Uncertainty of Feedback and State Estimation Determines the Speed of Motor Adaptation

Humans can adapt their motor behaviors to deal with ongoing changes. To achieve this, the nervous system needs to estimate central variables for our movement based on past knowledge and new feedback, both of which are uncertain. In the Bayesian framework, rates of adaptation characterize how noisy feedback is in comparison to the uncertainty of the state estimate. The predictions of Bayesian models are intuitive: the nervous system should adapt slower when sensory feedback is more noisy and faster when its state estimate is more uncertain. Here we want to quantitatively understand how uncertainty in these two factors affects motor adaptation. In a hand reaching experiment we measured trial-by-trial adaptation to a randomly changing visual perturbation to characterize the way the nervous system handles uncertainty in state estimation and feedback. We found both qualitative predictions of Bayesian models confirmed. Our study provides evidence that the nervous system represents and uses uncertainty in state estimate and feedback during motor adaptation

Rewiring Neural Interactions by Micro-Stimulation

Plasticity is a crucial component of normal brain function and a critical mechanism for recovery from injury. In vitro, associative pairing of presynaptic spiking and stimulus-induced postsynaptic depolarization causes changes in the synaptic efficacy of the presynaptic neuron, when activated by extrinsic stimulation. In vivo, such paradigms can alter the responses of whole groups of neurons to stimulation. Here, we used in vivo spike-triggered stimulation to drive plastic changes in rat forelimb sensorimotor cortex, which we monitored using a statistical measure of functional connectivity inferred from the spiking statistics of the neurons during normal, spontaneous behavior. These induced plastic changes in inferred functional connectivity depended on the latency between trigger spike and stimulation, and appear to reflect a robust reorganization of the network. Such targeted connectivity changes might provide a tool for rerouting the flow of information through a network, with implications for both rehabilitation and brain–machine interface applications

Dynamics of Orientation Tuning in Cat V1 Neurons Depend on Location Within Layers and Orientation Maps

Analysis of the timecourse of the orientation tuning of responses in primary visual cortex (V1) can provide insight into the circuitry underlying tuning. Several studies have examined the temporal evolution of orientation selectivity in V1 neurons, but there is no consensus regarding the stability of orientation tuning properties over the timecourse of the response. We have used reverse-correlation analysis of the responses to dynamic grating stimuli to re-examine this issue in cat V1 neurons. We find that the preferred orientation and tuning curve shape are stable in the majority of neurons; however, more than forty percent of cells show a significant change in either preferred orientation or tuning width between early and late portions of the response. To examine the influence of the local cortical circuit connectivity, we analyzed the timecourse of responses as a function of receptive field type, laminar position, and orientation map position. Simple cells are more selective, and reach peak selectivity earlier, than complex cells. There are pronounced laminar differences in the timing of responses: middle layer cells respond faster, deep layer cells have prolonged response decay, and superficial cells are intermediate in timing. The average timing of neurons near and far from pinwheel centers is similar, but there is more variability in the timecourse of responses near pinwheel centers. This result was reproduced in an established network model of V1 operating in a regime of balanced excitatory and inhibitory recurrent connections, confirming previous results. Thus, response dynamics of cortical neurons reflect circuitry based on both vertical and horizontal location within cortical networks

How Haptic Size Sensations Improve Distance Perception

Determining distances to objects is one of the most ubiquitous perceptual tasks in everyday life. Nevertheless, it is challenging because the information from a single image confounds object size and distance. Though our brains frequently judge distances accurately, the underlying computations employed by the brain are not well understood. Our work illuminates these computions by formulating a family of probabilistic models that encompass a variety of distinct hypotheses about distance and size perception. We compare these models' predictions to a set of human distance judgments in an interception experiment and use Bayesian analysis tools to quantitatively select the best hypothesis on the basis of its explanatory power and robustness over experimental data. The central question is: whether, and how, human distance perception incorporates size cues to improve accuracy. Our conclusions are: 1) humans incorporate haptic object size sensations for distance perception, 2) the incorporation of haptic sensations is suboptimal given their reliability, 3) humans use environmentally accurate size and distance priors, 4) distance judgments are produced by perceptual “posterior sampling”. In addition, we compared our model's estimated sensory and motor noise parameters with previously reported measurements in the perceptual literature and found good correspondence between them. Taken together, these results represent a major step forward in establishing the computational underpinnings of human distance perception and the role of size information.National Institutes of Health (U.S.) (NIH grant R01EY015261)University of Minnesota (UMN Graduate School Fellowship)National Science Foundation (U.S.) (Graduate Research Fellowship)University of Minnesota (UMN Doctoral Dissertation Fellowship)National Institutes of Health (U.S.) (NIH NRSA grant F32EY019228-02)Ruth L. Kirschstein National Research Service Awar

Slower Visuomotor Corrections with Unchanged Latency are Consistent with Optimal Adaptation to Increased Endogenous Noise in the Elderly

We analyzed age-related changes in motor response in a visuomotor compensatory tracking task. Subjects used a manipulandum to attempt to keep a displayed cursor at the center of a screen despite random perturbations to its location. Cross-correlation analysis of the perturbation and the subject response showed no age-related increase in latency until the onset of response to the perturbation, but substantial slowing of the response itself. Results are consistent with age-related deterioration in the ratio of signal to noise in visuomotor response. The task is such that it is tractable to use Bayesian and quadratic optimality assumptions to construct a model for behavior. This model assumes that behavior resembles an optimal controller subject to noise, and parametrizes response in terms of latency, willingness to expend effort, noise intensity, and noise bandwidth. The model is consistent with the data for all young (n = 12, age 20–30) and most elderly (n = 12, age 65–92) subjects. The model reproduces the latency result from the cross-correlation method. When presented with increased noise, the computational model reproduces the experimentally observed age-related slowing and the observed lack of increased latency. The model provides a precise way to quantitatively formulate the long-standing hypothesis that age-related slowing is an adaptation to increased noise

Deep networks for motor control functions

The motor system generates time-varying commands to move our limbs and body. Conventional descriptions of motor control and learning rely on dynamical representations of our body’s state (forward and inverse models), and control policies that must be integrated forward to generate feedforward time-varying commands; thus these are representations across space, but not time. Here we examine a new approach that directly represents both time-varying commands and the resulting state trajectories with a function; a representation across space and time. Since the output of this function includes time, it necessarily requires more parameters than a typical dynamical model. To avoid the problems of local minima these extra parameters introduce, we exploit recent advances in machine learning to build our function using a stacked autoencoder, or deep network. With initial and target states as inputs, this deep network can be trained to output an accurate temporal profile of the optimal command and state trajectory for a point-to-point reach of a nonlinear limb model, even when influenced by varying force fields. In a manner that mirrors motor babble, the network can also teach itself to learn through trial and error. Lastly, we demonstrate how this network can learn to optimize a cost objective. This functional approach to motor control is a sharp departure from the standard dynamical approach, and may offer new insights into the neural implementation of motor control

Sensor-fault tolerant control of a powered lower limb prosthesis by mixing mode-specific adaptive Kalman filters

International audienceMachine learning methods for interfacing humans with machines is an emerging area. Here we propose a novel algorithm for interfacing humans with powered lower limb prostheses for restoring control of naturalistic gait following amputation. Unlike most previous neural machine interfaces, our approach fuses control information from the user with sensor information from the prosthesis to approximate the closed loop behavior of the unimpaired sensorimotor system. We present a Bayesian framework to control an artificial knee by probabilistically mixing of process state estimates from different Kalman filters, each addressing separate regimes of locomotion such as level ground walking, walking up a ramp, and walking down a ramp. We show its utility as a mode classifier that is tolerant to temporary sensor faults which are frequently experienced in practical applications

Dynamics of orientation tuning in cat V1 neurons depend on location within layers and orientation maps

Analysis of the timecourse of the orientation tuning of responses in primary visual cortex (V1) can provide insight into the circuitry underlying tuning. Several studies have examined the temporal evolution of orientation selectivity in V1 neurons, but there is no consensus regarding the stability of orientation tuning properties over the timecourse of the response. We have used reverse-correlation analysis of the responses to dynamic grating stimuli to re-examine this issue in cat V1 neurons. We find that the preferred orientation and tuning curve shape are stable in the majority of neurons; however, more than forty percent of cells show a significant change in either preferred orientation or tuning width between early and late portions of the response. To examine the influence of the local cortical circuit connectivity, we analyzed the timecourse of responses as a function of receptive field type, laminar position, and orientation map position. Simple cells are more selective, and reach peak selectivity earlier, than complex cells. There are pronounced laminar differences in the timing of responses: middle layer cells respond faster, deep layer cells have prolonged response decay, and superficial cells are intermediate in timing. The average timing of neurons near and far from pinwheel centers is similar, but there is more variability in the timecourse of responses near pinwheel centers. This result was reproduced in an established network model of V1 operating in a regime of balanced excitatory and inhibitory recurrent connections, confirming previous results. Thus, response dynamics of cortical neurons reflect circuitry based on both vertical and horizontal location within cortical networks

EMG Versus Torque Control of Human-Machine Systems: Equalizing Control Signal Variability Does Not Equalize Error or Uncertainty

In this paper we asked the question: if we artificially raise the variability of torque control signals to match that of EMG, do subjects make similar errors and have similar uncertainty about their movements? We answered this question using two experiments in which subjects used three different control signals: torque, torque+noise, and EMG. First, we measured error on a simple target-hitting task in which subjects received visual feedback only at the end of their movements. We found that even when the signal-to-noise ratio was equal across EMG and torque+noise control signals, EMG resulted in larger errors. Second, we quantified uncertainty by measuring the just-noticeable difference of a visual perturbation. We found that for equal errors, EMG resulted in higher movement uncertainty than both torque and torque+noise. The differences suggest that performance and confidence are influenced by more than just the noisiness of the control signal, and suggest that other factors, such as the user\u27s ability to incorporate feedback and develop accurate internal models, also have significant impacts on the performance and confidence of a person\u27s actions. We theorize that users have difficulty distinguishing between random and systematic errors for EMG control, and future work should examine in more detail the types of errors made with EMG control