Accuracy of internal dynamics models in limb movements depends on stability.

This study investigated the ability to use an internal model of the environmental dynamics when the dynamics were predictable but unstable. Subjects performed goal-directed movements using a robot manipulandum while counteracting a force field, which created instability by assisting the movement in proportion to hand velocity. Subjects' performance was better on the last trial than on the first trial in the force field for all four movement directions tested: out, in, right and left. Subjects adapted to the force field primarily by increasing muscle co-contraction, compared to null field movements, during all phases of movement. This co-contraction generally declined for both the deceleration and stabilization phases during the course of the first 25 movements in each direction, but tended not to decrease significantly thereafter. Catch trials at the end of the learning period suggested that increased viscoelastic impedance due to muscle co-contraction was used to counteract the force field. Only in the case of outward movements were aftereffects observed that were consistent with formation of an accurate internal model of the force field dynamics. Stabilization of the hand for outward movements required less muscle co-contraction than for movements in other directions due to stability conferred by the geometry of the arm. The results suggest that the accuracy of an internal model depends critically on the stability of the coupled dynamics of the limb and the environment.