Using humanoid robots to study human behavior

Our understanding of human behavior advances as our humanoid robotics work progresses-and vice versa. This team's work focuses on trajectory formation and planning, learning from demonstration, oculomotor control and interactive behaviors. They are programming robotic behavior based on how we humans “program” behavior in-or train-each other

Remedial Effects of Motivational Incentive on Declining Cognitive Control In Healthy Aging and Parkinson's Disease

The prospect of reward may provide a motivational incentive for optimizing goal-directed behavior. Animal work demonstrates that reward-processing networks and oculomotor-control networks in the brain are connected through the dorsal striatum, and that reward anticipation can improve oculomotor control via this nexus. Due perhaps to deterioration in dopaminergic striatal circuitry, goal-directed oculomotor control is subject to decline in healthy seniors, and even more in individuals with Parkinson's disease (PD). Here we examine whether healthy seniors and PD patients are able to utilize reward prospects to improve their impaired antisaccade performance. Results confirmed that oculomotor control declined in PD patients compared to healthy seniors, and in healthy seniors compared to young adults. However, the motivational incentive of reward expectation resulted in benefits in antisaccade performance in all groups alike. These findings speak against structural and non-modifiable decline in cognitive control functions, and emphasize the remedial potential of motivational incentive mechanisms in healthy as well as pathological aging

The Role of Dopamine in Anticipatory Pursuit Eye Movements: Insights from Genetic Polymorphisms in Healthy Adults

There is a long history of eye movement research in patients with psychiatric diseases for which dysfunctions of neurotransmission are considered to be the major pathologic mechanism. However, neuromodulation of oculomotor control is still hardly understood. We aimed to investigate in particular the impact of dopamine on smooth pursuit eye movements. Systematic variability in dopaminergic transmission due to genetic polymorphisms in healthy subjects offers a noninvasive opportunity to determine functional associations. We measured smooth pursuit in 110 healthy subjects genotyped for two well-documented polymorphisms, the COMT Val158Met polymorphism and the SLC6A3 3´-UTR-VNTR polymorphism. Pursuit paradigms were chosen to particularly assess the ability of the pursuit system to initiate tracking when target motion onset is blanked, reflecting the impact of extraretinal signals. In contrast, when following a fully visible target sensory, retinal signals are available. Our results highlight the crucial functional role of dopamine for anticipatory, but not for sensory-driven, pursuit processes. We found the COMT Val158Met polymorphism specifically associated with anticipatory pursuit parameters, emphasizing the dominant impact of prefrontal dopamine activity on complex oculomotor control. In contrast, modulation of striatal dopamine activity by the SLC6A3 3´-UTR-VNTR polymorphism had no significant functional effect. Though often neglected so far, individual differences in healthy subjects provide a promising approach to uncovering functional mechanisms and can be used as a bridge to understanding deficits in patients

The role of the ventrolateral frontal cortex in inhibitory oculomotor control

It has been proposed that the inferior/ventrolateral frontal cortex plays a critical role in the inhibitory control of action during cognitive tasks.However, the contribution of this region to the control of eye movements has not been clearly established.Here, we describe the performance of a group of 23 frontal lobe damaged patients in an oculomotor rule switching task for which the association between a centrally presented visual cue and the direction of a saccade could change from trial to trial. A subset of 16 patients also completed the standard antisaccade task.Ventrolateral damage was found to be a significant predictor of errors in both tasks. Analysis of the rate at which patients corrected errors in the rule switching task also revealed an important dissociation between left and right hemisphere damaged patients.Whilst patients with left ventrolateral damage usually corrected response errors with secondary saccades, those with right hemisphere lesions often failed to do so. The results suggest that the inferior frontal cortex forms part of a wider frontal network mediating inhibitory control over stimulus elicited eye movements. The critical role played by the right ventrolateral region in cognitive tasks may arise due to an additional functional specialization for the monitoring and updating of task rules

Characterization of Two-Dimensional Oculomotor Control During Goal-Directed Eye Movements in Humans

Oculomotor control is a subset of sensorimotor control that allows humans to make extremely accurate eye movements for ADL. Impairments to oculomotor control can increase the impact of sensorimotor control deficits, especially in neurodegenerative diseases such as MS. Here, a two-dimensional computational control system of saccades and smooth-pursuit eye movements was compiled from literature to systematically characterize oculomotor control in eight visually-healthy humans as a precursor to studying the relationship between oculomotor and sensorimotor control in patient populations. Subjects visually tracked a single dot on a 41 x 30.5 cm monitor in a dark room while eye positions were recorded at 60 Hz by a video based eye tracker. Data from visual tasks separately consisting of saccades and smooth-pursuit along the horizontal and/or vertical midlines were inputs to an error minimization algorithm that identified individually for each subject the parameters characterizing motor command generation and two-dimensional interactions within ocular dynamics, with bootstrap analysis quantifying the certainty of parameter estimates. Cross-correlation between target and subject gaze positions was used to identify neuronal conduction speeds for saccades and smooth-pursuit processing. A task consisting of small saccades identified the minimum position error required for saccade initiation. A final task combining saccade and smooth-pursuit movements was used to evaluate model performances. The model accounted for 96% and 98% of variability for subject saccade and smooth-pursuit eye movements, respectively. The 2-D model analysis of saccades and smooth-pursuit identified interactions between horizontal and vertical oculomotor control indicative of component stretching but did not verify the increased speed of vertical versus horizontal eye movements reported in literature. A novel interaction associated with centrifugal curvature was also identified, but the functional effects the interactions were small. Estimated latencies of saccade and smooth-pursuit processing of 242 and 107 ms, respectively, were within ranges provided by literature, while dead zone values for saccade initiation had a 97% error from values provided by literature. The quantitative framework presented in this study may be used in future studies that include MS patients, in which oculomotor control characterization may reveal differences in control strategies for goal-directed ocular movements relative to healthy individuals

Comparing the E-Z Reader Model to Other Models of Eye Movement Control in Reading

The E-Z Reader model provides a theoretical framework for understanding how word identification, visual processing, attention, and oculomotor control jointly determine when and where the eyes move during reading. Thus, in contrast to other reading models reviewed in this article, E-Z Reader can simultaneously account for many of the known effects of linguistic, visual, and oculomotor factors on eye movement control during reading. Furthermore, the core principles of the model have been generalized to other task domains (e.g., equation solving, visual search), and are broadly consistent with what is known about the architecture of the neural systems that support reading

Analog VLSI-Based Modeling of the Primate Oculomotor System

One way to understand a neurobiological system is by building a simulacrum that replicates its behavior in real time using similar constraints. Analog very large-scale integrated (VLSI) electronic circuit technology provides such an enabling technology. We here describe a neuromorphic system that is part of a long-term effort to understand the primate oculomotor system. It requires both fast sensory processing and fast motor control to interact with the world. A one-dimensional hardware model of the primate eye has been built that simulates the physical dynamics of the biological system. It is driven by two different analog VLSI chips, one mimicking cortical visual processing for target selection and tracking and another modeling brain stem circuits that drive the eye muscles. Our oculomotor plant demonstrates both smooth pursuit movements, driven by a retinal velocity error signal, and saccadic eye movements, controlled by retinal position error, and can reproduce several behavioral, stimulation, lesion, and adaptation experiments performed on primates

Oculomotor control in a sequential search task

AbstractUsing a serial search paradigm, we observed several effects of within-object fixation position on spatial and temporal control of eye movements: the preferred viewing location, launch site effect, the optimal viewing position, and the inverted optimal viewing position of fixation duration. While these effects were first identified by eye-movement studies in reading, our approach permits an analysis of the functional relationships between the effects in a different paradigm. Our results demonstrate that the fixation position is an important predictor of the subsequent saccade by influencing both fixation duration and the selection of the next saccade target