frederic danion, 1 * jonathan s. diamond, 2 * and j. randall flanagan 2,3
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Separate Contributions of Kinematic and Kinetic Errors to Trajectory and Grip Force Adaptation When Transporting Novel Hand-Held Loads. Frederic Danion, 1 * Jonathan S. Diamond, 2 * and J. Randall Flanagan 2,3 - PowerPoint PPT PresentationTRANSCRIPT
Separate Contributions of Kinematic and Kinetic Errors to Trajectory and Grip Force Adaptation
When Transporting Novel Hand-Held Loads
Frederic Danion,1* Jonathan S. Diamond,2* and J. Randall Flanagan2,31 CNRS and Aix-Marseille University, 2 Centre for Neuroscience Studies
and 3 Department of Psychology, Queen’s University
The Journal of Neuroscience, January 30, 2013 • 33(5):2229 –2236
Motor Control Journal ClubMay 20, 2013
Adaptation to novel dynamics
Initially, unknown mapping between applied force and motion when interacting with new object• Kinematic errors: predicted ≠ actual trajectory
Perturbed trajectory• Kinetic errors: predicted ≠ actual load force
Poor modulation of grip force
With practice, people adapt to newdynamics (update internal model)
Adaptation and errorTrajectory adaptation Grip force adaptation
Kinematic error √ ?
Kinetic error ? √
Trajectory adaptationHand path straightens out
Grip force adaptationBetter grip-load modulation
Common or separate internal models?
Do kinematic and kinetic errors update the same model, or separate models?
Modified from Wolpert and Flanagan (2001)
Prediction error used to updated internal model (predictor)
Main ideas of experiment
• Compare grip force adaptation with and without kinematic errors
• Compare trajectory adaptation with and without prior exposure to kinetic errors
Experimental setupPoint-to-point movements
Object in hand• Dynamics rendered by Phantom• Object cursor visible (contextual clue)
Force channel• WristBOT remove kinematic error resulting from moving
object• Wrist cursor and slider visible (contextual clue)• Explore channel (distinguish from object dynamics)
Movement speed• Standard: 400 ms• Fast: 200 ms
Experimental protocols
Group A• Block 1: practice• Block 2: practice
(control)• Block 3: grip force
and trajectory adaptation with kinetic + kinematic errors
Experimental protocols
Group B• Block 1: practice• Block 2: grip force
adaptation with kinetic errors only
• Block 3: trajectory adaptation (facilitated by previous experience of kinetic errors?)
Experimental protocols
Group C• Block 1: practice• Block 2: grip force
adaptation with kinetic errors only (increase salience of object dynamics)
• Block 3: trajectory adaptation (facilitated by previous experience of kinetic errors?)
Data analysis
• Grip-load force coupling– Cross-correlation coefficient (at zero lag)
• Trajectory perturbation– Peak-to-peak lateral deviation
• Adaptation– Fit exponential curve: y = aebx + c
Results: Grip force adaptation in channel
Poor grip-load correlation in 1st trial
Object path only slightly perturbed
• Increase in correlation over trials
• Asymptote: B > C (higher because of consecutive trials?)
Load force scaled with object velocity
Results: Transfer of grip force adaptation outside channel
Maintain predictive grip force control - good grip-load correlation in 1st trial(Higher magnitude?)
Object and wrist paths greatly perturbed
Corrective movements apparent in velocity profile
• Benefit of prior exposure to object dynamics in the channel
• No benefit of additional kinematic errors – similar learning rates for 3 groups
• Higher R without channel than with channel for groups A and B?
Results: Trajectory adaptation outside channel
No benefit of prior exposure to object dynamics (kinetic errors) in channel (groups B and C)
Experimental protocols
Group D• Block 1: practice• Block 2: grip force
adaptation with kinetic errors only (generalize over different speeds?)
• Block 3: trajectory adaptation (facilitated by previous experience of kinetic errors?)
2x speed 2x load force
Results: Generalization across speeds within channel
Predictive grip force generalized across movement speedsExposure to object dynamics at different movements speeds in the channel did not facilitate trajectory adaptation after the channel was removed.
Summary of grip force adaptation
• Kinetic errors are sufficient to drive grip force adaptation– Equivalent grip force adaptation with channel (kinetic
errors) and without channel (kinetic + kinematic errors)
– Importance of tactile vs. proprioceptive information
• Involves updating of internal model of object dynamics– Generalized over different movement speeds
Summary of trajectory adaptation
• Kinematic errors are necessary for arm movement adaptation– Prior experience of moving the object in the
channel (kinetic errors) did not benefit trajectory adaptation when moving without the channel
• Suggests distinct internal models of object dynamics for grip force and trajectory control