Sensitivity to Hand Path Curvature during Reaching

People optimize reaching to make straight and smooth movements. We performed experiments characterizing human sensitivity to hand path deviations from a straight reach. Vision of the arm was blocked. Subjects either moved the hand along paths of constrained curvature, or a robot moved the relaxed limb along similar trajectories (active and passive conditions, respectively). Subjects responded after each trial whether or not they thought the movement curved convex right. In a series of three experiments, we tested the effects of modifying visual feedback of hand position to suppress curvature, isotonic muscle activation, and a distracter task on subjects ability to detect curvature during reaching. We found that both active reaching and artificial minimization of visual hand path deviations significantly decreased proprioceptive curvature sensitivity. Specifically, isotonic contraction of muscles antagonistic to the movement decreased sensitivity to curvature while agonistic contraction had no effect. The distracter task did not significantly affect proprioceptive sensitivity, though it did interfere with the detrimental effect of minimizing visual error feedback. These findings demonstrate that: 1) antagonist muscle activation decreases efficacy of proprioceptive feedback during hand path curvature estimation, and 2) vision\u27s dominance over proprioception can be manipulated by altering the attentional demands of the task

Visual, Motor and Attentional Influences on Proprioceptive Contributions to Perception of Hand Path Rectilinearity during Reaching

We examined how proprioceptive contributions to perception of hand path straightness are influenced by visual, motor and attentional sources of performance variability during horizontal planar reaching. Subjects held the handle of a robot that constrained goal-directed movements of the hand to the paths of controlled curvature. Subjects attempted to detect the presence of hand path curvature during both active (subject driven) and passive (robot driven) movements that either required active muscle force production or not. Subjects were less able to discriminate curved from straight paths when actively reaching for a target versus when the robot moved their hand through the same curved paths. This effect was especially evident during robot-driven movements requiring concurrent activation of lengthening but not shortening muscles. Subjects were less likely to report curvature and were more variable in reporting when movements appeared straight in a novel “visual channel” condition previously shown to block adaptive updating of motor commands in response to deviations from a straight-line hand path. Similarly, compromised performance was obtained when subjects simultaneously performed a distracting secondary task (key pressing with the contralateral hand). The effects compounded when these last two treatments were combined. It is concluded that environmental, intrinsic and attentional factors all impact the ability to detect deviations from a rectilinear hand path during goal-directed movement by decreasing proprioceptive contributions to limb state estimation. In contrast, response variability increased only in experimental conditions thought to impose additional attentional demands on the observer. Implications of these results for perception and other sensorimotor behaviors are discussed

Compensation for the Passive Dynamics of a Five-bar Neurorehabilitation Robot

Summary form only given. We have designed a compensator for the passive dynamics of a five-bar neurorehabilitation robot. This model-based compensator was tuned off-line using a simplex search method to minimize the error between measured joint torques during passive movement of the robot arm and torques predicted by the model during the same movement. The simplex algorithm selected the three independent parameters of the equations of motion to minimize the squared difference between measured and estimated joint torques. These parameters are implemented in a real-time operating system (xPC; the Mathworks) controlling the robot. This system yields stable compensation of over 80% of the passive dynamics of the manipulandum. This compensation was empirically found to be stable over the entire workspace of the robot

Design and Validation of a Real-time Controller for a Two-joint Neurorehabilitation Robot

Summary form only given. Large-scale neurorehabilitation robots require sophisticated control and safety systems. We describe the design and testing of a controller for a two-joint manipulandum for neurorehabilitation research. Design requirements and implementation considerations are highlighted. Procedures for testing and validating the system are also described

Frequency-dependent glycinergic inhibition modulates plasticity in hippocampus

Previous studies have demonstrated the presence of functional glycine receptors (GlyRs) in hippocampus. In this work, we examine the baseline activity and activity-dependent modulation of GlyRs in region CA1. We find that strychnine-sensitive GlyRs are open in the resting CA1 pyramidal cell, creating a state of tonic inhibition that “shunts” the magnitude of excitatory postsynaptic potentials (EPSPs) evoked by electrical stimulation of the Schaffer collateral inputs. This GlyR-mediated shunting conductance is independent of presynaptic stimulation rate; however, pairs of pre- and postsynaptic action potentials, repeated at frequencies above 5 Hz, reduce the GlyR-mediated conductance and increase peak EPSP magnitudes to levels at least 20% larger than those seen with presynaptic stimulation alone. We refer to this phenomenon as rate-dependent efficacy (RDE). Exogenous GlyR agonists (glycine, taurine) block RDE by preventing the closure of postsynaptic GlyRs. The GlyR antagonist strychnine blocks postsynaptic GlyRs under all conditions, occluding RDE. During RDE, glycine receptors are less responsive to local glycine application, suggesting that a reduction in the number or sensitivity of membrane-inserted GlyRs underlies RDE. By extending the RDE induction protocol to include 500 paired pre- and postsynaptic spikes, we can induce long-term synaptic depression (LTD). Manipulations that lead to reduced functionality of GlyRs, either pharmacologically or through RDE, also lead to increased LTD. This result suggests that RDE contributes to long-term synaptic plasticity in the hippocampus

Frequency-dependent glycinergic inhibition modulates plasticity in hippocampus

Previous studies have demonstrated the presence of functional glycine receptors (GlyRs) in hippocampus. In this work, we examine the baseline activity and activity-dependent modulation of GlyRs in region CA1. We find that strychnine-sensitive GlyRs are open in the resting CA1 pyramidal cell, creating a state of tonic inhibition that "shunts" the magnitude of EPSPs evoked by electrical stimulation of the Schaffer collateral inputs. This GlyR-mediated shunting conductance is independent of the presynaptic stimulation rate; however, pairs of presynaptic and postsynaptic action potentials, repeated at frequencies above 5 Hz, reduce the GlyR-mediated conductance and increase peak EPSP magnitudes to levels at least 20% larger than those seen with presynaptic stimulation alone. We refer to this phenomenon as rate-dependent efficacy (RDE). Exogenous GlyR agonists (glycine, taurine) block RDE by preventing the closure of postsynaptic GlyRs. The GlyR antagonist strychnine blocks postsynaptic GlyRs under all conditions, occluding RDE. During RDE, GlyRs are less responsive to local glycine application, suggesting that a reduction in the number or sensitivity of membrane-inserted GlyRs underlies RDE. By extending the RDE induction protocol to include 500 paired presynaptic and postsynaptic spikes, we can induce long-term synaptic depression (LTD). Manipulations that lead to reduced functionality of GlyRs, either pharmacologically or through RDE, also lead to increased LTD. This result suggests that RDE contributes to long-term synaptic plasticity in the hippocampus.</p