Intentional Maps in Posterior Parietal Cortex

The posterior parietal cortex (PPC), historically believed to be a sensory structure, is now viewed as an area important for sensory-motor integration. Among its functions is the forming of intentions, that is, high-level cognitive plans for movement. There is a map of intentions within the PPC, with different subregions dedicated to the planning of eye movements, reaching movements, and grasping movements. These areas appear to be specialized for the multisensory integration and coordinate transformations required to convert sensory input to motor output. In several subregions of the PPC, these operations are facilitated by the use of a common distributed space representation that is independent of both sensory input and motor output. Attention and learning effects are also evident in the PPC. However, these effects may be general to cortex and operate in the PPC in the context of sensory-motor transformations

Somatosensory Comparison during Haptic Tracing

Active sensing involves memory retrieval and updating as well as mechanisms that trigger corrections to the ongoing exploratory movement. The present study examined this process in a task where human subjects moved the index fingertip clockwise around the circumference of a virtual sphere created by a robotic device. The fingertip pressed into the sphere during the movement, and the subjects were to report slight differences in sphere size (or surface curvature), which occurred from trial to trial. During each 2- to 3-s trial, subjects gradually adjusted their speed and pressure according to the current surface curvature, achieving a consistent level of contact force in the last half of the exploration. The results demonstrate that subjects were gradually accumulating haptic information about curvature and, at the same time, gradually changing the motor commands for the movement. When subjects encountered an unexpected transition in curvature (from circular to flat), they reacted by abruptly decreasing contact force at a latency of about 50 ms. This short latency indicates that spinally mediated corrections are engaged during this task. The results support the hypothesis that during haptic exploration, the neural comparison between expected and actual somatosensory feedback takes places at multiple levels, including the spinal cord

Gearing up for action: attentive tracking dynamically tunes sensory and motor oscillations in the alpha and beta band

Allocation of attention during goal-directed behavior entails simultaneous processing of relevant and attenuation of irrelevant information. How the brain delegates such processes when confronted with dynamic (biological motion) stimuli and harnesses relevant sensory information for sculpting prospective responses remains unclear. We analyzed neuromagnetic signals that were recorded while participants attentively tracked an actor’s pointing movement that ended at the location where subsequently the response-cue indicated the required response. We found the observers’ spatial allocation of attention to be dynamically reflected in lateralized parieto-occipital alpha (8-12Hz) activity and to have a lasting influence on motor preparation. Specifically, beta (16-25Hz) power modulation reflected observers’ tendency to selectively prepare for a spatially compatible response even before knowing the required one. We discuss the observed frequency-specific and temporally evolving neural activity within a framework of integrated visuomotor processing and point towards possible implications about the mechanisms involved in action observation

What is ‘anti’ about anti-reaches? Reference frames selectively affect reaction times and endpoint variability

Reach movement planning involves the representation of spatial target information in different reference frames. Neurons at parietal and premotor stages of the cortical sensorimotor system represent target information in eye- or hand-centered reference frames, respectively. How the different neuronal representations affect behavioral parameters of motor planning and control, i.e. which stage of neural representation is relevant for which aspect of behavior, is not obvious from the physiology. Here, we test with a behavioral experiment if different kinematic movement parameters are affected to a different degree by either an eye- or hand-reference frame. We used a generalized anti-reach task to test the influence of stimulus-response compatibility (SRC) in eye- and hand-reference frames on reach reaction times, movement times, and endpoint variability. While in a standard anti-reach task, the SRC is identical in the eye- and hand-reference frames, we could separate SRC for the two reference frames. We found that reaction times were influenced by the SRC in eye- and hand-reference frame. In contrast, movement times were only influenced by the SRC in hand-reference frame, and endpoint variability was only influenced by the SRC in eye-reference frame. Since movement time and endpoint variability are the result of planning and control processes, while reaction times are consequences of only the planning process, we suggest that SRC effects on reaction times are highly suited to investigate reference frames of movement planning, and that eye- and hand-reference frames have distinct effects on different phases of motor action and different kinematic movement parameters

Forward estimation of movement state in posterior parietal cortex

During goal-directed movements, primates are able to rapidly and accurately control an online trajectory despite substantial delay times incurred in the sensorimotor control loop. To address the problem of large delays, it has been proposed that the brain uses an internal forward model of the arm to estimate current and upcoming states of a movement, which are more useful for rapid online control. To study online control mechanisms in the posterior parietal cortex (PPC), we recorded from single neurons while monkeys performed a joystick task. Neurons encoded the static target direction and the dynamic movement angle of the cursor. The dynamic encoding properties of many movement angle neurons reflected a forward estimate of the state of the cursor that is neither directly available from passive sensory feedback nor compatible with outgoing motor commands and is consistent with PPC serving as a forward model for online sensorimotor control. In addition, we found that the space–time tuning functions of these neurons were largely separable in the angle–time plane, suggesting that they mostly encode straight and approximately instantaneous trajectories

Activity in ventral premotor cortex is modulated by vision of own hand in action

Parietal and premotor cortices of the macaque monkey contain distinct populations of neurons which, in addition to their motor discharge, are also activated by visual stimulation. Among these visuomotor neurons, a population of grasping neurons located in the anterior intraparietal area (AIP) shows discharge modulation when the own hand is visible during object grasping. Given the dense connections between AIP and inferior frontal regions, we aimed at investigating whether two hand-related frontal areas, ventral premotor area F5 and primary motor cortex (area F1), contain neurons with similar properties. Two macaques were involved in a grasping task executed in various light/dark conditions in which the to-be-grasped object was kept visible by a dim retro-illumination. Approximately 62% of F5 and 55% of F1 motor neurons showed light/dark modulations. To better isolate the effect of hand-related visual input, we introduced two further conditions characterized by kinematic features similar to the dark condition. The scene was briefly illuminated (i) during hand preshaping (pre-touch flash, PT-flash) and (ii) at hand-object contact (touch flash, T-flash). Approximately 48% of F5 and 44% of F1 motor neurons showed a flash-related modulation. Considering flash-modulated neurons in the two flash conditions, ∼40% from F5 and ∼52% from F1 showed stronger activity in PT- than T-flash (PT-flash-dominant), whereas ∼60% from F5 and ∼48% from F1 showed stronger activity in T- than PT-flash (T-flash-dominant). Furthermore, F5, but not F1, flash-dominant neurons were characterized by a higher peak and mean discharge in the preferred flash condition as compared to light and dark conditions. Still considering F5, the distribution of the time of peak discharge was similar in light and preferred flash conditions. This study shows that the frontal cortex contains neurons, previously classified as motor neurons, which are sensitive to the observation of meaningful phases of the own grasping action. We conclude by discussing the possible functional role of these populations

A²ML: A general human-inspired motion language for anthropomorphic arms based on movement primitives

The recent increasing demands on accomplishing complicated manipulation tasks necessitate the development of effective task-motion planning techniques. To help understand robot movement intention and avoid causing unease or discomfort to nearby humans toward safe human–robot interaction when these tasks are performed in the vicinity of humans by those robot arms that resemble an anthropomorphic arrangement, a dedicated and unified anthropomorphism-aware task-motion planning framework for anthropomorphic arms is at a premium. A general human-inspired four-level Anthropomorphic Arm Motion Language (A²ML) is therefore proposed for the first time to serve as this framework. First, six hypotheses/rules of human arm motion are extracted from the literature in neurophysiological field, which form the basis and guidelines for the design of A²ML. Inspired by these rules, a library of movement primitives and related motion grammar are designed to build the complete motion language. The movement primitives in the library are designed from two different but associated representation spaces of arm configuration: Cartesian-posture-swivel-angle space and human arm triangle space. Since these two spaces can be always recognized for all the anthropomorphic arms, the designed movement primitives and consequent motion language possess favorable generality. Decomposition techniques described by the A²ML grammar are proposed to decompose complicated tasks into movement primitives. Furthermore, a quadratic programming based method and a sampling based method serve as powerful interfaces for transforming the decomposed tasks expressed in A²ML to the specific joint trajectories of different arms. Finally, the generality and advantages of the proposed motion language are validated by extensive simulations and experiments on two different anthropomorphic arms

The Proprioceptive Map of the Arm Is Systematic and Stable, but Idiosyncratic

Visual and somatosensory signals participate together in providing an estimate of the hand's spatial location. While the ability of subjects to identify the spatial location of their hand based on visual and proprioceptive signals has previously been characterized, relatively few studies have examined in detail the spatial structure of the proprioceptive map of the arm. Here, we reconstructed and analyzed the spatial structure of the estimation errors that resulted when subjects reported the location of their unseen hand across a 2D horizontal workspace. Hand position estimation was mapped under four conditions: with and without tactile feedback, and with the right and left hands. In the task, we moved each subject's hand to one of 100 targets in the workspace while their eyes were closed. Then, we either a) applied tactile stimulation to the fingertip by allowing the index finger to touch the target or b) as a control, hovered the fingertip 2 cm above the target. After returning the hand to a neutral position, subjects opened their eyes to verbally report where their fingertip had been. We measured and analyzed both the direction and magnitude of the resulting estimation errors. Tactile feedback reduced the magnitude of these estimation errors, but did not change their overall structure. In addition, the spatial structure of these errors was idiosyncratic: each subject had a unique pattern of errors that was stable between hands and over time. Finally, we found that at the population level the magnitude of the estimation errors had a characteristic distribution over the workspace: errors were smallest closer to the body. The stability of estimation errors across conditions and time suggests the brain constructs a proprioceptive map that is reliable, even if it is not necessarily accurate. The idiosyncrasy across subjects emphasizes that each individual constructs a map that is unique to their own experiences