Different contributions of efferent and reafferent feedback to sensorimotor temporal recalibration

Abstract: Adaptation to delays between actions and sensory feedback is important for efficiently interacting with our environment. Adaptation may rely on predictions of action-feedback pairing (motor-sensory component), or predictions of tactile-proprioceptive sensation from the action and sensory feedback of the action (inter-sensory component). Reliability of temporal information might differ across sensory feedback modalities (e.g. auditory or visual), which in turn influences adaptation. Here, we investigated the role of motor-sensory and inter-sensory components on sensorimotor temporal recalibration for motor-auditory (button press-tone) and motor-visual (button press-Gabor patch) events. In the adaptation phase of the experiment, action-feedback pairs were presented with systematic temporal delays (0 ms or 150 ms). In the subsequent test phase, audio/visual feedback of the action were presented with variable delays. The participants were then asked whether they detected a delay. To disentangle motor-sensory from inter-sensory component, we varied movements (active button press or passive depression of button) at adaptation and test. Our results suggest that motor-auditory recalibration is mainly driven by the motor-sensory component, whereas motor-visual recalibration is mainly driven by the inter-sensory component. Recalibration transferred from vision to audition, but not from audition to vision. These results indicate that motor-sensory and inter-sensory components contribute to recalibration in a modality-dependent manner

Sensory Manipulation as a Countermeasure to Robot Teleoperation Delays: System and Evidence

In the field of robotics, robot teleoperation for remote or hazardous environments has become increasingly vital. A major challenge is the lag between command and action, negatively affecting operator awareness, performance, and mental strain. Even with advanced technology, mitigating these delays, especially in long-distance operations, remains challenging. Current solutions largely focus on machine-based adjustments. Yet, there's a gap in using human perceptions to improve the teleoperation experience. This paper presents a unique method of sensory manipulation to help humans adapt to such delays. Drawing from motor learning principles, it suggests that modifying sensory stimuli can lessen the perception of these delays. Instead of introducing new skills, the approach uses existing motor coordination knowledge. The aim is to minimize the need for extensive training or complex automation. A study with 41 participants explored the effects of altered haptic cues in delayed teleoperations. These cues were sourced from advanced physics engines and robot sensors. Results highlighted benefits like reduced task time and improved perceptions of visual delays. Real-time haptic feedback significantly contributed to reduced mental strain and increased confidence. This research emphasizes human adaptation as a key element in robot teleoperation, advocating for improved teleoperation efficiency via swift human adaptation, rather than solely optimizing robots for delay adjustment.Comment: Submitted to Scientific Report

Effect before cause: supramodal recalibration of sensorimotor timing.

YesBackground: Our motor actions normally generate sensory events, but how do we know which events were self generated and which have external causes? Here we use temporal adaptation to investigate the processing stage and generality of our sensorimotor timing estimates. Methodology/Principal Findings: Adaptation to artificially-induced delays between action and event can produce a startling percept¿upon removal of the delay it feels as if the sensory event precedes its causative action. This temporal recalibration of action and event occurs in a quantitatively similar manner across the sensory modalities. Critically, it is robust to the replacement of one sense during the adaptation phase with another sense during the test judgment. Conclusions/Significance: Our findings suggest a high-level, supramodal recalibration mechanism. The effects are well described by a simple model which attempts to preserve the expected synchrony between action and event, but only when causality indicates it is reasonable to do so. We further demonstrate that this model successfully characterises related adaptation data from outside the sensorimotor domain

Intention Tremor and Deficits of Sensory Feedback Control in Multiple Sclerosis: a Pilot Study

Background Intention tremor and dysmetria are leading causes of upper extremity disability in Multiple Sclerosis (MS). The development of effective therapies to reduce tremor and dysmetria is hampered by insufficient understanding of how the distributed, multi-focal lesions associated with MS impact sensorimotor control in the brain. Here we describe a systems-level approach to characterizing sensorimotor control and use this approach to examine how sensory and motor processes are differentially impacted by MS. Methods Eight subjects with MS and eight age- and gender-matched healthy control subjects performed visually-guided flexion/extension tasks about the elbow to characterize a sensory feedback control model that includes three sensory feedback pathways (one for vision, another for proprioception and a third providing an internal prediction of the sensory consequences of action). The model allows us to characterize impairments in sensory feedback control that contributed to each MS subject’s tremor. Results Models derived from MS subject performance differed from those obtained for control subjects in two ways. First, subjects with MS exhibited markedly increased visual feedback delays, which were uncompensated by internal adaptive mechanisms; stabilization performance in individuals with the longest delays differed most from control subject performance. Second, subjects with MS exhibited misestimates of arm dynamics in a way that was correlated with tremor power. Subject-specific models accurately predicted kinematic performance in a reach and hold task for neurologically-intact control subjects while simulated performance of MS patients had shorter movement intervals and larger endpoint errors than actual subject responses. This difference between simulated and actual performance is consistent with a strategic compensatory trade-off of movement speed for endpoint accuracy. Conclusions Our results suggest that tremor and dysmetria may be caused by limitations in the brain’s ability to adapt sensory feedback mechanisms to compensate for increases in visual information processing time, as well as by errors in compensatory adaptations of internal estimates of arm dynamics

The critical events for motor-sensory temporal recalibration

Determining if we, or another agent, were responsible for a sensory event can require an accurate sense of timing. Our sense of appropriate timing relationships must, however, be malleable as there is a variable delay between the physical timing of an event and when sensory signals concerning that event are encoded in the brain. One dramatic demonstration of such malleability involves having people repeatedly press a button thereby causing a beep. If a delay is inserted between button presses and beeps, when it is subsequently taken away beeps can seem to precede the button presses that caused them. For this to occur it is important that people feel they were responsible for instigating the beeps. In terms of their timing, as yet it is not clear what combination of events is important for motor-sensory temporal recalibration. Here, by introducing ballistic reaches of short or longer extent before a button press, we varied the delay between the intention to act and the sensory consequence of that action. This manipulation failed to modulate recalibration magnitude. By contrast, introducing a similarly lengthened delay between button presses and consequent beeps eliminated recalibration. Thus it would seem that the critical timing relationship for motor-sensory temporal recalibration is between tactile signals relating to the completion of an action and the subsequent auditory percept

Shifts of criteria or neural timing? The assumptions underlying timing perception studies

In timing perception studies, the timing of one event is usually manipulated relative to another, and participants are asked to judge if the two events were synchronous, or to judge which of the two events occurred first. Responses are analyzed to determine a measure of central tendency, which is taken as an estimate of the timing at which the two events are perceptually synchronous. When these estimates do not coincide with physical synchrony, it is often assumed that the sensory signals are asynchronous, as though the transfer of information concerning one input has been accelerated or decelerated relative to the other. Here we show that, while this is a viable interpretation, it is equally plausible that such effects are driven by shifts in the criteria used to differentiate simultaneous from asynchronous inputs. Our analyses expose important ambiguities concerning the interpretation of simultaneity judgement data, which have hitherto been underappreciated

Visual and Proprioceptive Contributions to Compensatory and Pursuit Tracking Movements in Humans

An ongoing debate in the field of motor control considers how the brain uses sensory information to guide the formation of motor commands to regulate movement accuracy. Recent research has shown that the brain may use visual and proprioceptive information differently for stabilization of limb posture (compensatory movements) and for controlling goal-directed limb trajectory (pursuit movements). Using a series of five experiments and linear systems identification techniques, we modeled and estimated the sensorimotor control parameters that characterize the human motor response to kinematic performance errors during continuous compensatory and pursuit tracking tasks. Our findings further support the idea that pursuit and compensatory movements of the limbs are differentially controlled

Dynamic Perceptual Changes in Audiovisual Simultaneity

Background: The timing at which sensory input reaches the level of conscious perception is an intriguing question still awaiting an answer. It is often assumed that both visual and auditory percepts have a modality specific processing delay and their difference determines perceptual temporal offset. Methodology/Principal Findings: Here, we show that the perception of audiovisual simultaneity can change flexibly and fluctuates over a short period of time while subjects observe a constant stimulus. We investigated the mechanisms underlying the spontaneous alternations in this audiovisual illusion and found that attention plays a crucial role. When attention was distracted from the stimulus, the perceptual transitions disappeared. When attention was directed to a visual event, the perceived timing of an auditory event was attracted towards that event. Conclusions/Significance: This multistable display illustrates how flexible perceived timing can be, and at the same time offers a paradigm to dissociate perceptual from stimulus-driven factors in crossmodal feature binding. Our findings suggest that the perception of crossmodal synchrony depends on perceptual binding of audiovisual stimuli as a common event

Contralateral manual compensation for velocity-dependent force perturbations

It is not yet clear how the temporal structure of a voluntary action is coded allowing coordinated bimanual responses. This study focuses on the adaptation to and compensation for a force profile presented to one stationary arm which is proportional to the velocity of the other moving arm. We hypothesised that subjects would exhibit predictive coordinative responses which would co-vary with the state of the moving arm. Our null hypothesis is that they develop a time-dependent template of forces appropriate to compensate for the imposed perturbation. Subjects were trained to make 500 ms duration reaching movements with their dominant right arm to a visual target. A force generated with a robotic arm that was proportional to the velocity of the moving arm and perpendicular to movement direction acted on their stationary left hand, either at the same time as the movement or delayed by 250 or 500 ms. Subjects rapidly learnt to minimise the final end-point error. In the delay conditions, the left hand moved in advance of the onset of the perturbing force. In test conditions with faster or slower movement of the right hand, the predictive actions of the left hand co-varied with movement speed. Compensation for movement-related forces appeared to be predictive but not based on an accurate force profile that was equal and opposite to the imposed perturbatio

Stimulus-specific mechanisms of visual short-term memory

The retention of spatial information in visual short-term memory was assessed by measuring spatial frequency discrimination thresholds with a two-interval forced-choice task varying the time interval between the two gratings to be compared. The memory of spatial frequency information was perfect across 10-sec interstimulus intervals. Presentation of a “memory masker” grating during the interstimulus interval may interfere with short-term memory. This interference depends on the relative spatial frequency of the test and masker gratings, with maximum interference at spatial frequency differences of 1–1.5 octaves and beyond. This range of interference with short-term memory is comparable to the bandwidth of sensory masking or adaptation. A change of the relative orientation of test and masker gratings does not produce interference with spatial frequency discrimination thresholds. These results suggest stimulus-specific interactions at higher-level representations of visual form