An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models

Human motor control is highly efficient in generating accurate and appropriate motor behavior for a multitude of tasks. This paper examines how kinematic and dynamic properties of the musculoskeletal system are controlled to achieve such efficiency. Even though recent studies have shown that the human motor control relies on multiple models, how the central nervous system (CNS) controls this combination is not fully addressed. In this study, we utilize an Inverse Optimal Control (IOC) framework in order to find the combination of those internal models and how this combination changes for different reaching tasks. We conducted an experiment where participants executed a comprehensive set of free-space reaching motions. The results show that there is a trade-off between kinematics and dynamics based controllers depending on the reaching task. In addition, this trade-off depends on the initial and final arm configurations, which in turn affect the musculoskeletal load to be controlled. Given this insight, we further provide a discomfort metric to demonstrate its influence on the contribution of different inverse internal models. This formulation together with our analysis not only support the multiple internal models (MIMs) hypothesis but also suggest a hierarchical framework for the control of human reaching motions by the CNS

Head motion predictability explains activity-dependent suppression of vestibular balance control

Vestibular balance control is dynamically weighted during locomotion. This might result from a selective suppression of vestibular inputs in favor of a feed-forward balance regulation based on locomotor efference copies. The feasibility of such a feed-forward mechanism should however critically depend on the predictability of head movements (HMP) during locomotion. To test this, we studied in 10 healthy subjects the differential impact of a stochastic vestibular stimulation (SVS) on body sway (center-of-pressure, COP) during standing and walking at different speeds and compared it to activity-dependent changes in HMP. SVS-COP coupling was determined by correlation analysis in frequency and time domains. HMP was quantified as the proportion of head motion variance that can be explained by the average head trajectory across the locomotor cycle. SVS-COP coupling decreased from standing to walking and further dropped with faster locomotion. Correspondingly, HMP increased with faster locomotion. Furthermore, SVS-COP coupling depended on the gait-cycle-phase with peaks corresponding to periods of least HMP. These findings support the assumption that during stereotyped human self-motion, locomotor efference copies selectively replace vestibular cues, similar to what was previously observed in animal models

Surface filling-in and contour interpolation contribute independently to Kanizsa figure formation

To explore mechanisms of object integration, the present experiments examined how completion of illusory contours and surfaces modulates the sensitivity of localizing a target probe. Observers had to judge whether a briefly presented dot probe was located inside or outside the region demarcated by inducer elements that grouped to form variants of an illusory, Kanizsa-type figure. From the resulting psychometric functions, we determined observers' discrimination thresholds as a sensitivity measure. Experiment 1 showed that sensitivity was systematically modulated by the amount of surface and contour completion afforded by a given configuration. Experiments 2 and 3 presented stimulus variants that induced an (occluded) object without clearly defined bounding contours, which gave rise to a relative sensitivity increase for surface variations on their own. Experiments 4 and 5 were performed to rule out that these performance modulations were simply attributable to variable distances between critical local inducers or to costs in processing an interrupted contour. Collectively, the findings provide evidence for a dissociation between surface and contour processing, supporting a model of object integration in which completion is instantiated by feedforward processing that independently renders surface filling-in and contour interpolation and a feedback loop that integrates these outputs into a complete whole

Serving performance in a suprapostural visual signal detection task: context-dependent and direction-specific control of body sway with fingertip light touch

Keeping gaze fixed on a target during visual smooth pursuit or touch light during fingertip contact while standing may resemble the goals of a suprapostural task with the implicit demands to minimize self-imposed sensorimotor variability. To test whether the principle of a suprapostural task generalizes to more complex sensorimotor stimulus-response mappings, we investigated how the control of body sway is influenced by an implicit feedback coupling (IFC) between the variability of touch forces at the contact point and perceptual difficulty, that is vertical jitter of a horizontally oscillating Landolt-C, in a visual signal detection task (VSDT). Mediolateral (ML) body sway of ten young healthy adults was assessed in four IFC conditions: (1) LT with independent jitter (LT-IJ), (2) LT with jitter depending on LT contact force (LT-CF), (3) LT with jitter depending on body sway (LT-BS), and (4) no contact with jitter depending on body sway (NT-BS). We assumed that the postural control system would be responsive to IFC and therefore reduce body sway in both IFC conditions. Resulting mediolateral body sway differed between the IFC conditions. Reduced sway was found in LT-CF and LT-BS compared to LT-IJ and in LT-BS compared to NT-BS. Our results demonstrate that processes controlling body sway can reduce postural variability below a variability level achieved by LT augmentation of body sway-related feedback alone. Both direct (LT-CF) and indirect (LT-BS) IFC involvement of fingertip contact minimized sway, which implies that no hierarchy existed for whole body sway or precision of fingertip contact (integration of both control processes) or that they can be reversed flexibly (one facilitating the other) if it serves the implicit goal of reduced perceptual noise and enhanced performance within the context of our suprapostural VSDT

Cognitive loading affects motor awareness and movement kinematics but not locomotor trajectories during goal-directed walking in a virtual reality environment.

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participants corrected their trajectories for perturbed feedback and how participants' awareness of such perturbations changed under cognitive loading. We asked 14 healthy young adults to walk towards four different target locations in a VR environment while their movements were tracked and played back in real-time on a large projection screen. In 75% of all trials we introduced angular deviations of ±5° to ±30° between the veridical walking trajectory and the visual feedback. Participants performed a second experimental block under cognitive load (serial-7 subtraction, counter-balanced across participants). We measured walking kinematics (joint-angles, velocity profiles) and motor performance (end-point-compensation, trajectory-deviations). Motor awareness was determined by asking participants to rate the veracity of the feedback after every trial. In-line with previous findings in natural settings, participants displayed stereotypical walking trajectories in a VR environment. Our results extend these findings as they demonstrate that taxing cognitive resources did not affect trajectory formation and deviations although it interfered with the participants' movement kinematics, in particular walking velocity. Additionally, we report that motor awareness was selectively impaired by the secondary task in trials with high perceptual uncertainty. Compared with data on eye and arm movements our findings lend support to the hypothesis that the central nervous system (CNS) uses common mechanisms to govern goal-directed movements, including locomotion. We discuss our results with respect to the use of VR methods in gait control and rehabilitation

Illusionary Self-Motion Perception in Zebrafish

Zebrafish mutant belladonna (bel) carries a mutation in the lhx2 gene (encoding a Lim domain homeobox transcription factor) that results in a defect in retinotectal axon pathfinding, which can lead to uncrossed optic nerves failing to form an optic chiasm. Here, we report on a novel swimming behavior of the bel mutants, best described as looping. Together with two previously reported oculomotor instabilities that have been related to achiasmatic bel mutants, reversed optokinetic response (OKR) and congenital nystagmus (CN, involuntary conjugate oscillations of both eyes), looping opens a door to study the influence of visual input and eye movements on postural balance. Our result shows that looping correlates perfectly with reversed OKR and CN and is vision-dependent and contrast sensitive. CN precedes looping and the direction of the CN slow phase is predictive of the looping direction, but is absent during looping. Therefore, looping may be triggered by CN in bel. Moreover, looping in wild-type fish can also be evoked by whole-field motion, suggesting that looping in a bel mutant larvae is a result of self-motion perception. In contrary to previous hypotheses, our findings indicate that postural control in vertebrates relies on both direct visual input (afference signal) and eye-movement-related signals (efference copy or reafference signal)

Induction of Biogenic Magnetization and Redox Control by a Component of the Target of Rapamycin Complex 1 Signaling Pathway

Most organisms are simply diamagnetic, while magnetotactic bacteria and migratory animals are among organisms that exploit magnetism. Biogenic magnetization not only is of fundamental interest, but also has industrial potential. However, the key factor(s) that enable biogenic magnetization in coordination with other cellular functions and metabolism remain unknown. To address the requirements for induction and the application of synthetic bio-magnetism, we explored the creation of magnetism in a simple model organism. Cell magnetization was first observed by attraction towards a magnet when normally diamagnetic yeast Saccharomyces cerevisiae were grown with ferric citrate. The magnetization was further enhanced by genetic modification of iron homeostasis and introduction of ferritin. The acquired magnetizable properties enabled the cells to be attracted to a magnet, and be trapped by a magnetic column. Superconducting quantum interference device (SQUID) magnetometry confirmed and quantitatively characterized the acquired paramagnetism. Electron microscopy and energy-dispersive X-ray spectroscopy showed electron-dense iron-containing aggregates within the magnetized cells. Magnetization-based screening of gene knockouts identified Tco89p, a component of TORC1 (Target of rapamycin complex 1), as important for magnetization; loss of TCO89 and treatment with rapamycin reduced magnetization in a TCO89-dependent manner. The TCO89 expression level positively correlated with magnetization, enabling inducible magnetization. Several carbon metabolism genes were also shown to affect magnetization. Redox mediators indicated that TCO89 alters the intracellular redox to an oxidized state in a dose-dependent manner. Taken together, we demonstrated that synthetic induction of magnetization is possible and that the key factors are local redox control through carbon metabolism and iron supply