A non-invasive human-machine interfacing framework for investigating dexterous control of hand muscles

The recent fast development of virtual reality and robotic assistive devices enables to augment the capabilities of able-body individuals as well as to overcome the motor missing functions of neurologically impaired or amputee individuals. To control these devices, movement intentions can be captured from biological structures involved in the process of motor planning and execution, such as the central nervous system (CNS), the peripheral nervous system (in particular the spinal motor neurons) and the musculoskeletal system. Thus, human-machine interfaces (HMI) enable to transfer neural information from the neuro-muscular system to machines. To prevent any risks due to surgical operations or tissue damage in implementing these HMIs, a non-invasive approach is proposed in this thesis. In the last five decades, surface electromyography (sEMG) has been extensively explored as a non-invasive source of neural information. EMG signals are constituted by the mixed electrical activity of several recruited motor units, the fundamental components of muscle contraction. High-density sEMG (HD-sEMG) with the use of blind source separation methods enabled to identify the discharge patterns of many of these active motor units. From these decomposed discharge patterns, the net common synaptic input (CSI) to the corresponding spinal motor neurons was quantified with cross-correlation in the time and frequency domain or with principal component analysis (PCA) on one or few muscles. It has been hypothesised that this CSI would result from the contribution of spinal descending commands sent by supra-spinal structures and afferences integrated by spinal interneurons. Another motor strategy implying the integration of descending commands at the spinal level is the one regarding the coordination of many muscles to control a large number of articular joints. This neurophysiological mechanism was investigated by measuring a single EMG amplitude per muscle, thus without the use of HD-sEMG and decomposition. In this case, the aim was to understand how the central nervous system (CNS) could control a large set of muscles actuating a vast set of combinations of degrees of freedom in a modular way. Thus, time-invariant patterns of muscle coordination, i.e. muscle synergies , were found in animals and humans from EMG amplitude of many muscles, modulated by time-varying commands to be combined to fulfil complex movements. In this thesis, for the first time, we present a non-invasive framework for human-machine interfaces based on both spinal motor neuron recruitment strategy and muscle synergistic control for unifying the understanding of these two motor control strategies and producing control signals correlated to biomechanical quantities. This implies recording both from many muscles and using HD-sEMG for each muscle. We investigated 14 muscles of the hand, 6 extrinsic and 8 intrinsic. The first two studies, (in Chapters 2 and 3, respectively) present the framework for CSI quantification by PCA and the extraction of the synergistic organisation of spinal motor neurons innervating the 14 investigated muscles. For the latter analysis, in Chapter 3, we proposed the existence of what we named as motor neuron synergies extracted with non-negative matrix factorisation (NMF) from the identified motor neurons. In these first two studies, we considered 7 subjects and 7 grip types involving differently all the four fingers in opposition with the thumb. In the first study, we found that the variance explained by the CSI among all motor neuron spike trains was (53.0 ± 10.9) % and its cross-correlation with force was 0.67 ± 0.10, remarkably high with respect to previous findings. In the second study, 4 motor neuron synergies were identified and associated with the actuation of one finger in opposition with the thumb, finding even higher correlation values with force (over 0.8) for each synergy associated with a finger during the actuation of the relative finger. In Chapter 4, we then extended the set of analysed movements in a vast repertoire of gestures and repeated the analysis of Chapter 3 by finding a different synergistic organisation during the execution of tens of tasks. We divided the contribution among extrinsic and intrinsic muscles and we found that intrinsic better enable single-finger spatial discrimination, while no difference was found in regression of joint angles by dividing the two groups of muscles. Finally, in Chapter 5 we proposed the techniques of the previous chapters for cases of impairment due both to amputation and stroke. We analysed one case of pre and post rehabilitation sessions of a trans-humeral amputee, the case of a post-stroke trans-radial amputee and three cases of acute stroke, i.e. less than one month from the stroke event. We present future perspectives (Chapter 6) aimed to design and implement a platform for both rehabilitation monitoring and myoelectric control. Thus, this thesis provides a bridge between two extensively studied motor control mechanisms, i.e. motor neuron recruitment and muscle synergies, and proposes this framework as suitable for rehabilitation monitoring and control of assistive devices.Open Acces

Biceps brachii synergy and its contribution to target reaching tasks within a virtual cube

Ces dernières années, des travaux importants ont été observés dans le développement du contrôle prothétique afin d'aider les personnes amputées du membre supérieur à améliorer leur qualité de vie au quotidien. Certaines prothèses myoélectriques modernes des membres supérieurs disponibles dans le commerce ont de nombreux degrés de liberté et nécessitent de nombreux signaux de contrôle pour réaliser plusieurs tâches fréquemment utilisées dans la vie quotidienne. Pour obtenir plusieurs signaux de contrôle, de nombreux muscles sont requis mais pour les personnes ayant subi une amputation du membre supérieur, le nombre de muscles disponibles est plus ou moins réduit selon le niveau de l’amputation. Pour accroître le nombre de signaux de contrôle, nous nous sommes intéressés au biceps brachial, vu qu’anatomiquement il est formé de 2 chefs et que de la présence de compartiments a été observée sur sa face interne. Physiologiquement, il a été trouvé que les unités motrices du biceps sont activées à différents endroits du muscle lors de la production de diverses tâches fonctionnelles. De plus, il semblerait que le système nerveux central puisse se servir de la synergie musculaire pour arriver à facilement produire plusieurs mouvements. Dans un premier temps on a donc identifié que la synergie musculaire était présente chez le biceps de sujets normaux et on a montré que les caractéristiques de cette synergie permettaient d’identifier la posture statique de la main lorsque les signaux du biceps avaient été enregistrés. Dans un deuxième temps, on a réussi à démontrer qu’il était possible, dans un cube présenté sur écran, à contrôler la position d’une sphère en vue d’atteindre diverses cibles en utilisant la synergie musculaire du biceps. Les techniques de classification utilisées pourraient servir à faciliter le contrôle des prothèses myoélectriques.In recent years, important work has been done in the development of prosthetic control to help upper limb amputees improve their quality of life on a daily basis. Some modern commercially available upper limb myoelectric prostheses have many degrees of freedom and require many control signals to perform several tasks commonly used in everyday life. To obtain several control signals, many muscles are required, but for people with upper limb amputation, the number of muscles available is more or less reduced, depending on the level of amputation. To increase the number of control signals, we were interested in the biceps brachii, since it is anatomically composed of 2 heads and the presence of compartments was observed on its internal face. Physiologically, it has been found that the motor units of the biceps are activated at different places of the muscle during production of various functional tasks. In addition, it appears that the central nervous system can use muscle synergy to easily produce multiple movements. In this research, muscle synergy was first identified to be present in the biceps of normal subjects, and it was shown that the characteristics of this synergy allowed the identification of static posture of the hand when the biceps signals had been recorded. In a second investigation, we demonstrated that it was possible in a virtual cube presented on a screen to control online the position of a sphere to reach various targets by using muscle synergy of the biceps. Classification techniques have been used to improve the classification of muscular synergy features, and these classification techniques can be integrated with control algorithm that produces dynamic movement of myoelectric prostheses to facilitate the training of prosthetic control

The Coordination of Movement from Motor Units to Muscle Synergies

This dissertation comprises computational and experimental studies that examined the neuromuscular factors underlying differences in manual dexterity and mobility in health and disease. The first two studies developed models of motor unit force production. The first model used a Proportional-Integral-Derivative (PID) control algorithm to activate a pool of motor units to simulate the force trajectory during force-matching tasks. The second model comprised a probabilistic state-space model to estimate the common synaptic input to motor neurons based on the discharge times of action potentials by activated motor units. The state-space model demonstrated superior sensitivity compared with previous models. The next three studies examined manual dexterity and begin with the use of the state-space model to quantify variability in common synaptic input for young and older adults during isometric contractions, and how this variability related to performance on a pegboard test of manual dexterity. Variability in common synaptic input was significantly associated with the coefficient of variation for force during steady contractions (force steadiness) and with pegboard times in older adults. The source of the force fluctuations was evaluated by comparing force steadiness during voluntary and electrically evoked contractions. Force steadiness was worse for old adults than young adults during voluntary contractions, but there was no difference between age groups during the electrically evoked contractions. Thus, differences in force steadiness must arise from signal transduction in the central nervous system and not the periphery. The plasticity of pegboard performance was examined by comparing peg-manipulation characteristics of persons with multiple sclerosis to healthy controls. Grooved pegboard time for individuals with MS was most associated with the time to select a peg, whereas times for healthy controls were most related to peg transportation and selection. The last two studies examine the influence of an orthopedic problem (sacroiliac joint dysfunction) on movement patterns. These individuals exhibited a compromised muscle synergy when walking and greater movement asymmetries during a sit-to-stand task. This dissertation explored how common synaptic input influences force steadiness and manual dexterity, how multiple sclerosis alters manual dexterity, and how individuals with sacroiliac joint dysfunction differ from healthy controls during walking and sit-to-stand tasks

다중손가락 과제 수행 시 인간의 감각 및 인지 처리 과정의 정량화

학위논문 (박사) -- 서울대학교 대학원 : 사범대학 체육교육과, 2021. 2. 박재범.The continuously varied states of human body and surrounding environment require instantaneous motor adaptations and the understanding of motor goal to achieve desired actions. These sensory and cognitive processes have been investigated as elements in motor control during last five decades. Specially, the task dependency on sensory and cognitive processes suggest the effects of movement properties in terms of environment situation and motor goal. However, these effects were mostly empirically summarized with the measurements of either neural activity or simple motor accomplishment unilaterally. The current thesis addresses the quantification of sensory and cognitive processes based on simultaneous measurements of brain activity and synergic motor performance during multi-digit actions with different movement properties. Multi-digit action as a representation of synergic movements has developed into a widespread agency to quantify the efficacy of motor control, as the reason applied in this thesis. In this thesis, multi-digit rotation and pressing tasks were performed with different movement directions, frequencies, feedback modalities, or task complexities. (Chapter 3) The changes of movement direction induced a decrease in motor synergy but regardless of which direction. (Chapter 4 and 5) Increased frequency of rhythmic movement reduced synergic motor performance associate with decreased sensory process and less efficient cognitive process. (Chapter 6) More comprehensive feedback modality improved synergic performance with increased sensory process. (Chapter 7) Increased movement complexity had a consistent but stronger effect as increased frequency on synergic performance and efficiency of cognitive process. These observations suggest that several movement properties affect the contributions of sensory and cognitive processes to motor control which can be quantified through either neural activity or synergic motor performance. Accordingly, those movement properties may be applied in the rehabilitation of motor dysfunction by developing new training programs or assistant devices. Additionally, it may be possible to develop a simplified while efficient method to estimate the contribution of sensory or cognitive process to motor control.시시각각으로 변화하는 신체 상태와 주변 환경의 상호작용 속에서 알맞은 움직임을 수행하기 위해서는 그에 따른 즉각적인 운동 적응(motor adaptation) 과정와 과제 목표에 대한 이해가 필요하다. 이를 위해 인간의 감각 및 인지 처리과정은 운동 제어 분야의 중요한 요소로 여겨졌다. 선행연구에 따르면, 운동 과제에 따라 변화하는 감각 및 인지 처리과정은 주변 환경과 과제의 목표에 따라 움직임의 특성에 영향을 미친다고 보고되어왔다. 그러나 이러한 영향은 대부분 단순한 운동과제 수행 결과 또는 측정된 신경 활동에 의해 경험적으로 요약된 결과에 국한되어 있다. 따라서 본 논문은 다양한 움직임 특성을 가진 다중 손가락 과제 수행 시, 뇌 활동 (Brain activity)과 더불어 손가락들 간의 협응적인 움직임의 수행 결과를 동시 측정하여 과제의 특성에 따른 감각 및 인지 처리과정의 변화를 분석했다. 다중 손가락 과제는 운동 제어의 성능 효율성을 정량화하기 위해 사용되는 대표적인 과제다. 본 논문에서는 다양한 조건의 움직임 방향, 움직임의 주기빈도, 감각 피드백 양식 또는 과제 난이도에 따른 다중 손가락 회전 동작 및 힘 생성 과제를 사용했다. 연구 결과로는, (문단 3) 움직임 방향이 변화하기 전에 변화할 방향에 상관없이 협응적인 움직임이 악화되었다. (문단 4와 5) 움직임의 주기빈도가 증가할수록 협응적인 움직임이 악화됐으며, 이와 관련된 감각 및 인지 처리과정의 효율성도 감소되었다. (문단 6) 단일 감각 피드백 제공조건에 비해 종합적인 감각 피드백은 증가된 감각 처리과정과 함께 협응적인 움직임을 향상시켰다. (문단 7) 과제의 난이도가 증가할수록 협응적인 움직임과 인지 처리과정의 효율성은 감소되었으며, 움직임의 주기빈도 조건에 비해 과제의 난이도에 따라 협응적인 움직임과 인지 처리과정에 미치는 영향은 상대적으로 더 크게 나타났다. 이러한 결과는 움직임 특성에 따른 뇌 활동과 협응적인 과제 수해 결과를 통해 운동 제어 과정에서 감각 및 인지 처리과정의 기여정도를 정량화할 수 있다는 점을 시사한다. 따라서 움직임 특성에 따른 감각 및 인지 처리 과정의 기여정도의 변화는 운동 기능 장애를 가진 사람들의 새로운 재활 훈련 프로그램 및 움직임 보조 장치를 개발하기 위한 실험적인 근거로 적용될 수 있다. 또한 감각 또는 인지 과정이 운동 제어에 미치는 영향을 추정하기 위한 효율적인 방법을 개발하는데 도움이 될 것이다.Chapter 1. Introduction 1 1.1 Problem statement 1 1.2 Study objective 2 1.3 Organization of dissertation 3 Chapter 2. Background 6 2.1 Motor system 6 2.1.1 Ascending pathway 6 2.1.2 Descending pathway 8 2.1.3 Brain networks 9 2.2 Motor synergy 11 2.2.1 Synergy in performance 12 2.2.2 Synergy in muscles 13 2.2.3 Synergy in neurons 14 2.3 Motor control 15 2.1.1 Sensory process 16 2.1.2 Cognitive process 19 Chapter 3. Effect of movement direction: Multi-Finger Interaction and Synergies in Finger Flexion and Extension Force Production 23 3.1 Abstract 23 3.2 Introduction 24 3.3 Method 28 3.4 Results 35 3.4.1 Maximal voluntary contraction (MVC) force and finger independency 36 3.4.2 Timing indices 37 3.4.3 Multi-finger synergy indices in mode space 39 3.4.4 Multi-finger synergy indices in force space 43 3.5 Discussion 44 3.5.1 Finger independency during finger flexion and extension 44 3.5.2 Multi-finger synergies in force and mode spaces 46 3.5.3 Anticipatory synergy adjustment 48 Chapter 4. Effect of Frequency: Brain Oxygenation Magnitude and Mechanical Outcomes during Multi-Digit Rhythmic Rotation Task 51 4.1 Abstract 51 4.2 Introduction 51 4.3 Methods 55 4.4 Results 61 4.4.1 PET imaging 61 4.4.2 Finger forces 62 4.4.3 UCM analysis 64 4.4.4 Correlation between neural activation and mechanics 65 4.5 Discussion 66 4.5.1 Regions involved in feedback 67 4.5.2 Regions involved in feedforward 69 4.5.3 Corporation of feedforward and feedback 71 4.6 Conclusions 72 Chapter 5. Effect of frequency: Prefrontal Cortex Oxygenation during Multi-Digit Rhythmic Pressing Actions using fNIRS 74 5.1 Abstract 74 5.2 Introduction 74 5.3 Method 77 5.4 Results 84 5.4.1 Performance 84 5.4.2 Multi-digit coordination indices 84 5.4.3 Functional connectivity (FC) 87 5.5 Discussion 88 5.6 Conclusion 91 Chapter 6. Effect of Sensory Modality: Multi-Sensory Integration during Multi-Digit Rotation Task with Different Frequency 92 6.1 Abstract 92 6.2 Introduction 92 6.3 Method 94 6.4 Results 100 6.4.1 Performance 100 6.4.2 Multi-digit coordination indices 101 6.5 Discussion 101 6.6 Conclusion 103 Chapter 7. Effect of Task Complexity: Prefrontal Cortex Oxygenation during Multi-Digit Pressing Actions with Different Frequency Components 104 7.1 Abstract 104 7.2 Introduction 104 7.3 Method 106 7.4 Results 112 7.4.1 Performance 112 7.4.2 Multi-finger coordination indices 113 7.4.3 Functional connectivity (FC) 114 7.5 Discussion 115 7.5.1 Relation between Frequency and task complexity 115 7.5.2 Cognitive process in motor control 116 7.5.3 Relation between motor coordination and cognitive process 118 7.6 Conclusion 119 Chapter 8. Conclusions and Future Work 120 8.1 Summary of conclusions 120 8.2 Future work 121 Bibliography 122 Abstract in Korean 160Docto

Role of The Cortex in Visuomotor Control of Arm Stability

Whereas numerous motor control theories describe the control of arm trajectory during reach, the control of stabilization in a constant arm position (i.e., visuomotor control of arm posture) is less clear. Three potential mechanisms have been proposed for visuomotor control of arm posture: 1) increased impedance of the arm through co-contraction of antagonistic muscles, 2) corrective muscle activity via spinal/supraspinal reflex circuits, and/or 3) intermittent voluntary corrections to errors in position. We examined the cortical mechanisms of visuomotor control of arm posture and tested the hypothesis that cortical error networks contribute to arm stabilization. We collected electroencephalography (EEG) data from 10 young healthy participants across four experimental planar movement tasks. We examined brain activity associated with intermittent voluntary corrections of position error and antagonist co-contraction during stabilization. EEG beta-band (13–26 Hz) power fluctuations were used as indicators of brain activity, and coherence between EEG electrodes was used as a measure of functional connectivity between brain regions. Cortical activity in the sensory, motor, and visual areas during arm stabilization was similar to activity during volitional arm movements and was larger than activity during co-contraction of the arm. However, cortical connectivity between the sensorimotor and visual regions was higher during arm stabilization compared with volitional arm movements and co-contraction of the arm. The difference in cortical activity and connectivity between tasks might be attributed to an underlying visuomotor error network used to update motor commands for visuomotor control of arm posture

Effect of Heavy Lifting with a Head Strap on the Pelvic Floor across the Menstrual Cycle

Background: Pelvic organ prolapse (POP) occurs in 10% of women in Nepal, even 6% of nulliparous women have symptomatic POP.1 This may be linked to the heavy lifting tasks performed by women using a head strap.2 This study explored the impact of hormonal changes on the pelvic floor when performing these tasks during each phase of the menstrual cycle. Methods: The study included 22 female Nepali participants with a mean age of 27.4(3.6) years; all were from rural villages and frequently carried with a head strap. Using intravaginal pressure transducers (IVT), the mean change in intraabdominal pressure (IAP) was found to be 37.1(4.3) cmH20 when lifting a load with a mean weight of 19.8(3.2)kg using a head strap. Lifting tasks were simulated with isometric ballistic lifts against a head strap secured to the plith with the participant lying supine. The mean increase in IAP from rest was 31.6(2.1)cmH20. Displacement of the pelvic floor was measured by transperineal ultrasound. Mean displacement of the pelvic floor at ovulation was 5.1(0.4)mm and a mean of 5.9(0.4)mm during the early follicular phase (p 0.03). Conclusion: during the early follicular phase, when basal body temperature and beta estrogen are lowest, the compliance of the pelvic floor is greatest. Repetitive lifting during this time may predispose some woman to POP

Muscle Coordination Contributes to Function after Stroke; Proprioception Contributes to Control of Posture, Movement

More than half of stroke survivors experience persistent upper extremity motor impairments that can negatively impact quality of life and independence. Effective use of the upper extremity requires coordination of agonist/antagonist muscle pairs, as well as coordination of multiple control actions for stabilizing and moving the arm. In this dissertation, I present three studies in which I recorded isometric torque production, single joint movement and stabilization, and clinical measures of function and impairments after stroke to evaluate the extent to which changes in coordination of agonist/antagonist muscles and of sequential control actions contribute to deficits after stroke. In Aim 1, I quantified the extent to which stroke-related deficits in the coordination of agonist/antagonist muscle pairs degraded the ability to generate, maintain, and relax cued torques about the elbow. Participants who survived stroke (SP) and neurologically intact participants (NI) performed pursuit tracking of step-changes in isomeric torque targets to investigate coordination of activation magnitude in elbow agonist/antagonist muscle pairs. SP had marked hypertonia of the primary flexor muscles, which led to increased compensatory activity in the primary extensor muscles. These stroke-related deficits of muscle coordination degraded ability to generate, maintain, and relax cued torque production. In Aim 2, SP and NI performed sequential combinations of elbow stabilization and movements to investigate impairments in execution and coordination of these fundamental control actions. Impaired proprioception in SP was associated with increased impairments in stabilizing the arm against a perturbation compared with SP with intact proprioception. Surprisingly, SP with intact proprioception had greater impairments when moving than did SP with impaired proprioception. These results support the supposition that deficits of somatosensation can differentially impact neural control of limb stabilization and movement. Aim 3 used correlation and forward regression to compare deficits of muscle coordination (Aim 1) and control (Aim 2) to one another in order to quantify the extent to which each could explain deficits of motor function after stroke. Taken together, the three studies revealed that stroke-related deficits in coordination timing and magnitude of muscle activation impact clinically-measured function, and that somatosensory deficits can differentially impair neuromotor stabilization and movement control