Perception meets action: fMRI and behavioural investigations of human tool use

Tool use is essential and culturally universal to human life, common to hunter-gatherer and modern advanced societies alike. Although the neuroscience of simpler visuomotor behaviors like reaching and grasping have been studied extensively, relatively little is known about the brain mechanisms underlying learned tool use. With learned tool use, stored knowledge of object function and use supervene requirements for action programming based on physical object properties. Contemporary models of tool use based primarily on evidence from the study of brain damaged individuals implicate a set of specialized brain areas underlying the planning and control of learned actions with objects, distinct from areas devoted to more basic aspects of visuomotor control. The findings from the current thesis build on these existing theoretical models and provide new insights into the neural and behavioural mechanisms of learned tool use. In Project 1, I used fMRI to visualize brain activity in response to viewing tool use grasping. Grasping actions typical of how tools are normally grasped during use were found to preferentially activate occipitotemporal areas, including areas specialized for visual object recognition. The findings revealed sensitivity within this network to learned contextual associations tied to stored knowledge of tool-specific actions. The effects were seen to arise implicitly, in the absence of concurrent effects in visuomotor areas of parietofrontal cortex. These findings were taken to reflect the tuning of higher-order visual areas of occipitotemporal cortex to learned statistical regularities of the visual world, including the way in which tools are typically seen to be grasped and used. These areas are likely to represent an important source of inputs to visuomotor areas as to learned conceptual knowledge of tool use. In Project 2, behavioural priming and the kinematics of real tool use grasping was explored. Behavioural priming provides an index into the planning stages of actions. Participants grasped tools to either move them, grasp-to-move (GTM), or to demonstrate their common use, grasp-to-use (GTU), and grasping actions were preceded by a visual preview (prime) of either the same (congruent) or different (incongruent) tool as that which was then acted with. Behavioural priming was revealed as a reaction time advantage for congruent trial types, thought to reflect the triggering of learned use-based motor plans by the viewing of tools at prime events. The findings from two separate experiments revealed differential sensitivity to priming according to task and task setting. When GTU and GTM tasks were presented separately, priming was specific to the GTU task. In contrast, when GTU and GTM tasks were presented in the same block of trials, in a mixed task setting, priming was evident for both tasks. Together the findings indicate the importance of both task and task setting in shaping effects of action priming, likely driven by differences in the allocation of attentional resources. Differences in attention to particular object features, in this case tool identity, modulate affordances driven by those features which in turn determines priming. Beyond the physical properties of objects, knowledge and intention of use provide a mechanism for which affordances and the priming of actions may operate. Project 3 comprised a neuroimaging variant of the behavioural priming paradigm used in Project 2, with tools and tool use actions specially tailored for the fMRI environment. Preceding tool use with a visual preview of the tool to be used gave rise to reliable neural priming, measured as reduced BOLD activity. Neural priming of tool use was taken to reflect increased metabolic efficiency in the retrieval and implementation of stored tool use plans. To demonstrate specificity of priming for familiar tool use, a control task was used whereby actions with tools were determined not by tool identity but by arbitrarily learned associations with handle color. The findings revealed specificity for familiar tool-use priming in four distinct parietofrontal areas, including left inferior parietal cortex previously implicated in the storage of learned tool use plans. Specificity of priming for tool-action and not color-action associations provides compelling evidence for tool-use-experience-dependent plasticity within parietofrontal areas

Human posterior parietal cortex mediates hand-specific planning

The processes underlying action planning are fundamental to adaptive behavior and can be influenced by recent motor experience. Here, we used a novel fMRI Repetition Suppression (RS) design to test the hypotheses that action planning unfolds more efficiently for successive actions made with the same hand. More efficient processing was predicted to correspond with both faster response times (RTs) to initiate actions and reduced fMRI activity levels � RS. Consistent with these predictions, we detected faster RTs for actions made with the same hand and accompanying fMRI-RS within bilateral posterior parietal cortex and right-lateralized parietal operculum. Within posterior parietal cortex, these RS effects were localized to intraparietal and superior parietal cortices. These same areas were more strongly activated for actions involving the contralateral hand. The findings provide compelling new evidence for the specification of action plans in hand-specific terms, and indicate that these processes are sensitive to recent motor history. Consistent with computational efficiency accounts of motor history effects, the findings are interpreted as evidence for comparatively more efficient processing underlying action planning when successive actions involve the same versus opposite hand

Hand choice is unaffected by high frequency continuous theta burst transcranial magnetic stimulation to the posterior parietal cortex

The current study used a high frequency TMS protocol known as continuous theta burst stimulation (cTBS) to test a model of hand choice that relies on competing interactions between the hemispheres of the posterior parietal cortex. Based on the assumption that cTBS reduces cortical excitability, the model predicts a significant decrease in the likelihood of selecting the hand contralateral to stimulation. An established behavioural paradigm was used to estimate hand choice in each individual, and these measures were compared across three stimulation conditions: cTBS to the left posterior parietal cortex, cTBS to the right posterior parietal cortex, or sham cTBS. Our results provide no supporting evidence for the interhemispheric competition model. We find no effects of cTBS on hand choice, independent of whether the left or right posterior parietal cortex was stimulated. Our results are nonetheless of value as a point of comparison against prior brain stimulation findings that, in contrast, provide evidence for a causal role for the posterior parietal cortex in hand choice

Active haptic perception in robots: a review

In the past few years a new scenario for robot-based applications has emerged. Service and mobile robots have opened new market niches. Also, new frameworks for shop-floor robot applications have been developed. In all these contexts, robots are requested to perform tasks within open-ended conditions, possibly dynamically varying. These new requirements ask also for a change of paradigm in the design of robots: on-line and safe feedback motion control becomes the core of modern robot systems. Future robots will learn autonomously, interact safely and possess qualities like self-maintenance. Attaining these features would have been relatively easy if a complete model of the environment was available, and if the robot actuators could execute motion commands perfectly relative to this model. Unfortunately, a complete world model is not available and robots have to plan and execute the tasks in the presence of environmental uncertainties which makes sensing an important component of new generation robots. For this reason, today\u2019s new generation robots are equipped with more and more sensing components, and consequently they are ready to actively deal with the high complexity of the real world. Complex sensorimotor tasks such as exploration require coordination between the motor system and the sensory feedback. For robot control purposes, sensory feedback should be adequately organized in terms of relevant features and the associated data representation. In this paper, we propose an overall functional picture linking sensing to action in closed-loop sensorimotor control of robots for touch (hands, fingers). Basic qualities of haptic perception in humans inspire the models and categories comprising the proposed classification. The objective is to provide a reasoned, principled perspective on the connections between different taxonomies used in the Robotics and human haptic literature. The specific case of active exploration is chosen to ground interesting use cases. Two reasons motivate this choice. First, in the literature on haptics, exploration has been treated only to a limited extent compared to grasping and manipulation. Second, exploration involves specific robot behaviors that exploit distributed and heterogeneous sensory data

Touch localisation after nerve repair in the hand: Insights from a new measurement tool.

Errors of touch localisation after injury to the nerves of the hand are common, and their measurement is of considered importance for evaluating functional recovery. Available empirical accounts have significant methodological limitations, however, and a quantitatively rigorous and detailed description of touch localisation in nerve injury is lacking. Here we develop a new method of measuring touch localisation and evaluate its value for use in nerve injury. Eighteen patients with transection injuries to the median/ulnar nerves and thirty-three healthy controls were examined. The hand was blocked from the participant's view and points were marked on the volar surface using a UV pen. These points served as targets for touch stimulation. Two photographs were taken, one with and one without UV lighting, rendering targets seen and unseen, respectively. The experimenter used the photograph with visible targets to register their locations, and participants reported the felt position of each stimulation on the photograph with unseen targets. The error of localisation and its directional components were measured, separate from misreferrals-errors made across digits, or from a digit to the palm. Nerve injury was found to significantly increase the error of localisation. These effects were specific to the territory of the repaired nerve, and showed considerable variability at the individual level, with some patients showing no evidence of impairment. A few patients also made abnormally high numbers of misreferrals, and the pattern of misreferrals in patients differed from that observed in healthy controls