, whereas children with ASD exhibited negative correlations. These findings demonstrate feasibility of simultaneous application of robotic manipulation and functional imaging to study goal-directed motor behaviors in autistic and typically developing children. The findings also suggest the presence of marked changes in neural activation during a sensorimotor task requiring goal- directed movement

Adaptive Neural Networks for Control of Movement Trajectories Invariant under Speed and Force Rescaling

This article describes two neural network modules that form part of an emerging theory of how adaptive control of goal-directed sensory-motor skills is achieved by humans and other animals. The Vector-Integration-To-Endpoint (VITE) model suggests how synchronous multi-joint trajectories are generated and performed at variable speeds. The Factorization-of-LEngth-and-TEnsion (FLETE) model suggests how outflow movement commands from a VITE model may be performed at variable force levels without a loss of positional accuracy. The invariance of positional control under speed and force rescaling sheds new light upon a familiar strategy of motor skill development: Skill learning begins with performance at low speed and low limb compliance and proceeds to higher speeds and compliances. The VITE model helps to explain many neural and behavioral data about trajectory formation, including data about neural coding within the posterior parietal cortex, motor cortex, and globus pallidus, and behavioral properties such as Woodworth's Law, Fitts Law, peak acceleration as a function of movement amplitude and duration, isotonic arm movement properties before and after arm-deafferentation, central error correction properties of isometric contractions, motor priming without overt action, velocity amplification during target switching, velocity profile invariance across different movement distances, changes in velocity profile asymmetry across different movement durations, staggered onset times for controlling linear trajectories with synchronous offset times, changes in the ratio of maximum to average velocity during discrete versus serial movements, and shared properties of arm and speech articulator movements. The FLETE model provides new insights into how spina-muscular circuits process variable forces without a loss of positional control. These results explicate the size principle of motor neuron recruitment, descending co-contractive compliance signals, Renshaw cells, Ia interneurons, fast automatic reactive control by ascending feedback from muscle spindles, slow adaptive predictive control via cerebellar learning using muscle spindle error signals to train adaptive movement gains, fractured somatotopy in the opponent organization of cerebellar learning, adaptive compensation for variable moment-arms, and force feedback from Golgi tendon organs. More generally, the models provide a computational rationale for the use of nonspecific control signals in volitional control, or "acts of will", and of efference copies and opponent processing in both reactive and adaptive motor control tasks.National Science Foundation (IRI-87-16960); Air Force Office of Scientific Research (90-0128, 90-0175

Toward a Functional Characterization of Cognitive Control Networks

Cognitive control is an executive process that has been associated with a distributed set of cortical regions. These distributed regions appear to cluster into distinct networks with dissociable functions. In this study, independent component analysis was used as a tool to investigate functional connectivity in event-related fMRI data. Extracted networks of interest were functionally characterized using a hybrid task that independently probed moment-to-moment adjustments in control, and stable task-set maintenance. A cinguloinsular network was implicated in the processing of moment-to-moment adjustments in control based on its activation patterns during this task. Subsequently, functional connectivity between two networks previously implicated in control, two default mode networks, and a visual network were investigated overall, and in specific condition windows. Findings from this study emphasize the utility of independent component analysis in directly functionally characterizing dissociable cognitive control networks

Postural adjustments and reaching in 4-and 6-month-old infants:an EMG and kinematical study

Adequate postural control is a prerequisite for daily activities such as reaching for an object. However, knowledge on the relationship between postural adjustments and the quality of reaching movements during human ontogeny is scarce. Therefore we evaluated the development of the relationship between the kinematic features of reaching movements and the accompanying postural adjustments in young infants. Twelve typically developing (TD) infants were assessed twice, i.e. at 4 and 6 months of age, in supine and supported sitting position. Reaching was elicited by presenting toys in the midline at an arm-length distance while simultaneously surface EMG-activity was recorded from multiple arm-, neck-, trunk- and leg muscles. Concurrently kinematics of reaching were recorded with an ELITE system; kinematic analysis was restricted to the behaviour of so-called movement units, which are sub movements of reaching determined with the help of peaks in the velocity profile of the hand, maximum movement velocity and movement duration. A computer-algorithm determined significant phasic muscle activity. Activity in neck and trunk muscles (postural activity) was related to the onset of the prime mover, which was the arm muscle being activated first. The results indicated that about 50% of reaching movements in lying and sitting infants aged 4 and 6 months were accompanied by direction-specific postural adjustments. At 4 months variation dominated, but at 6 months a preference to recruit muscles in a top-down order (during sitting) and in the configuration of the complete pattern, i.e. the pattern in which all dorsal neck- and trunk muscles are activated in concert, (both conditions) emerged. Interestingly, the postural characteristics such as the presence of direction-specificity, recruitment of the complete pattern and top-down recruitment, were related to how successful the reaching was and the kinematics of reaching. It was concluded that the presence of direction-specific activity is not a prerequisite for the emergence of reaching movements. Nevertheless, already from 4 months onwards a better postural control is associated with a larger success and a better quality of reaching

Postural Synergies and Their Development

The recent developments of a particular approach to analyzing motor synergies based on the principle of motor abundance has allowed a quantitative assessment of multieffector coordination in motor tasks involving anticipatory adjustments to self-triggered postural perturbations and in voluntary posturalsway. This approach, the uncontrolled manifold (UCM) hypothesis, is based on an assumption that the central nervous system organizes covariation of elemental variables to stabilize important performance variables in a task-specific manner. In particular, this approach has been used to demonstrate and to assess the emergence of synergies and their modification with motor practice in typical persons and persons with Down syndrome. The framework of the UCM hypothesis allows the formulation of testable hypotheses with respect to developing postural synergies in typically and atypically developing persons

A review of the effectiveness of lower limb orthoses used in cerebral palsy

To produce this review, a systematic literature search was conducted for relevant articles published in the period between the date of the previous ISPO consensus conference report on cerebral palsy (1994) and April 2008. The search terms were 'cerebral and pals* (palsy, palsies), 'hemiplegia', 'diplegia', 'orthos*' (orthoses, orthosis) orthot* (orthotic, orthotics), brace or AFO

Dissociable and Dynamic Components of Cognitive Control: A Developmental Electrophysiological Investigation

One standard task used to investigate the development of cognitive control is the Dimensional Change Card Sort (DCCS). Performance and patterns of brain activity associated with the DCCS show continued age-related advances into early adolescence. According to many theoretical accounts, the DCCS places demands on a single underlying executive control process. Three experiments examined the possibility that the DCCS places demands on multiple control processes that follow distinct developmental trajectories. In Experiment 1, rule switching and conflict processing made orthogonal contributions to DCCS performance. Rule switching was associated with a cue-locked late frontal negativity (LFN) event-related potential (ERP) and conflict processing was associated with stimulus-locked frontocentral N2. Moreover, rule switching and conflict processing followed distinct developmental trajectories. In Experiment 2, distributed cortical source models of the cue-locked LFN were associated with age-related differences in distributed network of regions associated with cognitive control. Source models of the stimulus-locked N2 were associated with conflict-related modulations in the anterior cingulate cortex (ACC) that varied as a function of age. In Experiment 3, dynamic modulations in conflict processing were associated with pronounced age-related behavioural and electrophysiological adaptations to prior conflict. Taken together the findings of the current set of studies suggest that multiple control processes underpin age-related advances in DCCS performance