Reviewer #3 (Public review):
Summary:
The authors describe an interesting study of arm movements carried out in weightlessness after a prolonged exposure to the so-called microgravity conditions of orbital spaceflight. Subjects performed radial point-to-point motions of the fingertip on a touch pad. The authors note a reduction in movement speed in weightlessness, which they hypothesize could be due to either an overall strategy of lowering movement speed to better accommodate the instability of the body in weightlessness or an underestimation of body mass. They conclude for the latter, mainly based on two effects. One, slowing in weightlessness is greater for movement directions with higher effective mass at the end effector of the arm. Two, they present evidence for increased number of corrective submovements in weightlessness. They contend that this provides conclusive evidence to accept the hypothesis of an underestimation of body mass.
Strengths:
In my opinion, the study provides a valuable contribution, the theoretical aspects are well presented through simulations, the statistical analyses are meticulous, the applicable literature is comprehensively considered and cited and the manuscript is well written.
Weaknesses:
I nevertheless am of the opinion that the interpretation of the observations leaves room for other possible explanations of the observed phenomenon, thus weakening the strength of the arguments.
To strengthen the conclusions, I feel that the following points would need to be addressed:
(1) The authors model the movement control through equations that derive the input control variable in terms of the force acting on the hand and treating the arm as a second-order low pass filter (Eq. 13). Underestimation of the mass in the computation of a feedforward command would lead to a lower-than-expected displacement to that command. But it is not clear if and how the authors account for a potential modification of the time constants of the 2nd order system. The CNS does not effectuate movements with pure torque generators. Muscles have elastic properties that depend on their tonic excitation level, reflex feedback and other parameters. Indeed, Fisk et al.* showed variations of movement characteristics consistent with lower muscle tone, lower bandwidth and lower damping ratio in 0g compared to 1g. Could the variations in the response to the initial feedforward command be explained by a misrepresentation of the limbs damping and natural frequency, leading to greater uncertainty to the consequences of the initial command. This would still be an argument for un-adapted feedforward control of the movement, leading to the need for more corrective movements. But it would not necessarily reflect an underestimation of body mass.
*Fisk, J. O. H. N., Lackner, J. R., & DiZio, P. A. U. L. (1993). Gravitoinertial force level influences arm movement control. Journal of neurophysiology, 69(2), 504-511.
While the authors attempt to differentiate their study from previous studies where limb neuromechanical impedance was shown to be modified in weightlessness by emphasizing that in the current study the movements were rapid and the initial movement is "feedforward". But this incorrectly implies that the limb's mechanical response to the motor command is determined only by active feedback mechanisms. In fact:
(a) All commands to the muscle pass through the motor neurons. These neurons receive descending activations related not only to the volitional movement, but also to the dynamic state of the body and the influence of other sensory inputs, including the vestibular system. A decrease in descending influences from the vestibular organs will lower the background sensitivity to all other neural influences on the motor neuron. Thus, the motor neuron may be less sensitive to the other volitional and reflexive synaptic inputs that it may receive.
(b) Muscle tone plays a significant role in determining the force and the time course of the muscle contraction. In a weightless environment, where tonic muscle activity is likely to be reduced, there is the distinct possibility that muscles will react more slowly and with lower amplitude to an otherwise equivalent descending motor command, particularly in the initial moments before spinal reflexes come into play. These, and other neuronal mechanisms could lead to the "under-actuation" effect observed in the current study, without necessarily being reflective of an underestimation of mass per se.
(2) The subject's body in weightless is much more sensitive to reaction forces in interactions with the environment in the absence of the anchoring effect of gravity pushing the body into the floor and in the absence of anticipatory postural adjustments that typically accompany upper-limb motions in Earth gravity in order to maintain an upright posture. The authors dismiss this possibility because the taikonauts were asked to stabilize their bodies with the contralateral hand. But the authors present no evidence that this was sufficient to maintain the shoulder and trunk at a strictly constant position, as is supposed by the simplified biomechanical model used in their optimal control framework. Indeed, a small backward motion of the shoulder would result in a smaller acceleration of the fingertip and a smaller extent of the initial ballistic motion of the hand with respect to the measurement device (the tablet), consistent with the observations reported in the study. Note that stability of the base might explain why 45º movements were apparently less affected in weightlessness, according to many of the reported analyses, including those related to corrective movements (Fig. 5 B, C, F; Fig. 6D), than the other two directions. If the trunk is being stabilized by the left arm, the same reaction forces on the trunk due to the acceleration of the hand will result in less effective torque on the trunk, given that the reaction forces act with a much smaller moment arm with respect to the left shoulder (the hand movement axis passes approximately through the left shoulder for the 45º target) compared to either the forward or rightward motions of the hand.
(3) The above is exacerbated by potential changes in the frictional forces between the fingertip and the tablet. The movements were measured by having the subjects slide their finger on the surface of a touch screen. In weightlessness, the implications of this contact can be expected to be quite different than on the ground. While these forces may be low on Earth, the fact is that we do not know what forces the taikonauts used on orbit. In weightlessness, the taikonauts would need to actively press downward to maintain contact with the screen, while on Earth gravity will do the work. The tangential forces that resist movement due to friction might therefore be different in 0g. . Indeed, given the increased instability of the body and the increased uncertainty of movement direction of the hand, taikonauts may have been induced to apply greater forces against the tablet in order to maintain contact in weightlessness, which would in turn slow the motion of the finger on the table and increase the reaction forces acting on the trunk. This could be particularly relevant given that the effect of friction would interact with the limb in a direction-dependent fashion, given the anisotropy of the equivalent mass at the fingertip evoked by the authors
I feel that the authors have done an admirable job of exploring the how to explain the modifications to movement kinematics that they observed on orbit within the constraints of the optimal control theory applied to a simplified model of the human motor system. While I fully appreciate the value of such models to provide insights into question of human sensorimotor behaviour, to draw firm conclusions on what humans are actually experiencing based only on manipulations of the computational model, without testing the model's implicit assumptions and without considering the actual neurophysiological and biomechanical mechanisms, can be misleading. One way to do this could be to examine these questions through extensions to the model used in the simulations (changing activation dynamics of the torque generators, allowing for potential motion backward motion of the shoulder and trunk, etc.). A better solution would be to emulate the physiological and biomechanical conditions on Earth (supporting the arm against gravity to reduce muscle tone, placing the subject on a moveable base that requires that the body be stabilized with the other hand) in order to distinguish the hypothesis of an underestimation of mass vs. other potential sources of under-actuation and other potential effects of weightlessness on the body.
In sum, my opinion is that the authors are relying too much on a theoretical model as a ground truth and thus overstate their conclusions. But to provide a convincing argument that humans truly underestimate mass in weightlessness, they should consider more judiciously the neurophysiology and biomechanics that fall outside the purview of the simplified model that they have chosen. If a more thorough assessment of this nature is not possible, then I would argue that a more measured conclusion of the paper should be 1) that the authors observed modifications to movement kinematics in weightlessness consistent with an under-actuation for the intended motion, 2) that a simplified model of human physiology and biomechanics that incorporates principles of optimal control suggest that the source of this under-actuation might be an underestimation of mass in the computation of an appropriate feedforward motor command, and 3) that other potential neurophysiological or biomechanical effects cannot be excluded due to limitations of the computational model.