The Cortical Control of Visually Guided Grasping

Left visual field preference for a bimanual grasping task with ecologically valid object sizes

Grasping using two forelimbs in opposition to one another is evolutionary older than the hand with an opposable thumb (Whishaw and Coles in Behav Brain Res 77:135-148, 1996); yet, the mechanisms for bimanual grasps remain unclear. Similar to unimanual grasping, the localization of matching stable grasp points on an object is computationally expensive and so it makes sense for the signals to converge in a single cortical hemisphere. Indeed, bimanual grasps are faster and more accurate in the left visual field, and are disrupted if there is transcranial stimulation of the right hemisphere (Le and Niemeier in Exp Brain Res 224:263-273, 2013; Le et al. in Cereb Cortex. doi: 10.1093/cercor/bht115, 2013). However, research so far has tested the right hemisphere dominance based on small objects only, which are usually grasped with one hand, whereas bimanual grasping is more commonly used for objects that are too big for a single hand. Because grasping large objects might involve different neural circuits than grasping small objects (Grol et al. in J Neurosci 27:11877-11887, 2007), here we tested whether a left visual field/right hemisphere dominance for bimanual grasping exists with large and thus more ecologically valid objects or whether the right hemisphere dominance is a function of object size. We asked participants to fixate to the left or right of an object and to grasp the object with the index and middle fingers of both hands. Consistent with previous observations, we found that for objects in the left visual field, the maximum grip apertures were scaled closer to the object width and were smaller and less variable, than for objects in the right visual field. Our results demonstrate that bimanual grasping is predominantly controlled by the right hemisphere, even in the context of grasping larger objects.

Optic ataxia as a model to investigate the role of the posterior parietal cortex in visually guided action: evidence from studies of patient M.H

Optic ataxia is a neuropsychological disorder that affects the ability to interact with objects presented in the visual modality following either unilateral or bilateral lesions of the posterior parietal cortex (PPC). Patients with optic ataxia fail to reach accurately for objects, particularly when they are presented in peripheral vision. The present review will focus on a series of experiments performed on patient M.H. Following a lesion restricted largely to the left PPC, he developed mis-reaching behavior when using his contralesional right arm for movements directed toward the contralesional (right) visual half-field. Given the clear-cut specificity of this patient's deficit, whereby reaching actions are essentially spared when executed toward his ipsilateral space or when using his left arm, M.H. provides a valuable "experiment of nature" for investigating the role of the PPC in performing different visually guided actions. In order to address this, we used kinematic measurement techniques to investigate M.H.'s reaching and grasping behavior in various tasks. Our experiments support the idea that optic ataxia is highly function-specific: it affects a specific sub-category of visually guided actions (reaching but not grasping), regardless of their specific end goal (both reaching toward an object and reaching to avoid an obstacle); and finally, is independent of the limb used to perform the action (whether the arm or the leg). Critically, these results are congruent with recent functional MRI experiments in neurologically intact subjects which suggest that the PPC is organized in a function-specific, rather than effector-specific, manner with different sub-portions of its mantle devoted to guiding actions according to their specific end-goal (reaching, grasping, or looking), rather than according to the effector used to perform them (leg, arm, hand, or eyes).

Event-related brain potentials for goal-related power grips

Recent research has shown that neurophysiological activation during action planning depends on the orientation to initial or final action goals for precision grips. However, the neural signature for a distinct class of grasping, power grips, is still unknown. The aim of the present study was to differentiate between cerebral activity, by means of event-related potentials (ERPs), and its temporal organization during power grips executed with an emphasis on either the initial or final parts of movement sequences. In a grasp and transportation task, visual cues emphasized either the grip (the immediate goal) or the target location (the final goal). ERPs differed between immediate and final goal-cued conditions, suggesting different means of operation dependent on goal-relatedness. Differences in mean amplitude occurred earlier for power grips than for recently reported precision grips time-locked to grasping over parieto-occipital areas. Time-locked to final object placement, differences occurred within a similar time window for power and precision grips over frontal areas. These results suggest that a parieto-frontal network of activation is of crucial importance for grasp planning and execution. Our results indicate that power grip preparation and execution for goal-related actions are controlled by similar neural mechanisms as have been observed during precision grips, but with a distinct temporal pattern.

Plasticity in the Visual System is Associated with Prosthesis Use in Phantom Limb Pain

The experience of strong phantom limb pain (PLP) in arm amputees was previously shown to be associated with structural neural plasticity in parts of the cortex that belong to dorsal and ventral visual streams. It has been speculated that this plasticity results from the extensive use of a functional prosthesis which is associated with increased visual feedback to control the artificial hand. To test this hypothesis, we reanalyzed data of cortical volumes of 21 upper limb amputees and tested the association between the amount of use of the hand prosthesis and cortical volume plasticity. On the behavioral level, we found no relation between PLP and the amount of prosthesis use for the whole patient group. However, by subdividing the patient group into patients with strong PLP and those with low to medium PLP, stronger pain was significantly associated with less prosthesis use whereas the group with low PLP did not show such an association. Most plasticity of cortical volume was identified within the dorsal stream. The more the patients that suffered from strong PLP used their prosthesis, the smaller was the volume of their posterior parietal cortex. Our data indicate a relationship between prosthesis use and cortical plasticity of the visual stream. This plasticity might present a brain adaptation process to new movement and coordination patterns needed to guide an artificial hand.

Co-registering kinematics and evoked related potentials during visually guided reach-to-grasp movements

Background

In non-human primates grasp-related sensorimotor transformations are accomplished in a circuit involving the anterior intraparietal sulcus (area AIP) and both the ventral and the dorsal sectors of the premotor cortex (vPMC and dPMC, respectively). Although a human homologue of such a circuit has been identified, the time course of activation of these cortical areas and how such activity relates to specific kinematic events has yet to be investigated.

Methodology/Principal Findings

We combined kinematic and event-related potential techniques to explicitly test how activity within human grasping-related brain areas is modulated in time. Subjects were requested to reach towards and grasp either a small stimulus using a precision grip (i.e., the opposition of index finger and thumb) or a large stimulus using a whole hand grasp (i.e., the flexion of all digits around the stimulus). Results revealed a time course of activation starting at the level of parietal regions and continuing at the level of premotor regions. More specifically, we show that activity within these regions was tuned for specific grasps well before movement onset and this early tuning was carried over - as evidenced by kinematic analysis - during the preshaping period of the task.

Conclusions/Significance

Data are discussed in terms of recent findings showing a marked differentiation across different grasps during premovement phases which was carried over into subsequent movement phases. These findings offer a substantial contribution to the current debate about the nature of the sensorimotor transformations underlying grasping. And provide new insights into the detailed movement information contained in the human preparatory activity for specific hand movements.

How vision affects kinematic properties of pantomimed prehension movements

When performing the reach-to-grasp movement, fingers open wider than the size of a target object and then stop opening. The recorded peak grip aperture (PGA) is significantly larger when this action is performed without vision during the movement than with vision, presumably due to an error margin that is retained in order to avoid collision with the object. People can also pretend this action based on an internal target representation (i.e., pantomimed prehension), and previous studies have shown that kinematic differences exist between natural and pantomimed prehension. These differences are regarded as a reflection of variations in information processing in the brain through the dorsal and ventral streams. Pantomimed action is thought to be mediated by the ventral stream. This implies that visual information during the movement, which is essential to the dorsal stream, has little effect on the kinematic properties of pantomimed prehension. We investigated whether an online view of the external world affects pantomimed grasping, and more specifically, whether the dorsal stream is involved in its execution. Participants gazed at a target object and were then subjected to a 3-s visual occlusion, during which time the experimenter removed the object. The participants were then required to pretend to make a reach-to-grasp action toward the location where the object had been presented. Two visual conditions (full vision and no vision) were imposed during the pantomimed action by manipulating shutter goggles. The PGA showed significant differences between the two visual conditions, whereas no significant difference was noted for terminal grip aperture, which was recorded at the movement end. This suggests the involvement of the dorsal stream in pantomimed action and implies that pantomimed prehension is a good probe for revealing the mechanism of interaction between the ventral and dorsal streams, which is also linked to embodied cognition.

Selectivity for three-dimensional shape and grasping-related activity in the macaque ventral premotor cortex

Anatomical studies indicate that area F5 in the macaque ventral premotor cortex consists of three different sectors. One of these is F5a in the posterior bank of the inferior arcuate sulcus, but no functional characterization of F5a at the single-cell level exists. We investigated the neuronal selectivity for three-dimensional (3D) shape and grasping activity in F5a. In contrast to neighboring regions F5p and 45B, the great majority of F5a neurons showed selectivity for disparity-defined curved surfaces, and most neurons preserved this selectivity across positions in depth, indicating higher-order disparity selectivity. Thus, as predicted by monkey fMRI data, F5a neurons showed robust 3D-shape selectivity in the absence of a motor response. To investigate the relationship between disparity selectivity and grasping activity, we recorded from 3D-shape-selective F5a neurons during a visually guided grasping task and during grasping in the dark. F5a neurons encoding the depth profile of curved surfaces frequently responded during grasping of real-world objects in the light, but not in the dark, whereas nearby neurons were also active in the dark. The presence of 3D-shape-selective and "visual-dominant" neurons demonstrates that the F5a sector is distinct from neighboring regions of ventral premotor cortex, in line with recent anatomical connectivity studies.

Pose estimation through cue integration: a neuroscience-inspired approach

The aim of this paper is to improve the skills of robotic systems in their interaction with nearby objects. The basic idea is to enhance visual estimation of objects in the world through the merging of different visual estimators of the same stimuli. A neuroscience-inspired model of stereoptic and perspective orientation estimators, merged according to different criteria, is implemented on a robotic setup and tested in different conditions. Experimental results suggest that the integration of multiple monocular and binocular cues can make robot sensory systems more reliable and versatile. The same results, compared with simulations and data from human studies, show that the model is able to reproduce some well-recognized neuropsychological effects.

Selectivity for three-dimensional contours and surfaces in the anterior intraparietal area

The macaque anterior intraparietal area (AIP) is crucial for visually guided grasping. AIP neurons respond during the visual presentation of real-world objects and encode the depth profile of disparity-defined curved surfaces. We investigated the neural representation of curved surfaces in AIP using a stimulus-reduction approach. The stimuli consisted of three-dimensional (3-D) shapes curved along the horizontal axis, the vertical axis, or both the horizontal and the vertical axes of the shape. The depth profile was defined solely by binocular disparity that varied along either the boundary or the surface of the shape or along both the boundary and the surface of the shape. The majority of AIP neurons were selective for curved boundaries along the horizontal or the vertical axis, and neural selectivity emerged at short latencies. Stimuli in which disparity varied only along the surface of the shape (with zero disparity on the boundaries) evoked selectivity in a smaller proportion of AIP neurons and at considerably longer latencies. AIP neurons were not selective for 3-D surfaces composed of anticorrelated disparities. Thus the neural selectivity for object depth profile in AIP is present when only the boundary is curved in depth, but not for disparity in anticorrelated stereograms.

Functional magnetic resonance adaptation reveals the involvement of the dorsomedial stream in hand orientation for grasping

Reach-to-grasp actions require coordination of different segments of the upper limbs. Previous studies have examined the neural substrates of arm transport and hand grip components of such actions; however, a third component has been largely neglected: the orientation of the wrist and hand appropriately for the object. Here we used functional magnetic resonance imaging adaptation (fMRA) to investigate human brain areas involved in processing hand orientation during grasping movements. Participants used the dominant right hand to grasp a rod with the four fingers opposing the thumb or to reach and touch the rod with the knuckles without visual feedback. In a control condition, participants passively viewed the rod. Trials in a slow event-related design consisted of two sequential stimuli in which the rod orientation changed (requiring a change in wrist posture while grasping but not reaching or looking) or remained the same. We found reduced activation, that is, adaptation, in superior parieto-occipital cortex (SPOC) when the object was repeatedly grasped with the same orientation. In contrast, there was no adaptation when reaching or looking at an object in the same orientation, suggesting that hand orientation, rather than object orientation, was the critical factor. These results agree with recent neurophysiological research showing that a parieto-occipital area of macaque (V6A) is modulated by hand orientation during reach-to-grasp movements. We suggest that the human dorsomedial stream, like that in the macaque, plays a key role in processing hand orientation in reach-to-grasp movements.

Grasping-related functional magnetic resonance imaging brain responses in the macaque monkey

Research in recent decades has suggested the existence of a dedicated brain network devoted to the organization and execution of grasping, one of the most important and skilled movements of primates. Grasping an object requires the transformation of intrinsic object properties such as size, orientation, and shape into an appropriate motor scheme shaping the hand. Although electrophysiological recordings in the monkey model have proven invaluable for gaining insights into the neuronal substrate underlying this complex behavior, knowledge concerning the existence and organization of a similar system in the human brain is derived mainly from imaging studies. Here, we present for the first time functional magnetic resonance imaging (fMRI) of brain activity while macaque monkeys performed reaching and grasping movements in a 3 tesla MR scanner. Grasping in the dark (compared with reaching) yielded significant activations in anterior intraparietal area and ventral premotor area F5, in addition to area PFG in the rostral inferior parietal lobule, somatosensory areas (SI, SII, area 5), and the hand field of F1. Whole-brain macaque fMRI motor studies will be instrumental in establishing possible homologies concerning grasping organization in the human and monkey brains, bridging the gap between human imaging and monkey electrophysiology.

Hand shape selection in pantomimed grasping: interaction between the dorsal and the ventral visual streams and convergence on the ventral premotor area

In visually guided grasping, possible hand shapes are computed from the geometrical features of the object, while prior knowledge about the object and the goal of the action influence both the computation and the selection of the hand shape. We investigated the system dynamics of the human brain for the pantomiming of grasping with two aspects accentuated. One is object recognition, with the use of objects for daily use. The subjects mimed grasping movements appropriate for an object presented in a photograph either by precision or power grip. The other is the selection of grip hand shape. We manipulated the selection demands for the grip hand shape by having the subjects use the same or different grip type in the second presentation of the identical object. Effective connectivity analysis revealed that the increased selection demands enhance the interaction between the anterior intraparietal sulcus (AIP) and posterior inferior temporal gyrus (pITG), and drive the converging causal influences from the AIP, pITG, and dorsolateral prefrontal cortex to the ventral premotor area (PMv). These results suggest that the dorsal and ventral visual areas interact in the pantomiming of grasping, while the PMv integrates the neural information of different regions to select the hand posture. The present study proposes system dynamics in visually guided movement toward meaningful objects, but further research is needed to examine if the same dynamics is found also in real grasping.

Handedness-dependent and -independent cerebral asymmetries in the anterior intraparietal sulcus and ventral premotor cortex during grasp planning

When planning grasping actions, right-handers show left-lateralized responses in the anterior intraparietal sulcus (aIPS) and ventral premotor cortex (vPMC), two areas that are also implicated in sensorimotor control of grasp. We investigated whether a similar cerebral asymmetry is evident in strongly left-handed individuals. Fourteen participants were trained to grasp an object appearing in a variety of orientations with their left and right hands and with a novel mechanical tool (operated with either hand). BOLD fMRI data were then acquired while they decided prospectively whether an over- or under-hand grip would be most comfortable for grasping the same stimulus set while remaining still. Behavioral performances were equivalent to those recorded previously in right-handers and indicated reliance on effector-specific internal representations. In left-handers, however, grip selection decisions for both sides (left, right) and effectors (hand, tool) were associated with bilateral increases in activity within aIPS and vPMC. A direct comparison between left- and right-handers did reveal equivalent increases in left vPMC regardless of hand dominance. By contrast, aIPS and right vPMC activity were dependent on handedness, showing greater activity in the motor-dominant hemisphere. Though showing bilateral increases in both left- and right-handers, greater increases in the motor dominant hemisphere were also detected in the caudal IPS (cIPS), superior parietal lobule (SPL) and dorsal premotor cortex (dPMC). These findings provide further evidence that regions involved in the sensorimotor control of grasp also participate in grasp planning, and that for certain areas hand dominance is a predictor of the cerebral organization of motor cognitive functions.

Evidence for context sensitivity of grasp representations in human parietal and premotor cortices

Grasp-related responses in neurons of the macaque rostral inferior parietal lobule [PF/PFG and the anterior intraparietal area (AIP)] are modulated by task context. Event-related functional MRI was used to determine whether this is true in putative homologs of the human cortex, the rostral inferior parietal lobule (rIPL) and the anterior intraparietal sulcus (aIPS). Fifteen healthy, right-handed adults were required to select prospectively the most comfortable way to grasp a horizontally oriented handle using the cued hand (left or right). In the "no-rotation" condition, the task was simply to grasp the handle, whereas in the "rotation" condition, the goal was to plan to grasp and rotate it into a vertical orientation with the cued end (medial or lateral) pointing downward. In both conditions, participants remained still and indicated their grip preferences by pressing foot pedals. As in overt grasping, participants' grip preferences were significantly influenced by anticipation of the demands associated with handle rotation. Activity within the aIPS and rIPL increased bilaterally in both the rotation and no-rotation conditions. Importantly, these responses were significantly greater in the rotation vs. no-rotation condition. Similar context effects were detected in the presupplementary motor area, caudal intraparietal sulcus/superior parietal lobule, and bilateral dorsal and left ventral premotor cortices. Grasp representations within the rIPL and aIPS are sensitive to predicted task demands and play a role in context-sensitive grip selection. Moreover, the findings provide additional evidence that areas involved in the sensorimotor control of grasp also contribute to feedforward planning.

Naturalistic approaches to sensorimotor control

Human sensorimotor control has been predominantly studied using fixed tasks performed under laboratory conditions. This approach has greatly advanced our understanding of the mechanisms that integrate sensory information and generate motor commands during voluntary movement. However, experimental tasks necessarily restrict the range of behaviors that are studied. Moreover, the processes studied in the laboratory may not be the same processes that subjects call upon during their everyday lives. Naturalistic approaches thus provide an important adjunct to traditional laboratory-based studies. For example, wearable self-contained tracking systems can allow subjects to be monitored outside the laboratory, where they engage spontaneously in natural everyday behavior. Similarly, advances in virtual reality technology allow laboratory-based tasks to be made more naturalistic. Here, we review naturalistic approaches, including perspectives from psychology and visual neuroscience, as well as studies and technological advances in the field of sensorimotor control.

Time Course of Information Representation of Macaque AIP Neurons in Hand Manipulation Task Revealed by Information Analysis

We used mutual information analysis of neuronal activity in the macaque anterior intraparietal area (AIP) to examine information processing during a hand manipulation task. The task was to reach-to-grasp a three-dimensional (3D) object after presentation of a go signal. Mutual information was calculated between the spike counts of individual neurons in 50-ms-wide time bins and six unique shape classifications or 15 one-versus-one classifications of these shapes. The spatiotemporal distribution of mutual information was visualized as a two-dimensional image (“information map”) to better observe global profiles of information representation. In addition, a nonnegative matrix factorization technique was applied for extracting its structure. Our major finding was that the time course of mutual information differed significantly according to different classes of task-related neurons. This strongly suggests that different classes of neurons were engaged in different information processing stages in executing the hand manipulation task. On the other hand, our analysis revealed the heterogeneous nature of information representation of AIP neurons. For example, “information latency” (or information onset) varied among individual neurons even in the same neuron class and the same shape classification. Further, some neurons changed “information preference” (i.e., shape classification with the largest amount of information) across different task periods. These suggest that neurons encode different information in the different task periods. Taking the present result together with previous findings, we used a Gantt chart to propose a hypothetical scheme of the dynamic interactions between different types of AIP neurons.

Human anterior intraparietal and ventral premotor cortices support representations of grasping with the hand or a novel tool

Humans display a remarkable capacity to use tools instead of their biological effectors. Yet, little is known about the mechanisms that support these behaviors. Here, participants learned to grasp objects, appearing in a variety of orientations, with a novel, handheld mechanical tool. Following training, psychophysical functions relating grip preferences (i.e., pronated vs. supinated) to stimulus orientations indicate a reliance on distinct, effector-specific internal representations when planning grasping actions on the basis of the tool versus the hands. Accompanying fMRI data show that grip planning in both hand and tool conditions was associated with similar increases in activity within the same regions of the anterior intraparietal and caudal ventral premotor cortices, a putative homologue of the macaque anterior intraparietal-ventral premotor (area F5) "grasp circuit." These findings suggest that tool use is supported by effector-specific representations of grasping with the tool that are functionally independent of previously existing representations of the hand and yet occur within the same parieto-frontal regions involved in manual prehension. These levels of representation are critical for accurate planning and execution of actions in a manner that is sensitive to the respective properties of these effectors. These effector-specific representations likely coexist with effector-independent representations. The latter were recently reported in macaque F5 [Umiltà, M. A., Escola, L., Intskirveli, I., Grammont, F., Rochat, M., Caruana, F., et al. When pliers become fingers in the monkey motor system. Proceedings of the National Academy of Sciences, U.S.A., 105, 2209-2213, 2008] and appear to be established by tool use training through modification of existing representations of grasping with the hand. These more abstract levels of representation may facilitate the transfer of skills between hand and tool.

Feed-forward control of preshaping in the rat is mediated by the corticospinal tract

Rats are used to model human corticospinal tract (CST) injury and repair. We asked whether rats possess the ability to orient their paw to the reaching target and whether the CST mediates this skill, as it does in primates. To test this ability, called preshaping, we trained rats to reach for pieces of pasta oriented either vertically or horizontally. We measured paw angle relative to the target and asked whether rats used target information attained before contact to preshape the paw, indicating feed-forward control. We also determined whether preshaping improved with practice. We then selectively lesioned the CST in the medullary pyramid contralateral to the reaching forepaw to test whether preshaping relies on the CST. Rats significantly oriented their paw to the pasta orientation before contact, demonstrating feed-forward control. Both preshaping and reaching efficiency improved with practice, while selective CST lesion abrogated both. The loss of preshaping was greatest for pasta oriented vertically, suggesting loss of supination, as seen with human CST injury. The degree of preshaping loss strongly correlated with the amount of skill acquired at baseline, suggesting that the CST mediates the learned component of preshaping. Finally, the amount of preshaping lost after injury strongly correlated with reduced retrieval success, showing an important functional consequence for preshaping. We have thus demonstrated, for the first time, preshaping in the rat and dependence of this skill on the CST. Understanding the basis for this skill and measuring its recovery after injury will be important for studying higher-level motor control in rats.

Functional magnetic resonance imaging reveals the neural substrates of arm transport and grip formation in reach-to-grasp actions in humans

Picking up a cup requires transporting the arm to the cup (transport component) and preshaping the hand appropriately to grasp the handle (grip component). Here, we used functional magnetic resonance imaging to examine the human neural substrates of the transport component and its relationship with the grip component. Participants were shown three-dimensional objects placed either at a near location, adjacent to the hand, or at a far location, within reach but not adjacent to the hand. Participants performed three tasks at each location as follows: (1) touching the object with the knuckles of the right hand; (2) grasping the object with the right hand; or (3) passively viewing the object. The transport component was manipulated by positioning the object in the far versus the near location. The grip component was manipulated by asking participants to grasp the object versus touching it. For the first time, we have identified the neural substrates of the transport component, which include the superior parieto-occipital cortex and the rostral superior parietal lobule. Consistent with past studies, we found specialization for the grip component in bilateral anterior intraparietal sulcus and left ventral premotor cortex; now, however, we also find activity for the grasp even when no transport is involved. In addition to finding areas specialized for the transport and grip components in parietal cortex, we found an integration of the two components in dorsal premotor cortex and supplementary motor areas, two regions that may be important for the coordination of reach and grasp.

What drives corticospinal output?

Recent work has not only defined the origin of the direct cortico-motoneuronal output to the upper limb but has also identified some of the cortical networks that engage the corticospinal output during movement. A surprising finding is that some corticospinal neurons show 'mirror-like' properties and are actively modulated not only during self-movement but also during action observation.

The cognitive neuroscience of prehension: recent developments

Prehension, the capacity to reach and grasp, is the key behavior that allows humans to change their environment. It continues to serve as a remarkable experimental test case for probing the cognitive architecture of goal-oriented action. This review focuses on recent experimental evidence that enhances or modifies how we might conceptualize the neural substrates of prehension. Emphasis is placed on studies that consider how precision grasps are selected and transformed into motor commands. Then, the mechanisms that extract action relevant information from vision and touch are considered. These include consideration of how parallel perceptual networks within parietal cortex, along with the ventral stream, are connected and share information to achieve common motor goals. On-line control of grasping action is discussed within a state estimation framework. The review ends with a consideration about how prehension fits within larger action repertoires that solve more complex goals and the possible cortical architectures needed to organize these actions.

The dorsomedial pathway is not just for reaching: grasping neurons in the medial parieto-occipital cortex of the macaque monkey

Brain control of prehension is thought to rely on two specific brain circuits: a dorsomedial one (involving the areas of the superior parietal lobule and the dorsal premotor cortex) involved in the transport of the hand toward the object and a dorsolateral one (involving the inferior parietal lobule and the ventral premotor cortex) dealing with the preshaping of the hand according to the features of the object. The present study aimed at testing whether a pivotal component of the dorsomedial pathway (area V6A) is involved also in hand preshaping and grip formation to grasp objects of different shapes. Two macaque monkeys were trained to reach and grasp different objects. For each object, animals used a different grip: whole-hand prehension, finger prehension, hook grip, primitive precision grip, and advanced precision grip. Almost half of 235 neurons recorded from V6A displayed selectivity for a grip or a group of grips. Several experimental controls were used to ensure that neural modulation was attributable to grip only. These findings, in concert with previous studies demonstrating that V6A neurons are modulated by reach direction and wrist orientation, that lesion of V6A evokes reaching and grasping deficits, and that dorsal premotor cortex contains both reaching and grasping neurons, indicate that the dorsomedial parieto-frontal circuit may play a central role in all phases of reach-to-grasp action. Our data suggest new directions for the modeling of prehension movements and testable predictions for new brain imaging and neuropsychological experiments.

Impaired grasping in a patient with optic ataxia: primary visuomotor deficit or secondary consequence of misreaching?

Optic ataxia is defined as a spatial impairment of visually guided reaching, but it is typically accompanied by other visuomotor difficulties, notably a failure to scale the handgrip appropriately while reaching to grasp an object. This impaired grasping might reflect a primary visuomotor deficit, or it might be a secondary effect arising from the spatial uncertainty associated with poor reaching. To distinguish between these possibilities, we used a new paradigm to tease apart the proximal and distal components of prehension movements. In the "far" condition objects were placed 30 cm from the hand so that subjects had to make a reaching movement to grasp them, whereas in the "close" condition objects were placed adjacent to the hand, thereby removing the need for a reaching movement. Stimulus eccentricity was held constant. We tested a patient with optic ataxia (M.H.), whose misreaching affects only his right hand within the right visual hemifield. M.H. showed a clear impairment in grip scaling, but only when using his right hand to grasp objects in the right visual hemifield. Critically, this grip-scaling impairment was absent in M.H. in the "close" condition. These data suggest that M.H.'s grip scaling is impaired as a secondary consequence of making inaccurate reaching movements, and not because of any intrinsic visuomotor impairment of grasping. We suggest that primary misgrasping is not a core symptom of the optic ataxia syndrome, and that patients will show a primary deficit only when their lesion extends anteriorly within the intraparietal sulcus to include area aIPS.

Supplementary motor area and anterior intraparietal area integrate fine-graded timing and force control during precision grip

We investigated the neuronal processing of the physiologically particularly important precision grip (opposition of index finger and thumb) by the combination of functional magnetic resonance imaging (fMRI) and an MR-compatible haptic interface. Ten healthy subjects performed isometric precision grip force generation with visual task instruction and real-time visual feedback in a block design. In a 2 x 2 two-factorial design, both the timing and force could be either constant or varying (identical average timing and force). As we expected only small changes in the fMRI response for the different fine-graded motor control conditions, we maximized the sensitivity of the data analysis and implemented a volumes of interest (VOI) restricted general linear model analysis including non-explanatory force regressors to eliminate directly force-related low-level activations. The VOIs were defined based on previous studies. We found significant associations: timing variation (variable vs. constant) and primary motor area (M1) and dorsal premotor area (PMd); force variation (variable vs. constant) and primary somatosensory area (S1), anterior intraparietal area (AIP) and PMd; interaction of timing and force and supplementary motor area (SMA) and AIP. We conclude that SMA and AIP integrate fine-graded higher-level timing and force control during precision grip. M1, S1 and PMd process lower-level timing and force control, yet not their integration. These results are the basis for a detailed assessment of manual motor control in a variety of motor diseases. The detailed behavioural assessment by our MR-compatible haptic interface is particularly valuable in patients due to expected larger inter-individual variation in motor performance.

The neuroscience of vision-based grasping: a functional review for computational modeling and bio-inspired robotics

The topic of vision-based grasping is being widely studied in humans and in other primates using various techniques and with different goals. The fundamental related findings are reviewed in this paper, with the aim of providing researchers from different fields, including intelligent robotics and neural computation, a comprehensive but accessible view on the subject. A detailed description of the principal sensorimotor processes and the brain areas involved is provided following a functional perspective, in order to make this survey especially useful for computational modeling and bio-inspired robotic applications.

Signaling of grasp dimension and grasp force in dorsal premotor cortex and primary motor cortex neurons during reach to grasp in the monkey

A fundamental question is how the CNS controls the hand with its many degrees of freedom. Several motor cortical areas, including the dorsal premotor cortex (PMd) and primary motor cortex (M1), are involved in reach to grasp. Although neurons in PMd are known to modulate in relation to the type of grasp and neurons in M1 in relation to grasp force and finger movements, whether specific parameters of whole hand shaping are encoded in the discharge of these cells has not been studied. In this study, two monkeys were trained to reach and grasp 16 objects varying in shape, size, and orientation. Grasp force was explicitly controlled, requiring the monkeys to exert either three or five levels of grasp force on each object. The animals were unable to see the objects or their hands. Single PMd and M1 neurons were recorded during the task, and cell firing was examined for modulation with object properties and grasp force. The firing of the vast majority of PMd and M1 neurons varied significantly as a function of the object presented as well as the object grasp dimension. Grasp dimension of the object was an important determinant of the firing of cells in both PMd and M1. A smaller percentage of PMd and M1 neurons were modulated by grasp force. Linear encoding was prominent with grasp force but less so with grasp dimension. The correlations with grasp dimension and grasp force were stronger in the firing of M1 than PMd neurons and across both regions the modulation with these parameters increased as reach to grasp proceeded. All PMd and M1 neurons that signaled grasp force also signaled grasp dimension, yet the two signals showed limited interactions, providing a neural substrate for the independent control of these two parameters at the behavioral level.

Visual features of an observed agent do not modulate human brain activity during action observation

Recent neuroimaging evidence in macaques has shown that the neural system underlying the observation of hand actions performed by others (i.e., "action observation system") is modulated by whether the observed action is performed by a person in full view or an isolated hand (i.e., type of view manipulation). Although a human homologue of such circuit has been identified, whether in humans the neural processes involved in this capacity are modulated by the type of view remains unknown. Here we used functional magnetic resonance imaging (fMRI) to investigate whether the "action observation system", with specific reference to the ventral premotor cortex, responds differentially depending on type of view. We also tested this manipulation within regions of the human brain showing overlapping activity for both the observation and the execution of action ("mirror" regions). To this end, the same subjects were requested to observe grasping actions performed under the two types of view (observation conditions) or to perform a grasping action (execution condition). Results from whole-brain analyses indicate that overlapping activity for action observation and execution was evident in a broad network of areas including parietal, premotor and temporal cortices. Activity within such network was evident for both the observation of a person in full view or an isolated hand, but it was not modulated by the type of view. Similarly, results from region of interest (ROI) analyses, performed within the ventral premotor cortex, did confirm that this area responded in a similar fashion following the observation of either an isolated hand or an entire model acting. These findings offer novel insights on what the "action observation" and the "mirror" systems visually code and how the processing underlying such coding may vary across species. Further, they support the hypothesis that action goal is amongst the main determinants for the revelation of action observation activity, and to the existence of a broad system involved in the simulation of action.

Discharges in human muscle receptor afferents during block grasping

Human grasping relies on feedforward control that is monitored and corrected on-line by means of sensory feedback. While much of the sensory mechanisms underpinning hand-object interaction are known, information has been lacking about muscle receptor responses during the phases before and after actual object contact. We therefore let subjects use their thumb and fingers to grasp blocks presented to them while we recorded muscle afferents from the thumb and finger extensor muscles along with wrist and digit kinematics, and electromyographic activity. The kinematics of the task was indistinguishable from "normal" grasping. None of the afferents encoded either object contact or finger apposition. Both primary and secondary afferents were more phase advanced on the parent muscle lengths than expected from previous studies as well as from their responses to imposed length changes of their parent muscles. Thus, the discharges of both primary and secondary afferents were well correlated to the tendon velocity of their parent muscles and that of primary afferents also to acceleration whereas neither appeared to encode muscle length as such. Decoding the velocity of muscle length changes were significantly improved if the discharge of Golgi tendon organ afferents were taken into account along with that of the muscle spindle afferents. We propose that these findings may be explained by the biomechanical properties of contracting muscles. Moreover, we conclude that it seems unlikely that the muscle spindle afferents recorded in this task have any role in providing "proprioceptive" information pertaining to the size of an object grasped.

Cortical activations in humans grasp-related areas depend on hand used and handedness

BACKGROUND

In non-human primates grasp-related sensorimotor transformations are accomplished in a circuit involving the anterior intraparietal sulcus (area AIP) and both the ventral and the dorsal sectors of the premotor cortex (vPMC and dPMC, respectively). Although a human homologue of such a circuit has been identified whether activity within this circuit varies depending on handedness has yet to be investigated.

METHODOLOGY/PRINCIPAL FINDINGS

We used functional magnetic resonance imaging (fMRI) to explicitly test how handedness modulates activity within human grasping-related brain areas. Right- and left-handers subjects were requested to reach towards and grasp an object with either the right or the left hand using a precision grip while scanned. A kinematic study was conducted with similar procedures as a behavioral counterpart for the fMRI experiment. Results from a factorial design revealed significant activity within the right dPMC, the right cerebellum and AIP bilaterally. The pattern of activity within these areas mirrored the results found for the behavioral study.

CONCLUSION/SIGNIFICANCE

Data are discussed in terms of an handedness-independent role for the right dPMC in monitoring hand shaping, the need for bilateral AIP activity for the performance of precision grip movements which varies depending on handedness and the involvement of the cerebellum in terms of its connections with AIP. These results provide the first compelling evidence of specific grasping related neural activity depending on handedness.

Crinkling and crumpling: an auditory fMRI study of material properties

Knowledge of an object's material composition (i.e., what it is made of) alters how we interact with that object. Seeing the bright glint or hearing the metallic crinkle of a foil plate for example, confers information about that object before we have even touched it. Recent research indicates that the medial aspect of the ventral visual pathway is sensitive to the surface properties of objects. In the present functional magnetic resonance imaging (fMRI) study, we investigated whether the ventral pathway is also sensitive to material properties derived from sound alone. Relative to scrambled material sounds and non-verbal human vocalizations, audio recordings of materials being manipulated (i.e., crumpled) in someone's hands elicited greater BOLD activity in the right parahippocampal cortex of neurologically intact listeners, as well as a cortically blind participant. Additional left inferior parietal lobe activity was also observed in the neurologically intact group. Taken together, these results support a ventro-medial pathway that is specialized for processing the material properties of objects, and suggest that there are sub-regions within this pathway that subserve the processing of acoustically-derived information about material composition.

Neurofunctional modulation of brain regions by the observation of pointing and grasping actions

Previous neuroimaging research on healthy humans has provided evidence for a neural system underlying the observation of another person's hand actions. However, whether the neural processes involved in this capacity are activated by the observation of other transitive hand actions such as pointing remains unknown. Therefore, using functional magnetic resonance imaging we investigated the neural mechanisms underlying the observation of static images representing the hand of a human model pointing to an object (pointing condition), grasping an object (grasping condition), or resting in proximity of an object (control condition). The results indicated that activity within portions of the lateral occipitotemporal and the somatosensory cortices modulates according to the type of observed transitive actions. Specifically, these regions were more activated for the grasping than for the pointing condition. In contrast, the premotor cortex, a neural marker of action observation, did not show any differential activity when contrasting the considered experimental conditions. Our findings may provide novel insights regarding a possible role of extrastriate and somatosensory brain areas for the perception of distinct types of human hand-object interactions.