Isometric force generation and kinematic reaching in the upper extremity has been found to be represented by a limited number of muscle synergies, even across task-specific variations. However, the extent of the generalizability of muscle synergies between these two motor tasks within the arm workspace remains unknown. In this study, we recorded electromyographic (EMG) signals from 13 different arm, shoulder, and back muscles of ten healthy individuals while they performed isometric and kinematic center-out target matches to one of 12 equidistant directional targets in the horizontal plane and at each of four starting arm positions. Non-negative matrix factorization was applied to the EMG data to identify the muscle synergies. Five and six muscle synergies were found to represent the isometric force generation and point-to-point reaches. We also found that the number and composition of muscle synergies were conserved across the arm workspace per motor task. Similar tuning directions of muscle synergy activation profiles were observed at different starting arm locations. Between the isometric and kinematic motor tasks, we found that two to four out of five muscle synergies were common in the composition and activation profiles across the starting arm locations. The greater number of muscle synergies that were involved in achieving a target match in the reaching task compared to the isometric task may explain the complexity of neuromotor control in arm reaching movements. Overall, our results may provide further insight into the neuromotor compartmentalization of shared muscle synergies between two different arm motor tasks and can be utilized to assess motor disabilities in individuals with upper limb motor impairments.
Data Fusion-Based Musculoskeletal Synergies in the Grasping Hand
The hypothesis that the central nervous system (CNS) makes use of synergies or movement primitives in achieving simple to complex movements has inspired the investigation of different types of synergies. Kinematic and muscle synergies have been extensively studied in the literature, but only a few studies have compared and combined both types of synergies during the control and coordination of the human hand. In this paper, synergies were extracted first independently (called kinematic and muscle synergies) and then combined through data fusion (called musculoskeletal synergies) from 26 activities of daily living in 22 individuals using principal component analysis (PCA) and independent component analysis (ICA). By a weighted linear combination of musculoskeletal synergies, the recorded kinematics and the recorded muscle activities were reconstructed. The performances of musculoskeletal synergies in reconstructing the movements were compared to the synergies reported previously in the literature by us and others. The results indicate that the musculoskeletal synergies performed better than the synergies extracted without fusion. We attribute this improvement in performance to the musculoskeletal synergies that were generated on the basis of the cross-information between muscle and kinematic activities. Moreover, the synergies extracted using ICA performed better than the synergies extracted using PCA. These musculoskeletal synergies can possibly improve the capabilities of the current methodologies used to control high dimensional prosthetics and exoskeletons.
more »
« less
- Award ID(s):
- 2042203
- NSF-PAR ID:
- 10406402
- Date Published:
- Journal Name:
- Sensors
- Volume:
- 22
- Issue:
- 19
- ISSN:
- 1424-8220
- Page Range / eLocation ID:
- 7417
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
more » « less
-
Brain-machine interfaces (BMIs) have become increasingly popular in restoring the lost motor function in individuals with disabilities. Several research studies suggest that the CNS may employ synergies or movement primitives to reduce the complexity of control rather than controlling each DoF independently, and the synergies can be used as an optimal control mechanism by the CNS in simplifying and achieving complex movements. Our group has previously demonstrated neural decoding of synergy-based hand movements and used synergies effectively in driving hand exoskeletons. In this study, ten healthy right-handed participants were asked to perform six types of hand grasps representative of the activities of daily living while their neural activities were recorded using electroencephalography (EEG). From half of the participants, hand kinematic synergies were derived, and a neural decoder was developed, based on the correlation between hand synergies and corresponding cortical activity, using multivariate linear regression. Using the synergies and the neural decoder derived from the first half of the participants and only cortical activities from the remaining half of the participants, their hand kinematics were reconstructed with an average accuracy above 70%. Potential applications of synergy-based BMIs for controlling assistive devices in individuals with upper limb motor deficits, implications of the results in individuals with stroke and the limitations of the study were discussed.more » « less
-
null (Ed.)Abstract Handedness has been associated with behavioral asymmetries between limbs that suggest specialized function of dominant and non-dominant hand. Whether patterns of muscle co-activation, representing muscle synergies, also differ between the limbs remains an open question. Previous investigations of proximal upper limb muscle synergies have reported little evidence of limb asymmetry; however, whether the same is true of the distal upper limb and hand remains unknown. This study compared forearm and hand muscle synergies between the dominant and non-dominant limb of left-handed and right-handed participants. Participants formed their hands into the postures of the American Sign Language (ASL) alphabet, while EMG was recorded from hand and forearm muscles. Muscle synergies were extracted for each limb individually by applying non-negative-matrix-factorization (NMF). Extracted synergies were compared between limbs for each individual, and between individuals to assess within and across participant differences. Results indicate no difference between the limbs for individuals, but differences in limb synergies at the population level. Left limb synergies were found to be more similar than right limb synergies across left- and right-handed individuals. Synergies of the left hand of left dominant individuals were found to have greater population level similarity than the other limbs tested. Results are interpreted with respect to known differences in the neuroanatomy and neurophysiology of proximal and distal upper limb motor control. Implications for skill training in sports requiring dexterous control of the hand are discussed.more » « less
-
Purpose: Robotic-assisted carotid artery stenting (CAS) cases have been demonstrated with promising results. However, no quantitative measurements have been made to compare manual with robotic-assisted CAS. This study aims to quantify surgical performance using tool tip kinematic data and metrics of precision during CAS with manual and robotic control in an ex vivo model. Materials and Methods: Transfemoral CAS cases were performed in a high-fidelity endovascular simulator. Participants completed cases with manual and robotic techniques in 2 different carotid anatomies in random order. C-arm angulations, table position, and endovascular devices were standardized. Endovascular tool tip kinematic data were extracted. We calculated the spectral arc length (SPARC), average velocity, and idle time during navigation in the common carotid artery and lesion crossing. Procedural time, fluoroscopy time, movements of the deployed filter wire, precision of stent, and balloon positioning were recorded. Data were analyzed and compared between the 2 modalities. Results: Ten participants performed 40 CAS cases with a procedural success of 100% and 0% residual stenosis. The median procedural time was significantly higher during the robotic-assisted cases (seconds, median [interquartile range, IQR]: 128 [49.5] and 161.5 [62.5], p=0.02). Fluoroscopy time differed significantly between manual and robotic-assisted procedures (seconds, median [IQR]: 81.5 [32] and 98.5 [39.5], p=0.1). Movement of the deployed filter wire did not show significant difference between manual and robotic interventions (mm, median [IQR]: 13 [10.5] and 12.5 [11], p=0.5). The postdilation balloon exceeded the margin of the stent with a median of 2 [1] mm in both groups. Navigation with robotic assistance showed significantly lower SPARC values (–5.78±3.14 and –8.63±3.98, p=0.04) and higher idle time values (8.92±8.71 and 3.47±3.9, p=0.02) than those performed manually. Conclusions: Robotic-assisted and manual CAS cases are comparable in the precision of stent and balloon positioning. Navigation in the carotid artery is associated with smoother motion and higher idle time values. These findings highlight the accuracy and the motion stabilizing capability of the endovascular robotic system. Clinical Impact Robotic assistance in the treatment of peripheral vascular disease is an emerging field and may be a tool for radiation protection and the geographic distribution of endovascular interventions in the future. This preclinical study compares the characteristics of manual and robotic-assisted carotid stenting (CAS). Our results highlight, that robotic-assisted CAS is associated with precise navigation and device positioning, and smoother navigation compared to manual CAS.more » « less
-
Muscle weakness and loss of independent joint control are the 2 most common neuromotor impairments after stroke. While there are a number of approaches to improve poststroke muscle weakness, there are currently no rehabilitation strategies that directly target a patient’s inability to match and independently activate the normal patterned muscle coordination strategies, or “muscle synergies.” Our goal is to develop an EMG-based controller for retraining healthy muscle synergies in patients with stroke-related disabilities. The controller can be integrated into rehabilitation robots for their ability to structure the robot’s force output based on input EMG activity. However, developing such a controller would require a clear understanding of the relationship between the applied force from a rehabilitation robot and the resulting changes to a patient’s muscle synergies. Therefore, this study was performed to quantify how the muscle synergies of horizontal planar-reaching are affected by direction of an applied force at the end-effector (ie, hand). A 2 DOF, 10 muscle model was developed in MATLAB using parameters obtained from the OpenSim (version 3.3) open source software system. Simulation experiments were then performed in MATLAB to investigate the relationship between the applied force and the resulting muscle synergies. The simulated event was composed of several trials of the same righthanded, planar, multidirectional reaching task from 0° (to the right) to 360°. Each trial applied a different steering force direction at the subject’s hand, varying from −45° to 45° relative to the reaching direction. The simulation trials were also validated by evaluating the EMG patterns of a healthy subject when performing the same reaching task with varying steering force directions. For the 0° steering force trials, the muscle synergies and their activation timings were extracted using nonnegative matrix factorization (NMF). For all other trials, the synergy matrix was fixed and the activation timings were extracted from the product of the EMG of that trial and the pseudo-inverse of the synergy matrix from the 0° steering force trial. By fixing the synergy matrix in the trials with steering forces, we can directly track activation changes of a certain synergy as steering force is varied. For both simulation and experimental trials, circular statistics revealed a linear relationship between changes in steering force direction and principal direction of synergy activation. These results suggest that the activation of a synergy can be controlled directly by the direction of an applied steering force. This has relevant implications in synergy-based controller design because a computer can easily manipulate a patient’s muscle synergies and track the changes while avoiding the computational expense of NMF. In addition, similar analysis could be used to extract the relationship between applied forces and changes in synergies for other types of motion.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.3390/s22197417
