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During movement, errors are typically corrected only if they hinder performance. Preferential correction of task-relevant deviations is described by the minimal intervention principle but has not been demonstrated in the joints during locomotor adaptation. We studied hopping as a tractable model of locomotor adaptation of the joints within the context of a limb-force-specific task space. Subjects hopped while adapting to shifted visual feedback that induced them to increase peak ground reaction force (GRF). We hypothesized subjects would preferentially reduce task-relevant joint torque deviations over task-irrelevant deviations to increase peak GRF. We employed a modified uncontrolled manifold analysis to quantify task-relevant and task-irrelevant joint torque deviations for each individual hop cycle. As would be expected by the explicit goal of the task, peak GRF errors decreased in early adaptation before reaching steady state during late adaptation. Interestingly, during the early adaptation performance improvement phase, subjects reduced GRF errors by decreasing only the task-relevant joint torque deviations. In contrast, during the late adaption performance maintenance phase, all torque deviations decreased in unison regardless of task relevance. In deadaptation, when the shift in visual feedback was removed, all torque deviations decreased in unison, possibly because performance improvement was too rapid to detect changes in only the task-relevant dimension. We conclude that limb force adaptation in hopping switches from a minimal intervention strategy during performance improvement to a noise reduction strategy during performance maintenance, which may represent a general control strategy for locomotor adaptation of limb force in other bouncing gaits, such as running.

Locomotor control of limb force switches from minimal intervention principle in early adaptation to noise reduction in late adaptation