Grab an object with a tool and change your body: tool-use-dependent changes of body representation for action

Rewiring the evolution of the human hand: How the embodiment of a virtual bionic tool improves behavior

Humans are the most versatile tool users among animals. Accordingly, our manual skills evolved alongside the shape of the hand. In the future, further evolution may take place: humans may merge with their tools, and technology may integrate into our biology in a way that blurs the line between the two. So, the question is whether humans can embody a bionic tool (i.e., experience it as part of their body) and thus if this would affect behavior. We investigated in virtual reality how the substitution of the hand with a virtual grafting of an end-effector, either non-naturalistic (a bionic tool) or naturalistic (a hand), impacts embodiment and behavior. Across four experiments, we show that the virtual grafting of a bionic tool elicits a sense of embodiment similar to or even stronger than its natural counterpart. In conclusion, the natural usage of bionic tools can rewire the evolution of human behavior.

Illusory Directional Sensation Induced by Asymmetric Vibrations Influences Sense of Agency and Velocity in Wrist Motions

Illusory directional sensations are generated through asymmetric vibrations applied to the fingertips and have been utilized to induce upper-limb motions in the rehabilitation and training of patients with visual impairment. However, its effects on motor control remain unclear. This study aimed to verify the effects of illusory directional sensations on wrist motion. We conducted objective and subjective evaluations of wrist motion during a motor task, while inducing an illusory directional sensation that was congruent or incongruent with wrist motion. We found that, when motion and illusory directional sensations were congruent, the sense of agency for motion decreased. This indicates an induction sensation of the hand being moved by the illusion. Interestingly, although no physical force was applied to the hand, the angular velocity of the wrist was higher in the congruent condition than that in the no-stimulation condition. The angular velocity of the wrist and electromyography signals of the agonist muscles were weakly positively correlated, suggesting that the participants may have increased their wrist velocity. In other words, the congruence between the direction of motion and illusory directional sensation induced the sensation of the hand being moved, even though the participants' wrist-motion velocity increased. This phenomenon can be explained by the discrepancy between the sensation of active motion predicted by the efferent copy, and that of actual motion caused by the addition of the illusion. The findings of this study can guide the design of novel rehabilitation methods.

Transcranial magnetic stimulation input-output curve slope differences suggest variation in recruitment across muscle representations in primary motor cortex

Measurement of the input-output (IO) curves of motor evoked potentials (MEPs) elicited by transcranial magnetic stimulation (TMS) can be used to assess corticospinal excitability and motor recruitment. While IO curves have been used to study disease and pharmacology, few studies have compared the IO curves across the body. This study sought to characterize IO curve parameters across the dominant and non-dominant sides of upper and lower limbs in healthy participants. Laterality preferences were assessed in eight healthy participants and IO curves were measured bilaterally for the first dorsal interosseous (FDI), biceps brachii (BB), and tibialis anterior (TA) muscles. Results show that FDI has lower motor threshold than BB which is, in turn, lower than TA. In addition, both BB and TA have markedly shallower logarithmic IO curve slopes from small to large MEP responses than FDI. After normalizing these slopes by their midpoints to account for differences in motor thresholds, which could result from geometric factors such as the target depth, large differences in logarithmic slopes remain present between all three muscles. The differences in slopes between the muscles could not be explained by differences in normalized IO curve spreads, which relate to the extent of the cortical representation and were comparable across the muscles. The IO curve differences therefore suggest muscle-dependent variations in TMS-evoked recruitment across the primary motor cortex, which should be considered when utilizing TMS-evoked MEPs to study disease states and treatment effects.

A Somatosensory Computation That Unifies Limbs and Tools

It is often claimed that tools are embodied by their user, but whether the brain actually repurposes its body-based computations to perform similar tasks with tools is not known. A fundamental computation for localizing touch on the body is trilateration. Here, the location of touch on a limb is computed by integrating estimates of the distance between sensory input and its boundaries (e.g., elbow and wrist of the forearm). As evidence of this computational mechanism, tactile localization on a limb is most precise near its boundaries and lowest in the middle. Here, we show that the brain repurposes trilateration to localize touch on a tool, despite large differences in initial sensory input compared with touch on the body. In a large sample of participants, we found that localizing touch on a tool produced the signature of trilateration, with highest precision close to the base and tip of the tool. A computational model of trilateration provided a good fit to the observed localization behavior. To further demonstrate the computational plausibility of repurposing trilateration, we implemented it in a three-layer neural network that was based on principles of probabilistic population coding. This network determined hit location in tool-centered coordinates by using a tool's unique pattern of vibrations when contacting an object. Simulations demonstrated the expected signature of trilateration, in line with the behavioral patterns. Our results have important implications for how trilateration may be implemented by somatosensory neural populations. We conclude that trilateration is likely a fundamental spatial computation that unifies limbs and tools.

Physically real and virtual reality exposed line bisection response patterns: visuospatial attention allocation in virtual reality

INTRODUCTION

To understand the nature of hemispatial attention allocation in virtual reality (VR), a line bisection task (LBT) was administered both in a real environment and a virtual environment to assess the rate of pseudoneglect. The mental construction of real and virtual environments was assumed to increase visuospatial activity in right hemisphere-related cognitive processes; an alteration in the activity that manifests in the direction and rate of line bisection lateral error.

METHODS

In the present study, fifty-one right-handed healthy college students were recruited. They performed a line bisection task in real and virtual environments.

RESULTS

The obtained data showed that LBT errors in real and VR environments were correlated and individually consistent. Furthermore, a leftward LBT error was found in the physically real environment, however, in a VR the line bisection bias drifted towards the right hemispace. Participants with a lower right-handedness score showed a lower rate of left LBT bias in a real environment, but in VR, their LBT error showed a stronger rightwards error.

DISCUSSION

Participants showed an individually consistent pattern in both real and VR environments, but VR-induced visuospatial reality construction was associated with rightward LBT bias in a virtual environment.

Emergence of sense of body ownership but not agency during virtual tool-use training is associated with an altered body schema

In this study we examined if training with a virtual tool in augmented reality (AR) affects the emergence of ownership and agency over the tool and whether this relates to changes in body schema (BS). 34 young adults learned controlling a virtual gripper to grasp a virtual object. In the visuo-tactile (VT) but not the vision-only (V) condition, vibro-tactile feedback was applied to the palm, thumb and index fingers through a CyberTouch II glove when the tool touched the object. Changes in the forearm BS were assessed with a tactile distance judgement task (TDJ) where participants judged distances between two tactile stimuli applied to their right forearm either in proximodistal or mediolateral orientation. Participants further rated their perceived ownership and agency after training. TDJ estimation errors were reduced after training for proximodistal orientations, suggesting that stimuli oriented along the arm axis were perceived as closer together. Higher ratings for ownership were associated with increasing performance level and more BS plasticity, i.e., stronger reduction in TDJ estimation error, and after training in the VT as compared to the V feedback condition, respectively. Agency over the tool was achieved independent of BS plasticity. We conclude that the emergence of a sense of ownership but not agency depends on performance level and the integration of the virtual tool into the arm representation.

Tool-use training in augmented reality: plasticity of forearm body schema does not predict sense of ownership or agency in older adults

In young adults (YA) who practised controlling a virtual tool in augmented reality (AR), the emergence of a sense of body ownership over the tool was associated with the integration of the virtual tool into the body schema (BS). Agency emerged independent of BS plasticity. Here we aimed to replicate these findings in older adults (OA). Although they are still able to learn new motor tasks, brain plasticity and learning capacity are reduced in OA. We predicted that OA would be able to gain control over the virtual tool indicated by the emergence of agency but would show less BS plasticity as compared to YA. Still, an association between BS plasticity and body ownership was expected. OA were trained in AR to control a virtual gripper to enclose and touch a virtual object. In the visuo-tactile (VT) but not the vision-only (V) condition, vibro-tactile feedback was applied through a CyberTouch II glove when the tool touched the object. BS plasticity was assessed with a tactile distance judgement task where participants judged distances between two tactile stimuli applied to their right forearm. Participants further rated their perceived ownership and agency after training. As expected, agency emerged during the use of the tool. However, results did not indicate any changes in the BS of the forearm after virtual tool-use training. Also, an association between BS plasticity and the emergence of body ownership could not be confirmed for OA. Similar to YA, the practice effect was stronger in the visuo-tactile feedback condition compared with the vision-only condition. We conclude that a sense of agency may strongly relate to improvement in tool-use in OA independent of alterations in the BS, while ownership did not emerge due to a lack of BS plasticity.

Social Context and Tool Use Can Modulate Interpersonal Comfort Space

Recent research has investigated whether the representation of space around the body, in terms of reach-action (imagining of reaching another person) and comfort-social (tolerance of the other's proximity) spaces, may reflect a shared sensorimotor basis. Some studies exploiting motor plasticity induced by tool use have not observed sensorimotor identity (i.e., the same mechanisms that underlie, based on sensory information, the representation of proximal space in terms of action possibilities, goal-directed motor actions, and anticipation of the sensorimotor consequences), whereas evidence to the contrary has also emerged. Since the data are not fully convergent, here we wondered whether or not the combination of motor plasticity induced by tool use and the processing of the role of social context might reflect a similar modulation in both spaces. To this end, we conducted a randomized control trial with three groups of participants (N = 62) in which reaching and comfort distances were measured in Pre- and Post-tool-use sessions. The tool-use sessions were conducted under different conditions: (i) in the presence of a social stimulus (determining the social context) (Tool plus Mannequin group); (ii) without any stimulus (Only Tool group); (iii) in the presence of a box (Tool plus Object group) as a control condition. Results showed an extension of comfort distance in the Post-tool session of the Tool plus Mannequin group compared with the other conditions. Conversely, the reaching distance was larger after tool use than at the Pre-tool-use session, independently of the experimental conditions. Our findings suggest that motor plasticity impacts reaching and comfort spaces to different degrees; while reaching space is markedly sensitive to motor plasticity, comfort space needs qualification of social context information.

Do Changes in the Body-Part Compatibility Effect Index Tool-Embodiment?

Tool-embodiment is said to occur when the representation of the body extends to incorporate the representation of a tool following goal-directed tool-use. The present study was designed to determine if tool-embodiment-like phenomenon emerges following different interventions. Participants completed body-part compatibility task in which they responded with foot or hand presses to colored targets presented on the foot or hand of a model, or on a rake held by the model. This response time (RT) task was performed before and after one of four interventions. In the Virtual-Tangible and the Virtual-Keyboard interventions, participants used customized controllers or keyboards, respectively, to move a virtual rake and ball around a course. Participants in the Tool-Perception intervention manually pointed to targets presented on static images of the virtual tool-use task. Participants in the Tool-Absent group completed math problems and were not exposed to a tool task. Results revealed that all four interventions lead to a pattern of pre-/post-intervention changes in RT thought to indicate the emergence of tool-embodiment. Overall, the study indicated that tool-embodiment can occur through repeated exposure to the body-part compatibility paradigm in the absence of any active tool-use, and that the paradigm may tap into more than just body schema.

Are tools truly incorporated as an extension of the body representation?: Assessing the evidence for tool embodiment

The predominant view on human tool-use suggests that an action-oriented body representation, the body schema, is altered to fit the tool being wielded, a phenomenon termed tool embodiment. While observations of perceptual change after tool-use purport to support this hypothesis, several issues undermine their validity in this context, discussed at length in this critical review. The primary measures used as indicators of tool embodiment each face unique challenges to their construct validity. Further, the perceptual changes taken as indicating extension of the body representation only appear to account for a fraction of the tool's size in any given experiment, and do not demonstrate the covariance with tool length that the embodiment hypothesis would predict. The expression of tool embodiment also appears limited to a narrow range of tool-use tasks, as deviations from a simple reaching paradigm can mollify or eliminate embodiment effects altogether. The shortcomings identified here generate important avenues for future research. Until the source of the kinematic and perceptual effects that have substantiated tool embodiment is disambiguated, the hypothesis that the body representation changes to fit tools during tool-use should not be favored over other possibilities such as the formation of separable internal tool models, which seem to offer a more complete account of human tool-use behaviors. Indeed, studies of motor learning have observed analogous perceptual changes as aftereffects to adaptation despite the absence of handheld tool-use, offering a compelling alternative explanation, though more work is needed to confirm this possibility.

Bodily ownership of an independent supernumerary limb: an exploratory study

Can our brain perceive a sense of ownership towards an independent supernumerary limb; one that can be moved independently of any other limb and provides its own independent movement feedback? Following the rubber-hand illusion experiment, a plethora of studies have shown that the human representation of “self” is very plastic. But previous studies have almost exclusively investigated ownership towards “substitute” artificial limbs, which are controlled by the movements of a real limb and/or limbs from which non-visual sensory feedback is provided on an existing limb. Here, to investigate whether the human brain can own an independent artificial limb, we first developed a novel independent robotic “sixth finger.” We allowed participants to train using the finger and examined whether it induced changes in the body representation using behavioral as well as cognitive measures. Our results suggest that unlike a substitute artificial limb (like in the rubber hand experiment), it is more difficult for humans to perceive a sense of ownership towards an independent limb. However, ownership does seem possible, as we observed clear tendencies of changes in the body representation that correlated with the cognitive reports of the sense of ownership. Our results provide the first evidence to show that an independent supernumerary limb can be embodied by humans.

Alpha Oscillations Are Involved in Localizing Touch on Handheld Tools

The sense of touch is not restricted to the body but can also extend to external objects. When we use a handheld tool to contact an object, we feel the touch on the tool and not in the hand holding the tool. The ability to perceive touch on a tool actually extends along its entire surface, allowing the user to accurately localize where it is touched similarly as they would on their body. Although the neural mechanisms underlying the ability to localize touch on the body have been largely investigated, those allowing to localize touch on a tool are still unknown. We aimed to fill this gap by recording the electroencephalography signal of participants while they localized tactile stimuli on a handheld rod. We focused on oscillatory activity in the alpha (7–14 Hz) and beta (15–30 Hz) ranges, as they have been previously linked to distinct spatial codes used to localize touch on the body. Beta activity reflects the mapping of touch in skin-based coordinates, whereas alpha activity reflects the mapping of touch in external space. We found that alpha activity was solely modulated by the location of tactile stimuli applied on a handheld rod. Source reconstruction suggested that this alpha power modulation was localized in a network of fronto-parietal regions previously implicated in higher-order tactile and spatial processing. These findings are the first to implicate alpha oscillations in tool-extended sensing and suggest an important role for processing touch in external space when localizing touch on a tool.

Body schema plasticity is altered in Developmental Coordination Disorder

Developmental Coordination Disorder (DCD) is a pathological condition characterized by impaired motor skills. Current theories advance that a deficit of the internal models is mainly responsible for DCD children's altered behavior. Yet, accurate movement execution requires not only correct movement planning, but also integration of sensory feedback into body representation for action (Body Schema) to update the state of the body. Here we advance and test the hypothesis that the plasticity of this body representation is altered in DCD. To probe Body Schema (BS) plasticity, we submitted a well-established tool-use paradigm to seventeen DCD children, required to reach for an object with their hand before and after tool use, and compared their movement kinematics to that of a control group of Typically Developing (TD) peers. We also asked both groups to provide explicit estimates of their arm length to probe plasticity of their Body Image (BI). Results revealed that DCD children explicitly judged their arm shorter after tool use, showing changes in their BI comparable to their TD peers. Unlike them, though, DCD did not update their implicit BS estimate: kinematics showed that tool use affected their peak amplitudes, but not their latencies. Remarkably, the kinematics of tool use showed that the motor control of the tool was comparable between groups, both improving with practice, confirming that motor learning abilities are preserved in DCD. This study thus brings evidence in favor of an alternative theoretical account of the DCD etiology. Our findings point to a deficit in the plasticity of the body representation used to plan and execute movements. Though not mutually exclusive, this widens the theoretical perspective under which DCD should be considered: DCD may not be limited to a problem affecting the internal models and their motor functions, but may concern the state of the effector they have to use.

Expertise in Tool Use Promotes Tool Embodiment

Body representations are known to be dynamically modulated or extended through tool use. Here, we review findings that demonstrate the importance of a user's tool experience or expertise for successful tool embodiment. Examining expert tool users, such as individuals who use tools in professional sports, people who use chopsticks at every meal, or spinal injury patients who use a wheelchair daily, offers new insights into the role of expertise in tool embodiment: Not only does tool embodiment differ between novices and experts, but experts may experience enhanced changes to their body representation when interacting with their own, personal tool. The findings reviewed herein reveal the importance of assessing tool skill in future studies of tool embodiment.

The Interrelation Between Peripersonal Action Space and Interpersonal Social Space: Psychophysiological Evidence and Clinical Implications

The peripersonal space is an adaptive and flexible interface between the body and the environment that fulfills a dual-motor function: preparing the body for voluntary object-oriented actions to interact with incentive stimuli and preparing the body for defensive responses when facing potentially harmful stimuli. In this position article, we provide arguments for the sensorimotor rooting of the peripersonal space representation and highlight the variables that contribute to its flexible and adaptive characteristics. We also demonstrate that peripersonal space represents a mediation zone between the body and the environment contributing to not only the control of goal-directed actions but also the organization of social life. The whole of the data presented and discussed led us to the proposal of a new theoretical framework linking the peripersonal action space and the interpersonal social space and we highlight how this theoretical framework can account for social behaviors in populations with socio-emotional deficits.

The Body Across Adulthood: On the Relation Between Interoception and Body Representations

Interoceptive information plays a pivotal role in building body representations (BR), but the association between interoception and the different types of BR in healthy individuals has never been systematically investigated. Thus, this study aimed to explore the association between BR and interoceptive sensibility (IS) throughout adulthood. One hundred thirty-seven healthy participants (50 aged from 18 to 40 years old; 50 aged from 41 to 60 years old; and 37 over 60 years old) were given a self-report tool for assessing IS (the Self-Awareness Questionnaire; SAQ), and a specific battery including tasks evaluating three different BR (i.e., the body schema, using the Hand Laterality Task; the body structural representation, using the Frontal Body Evocation task, FBE; and body semantics, using the Object-Body Part Association Task) as well as control tasks (i.e., tasks with non-body stimuli). The older age group (aged over 60 years old) showed lower performances on the tasks probing the body schema and body structural representation than younger groups (aged 18 to 40 and 41 to 60 years old). More interestingly, worse performances on a task assessing the body schema were significantly associated with higher IS with older age, suggesting that higher awareness of one's inner body sensations would decrease the plasticity of this BR. These findings are interpreted according to the neuropsychological model of BR development and the effects of aging on the brain.

The long developmental trajectory of body representation plasticity following tool use

Humans evolution is distinctly characterized by their exquisite mastery of tools, allowing them to shape their environment in more elaborate ways compared to other species. This ability is present ever since infancy and most theories indicate that children become proficient with tool use very early. In adults, tool use has been shown to plastically modify metric aspects of the arm representation, as indexed by changes in movement kinematics. To date, whether and when the plastic capability of updating the body representation develops during childhood remains unknown. This question is particularly important since body representation plasticity could be impacted by the fact that the human body takes years to achieve a stable metric configuration. Here we assessed the kinematics of 90 young participants (8-21 years old) required to reach for an object before and after tool use, as a function of their pubertal development. Results revealed that tool incorporation, as indexed by the adult typical kinematic pattern, develops very slowly and displays a u-shaped developmental trajectory. From early to mid puberty, the changes in kinematics following tool use seem to reflect a shortened arm representation, opposite to what was previously reported in adults. This pattern starts reversing after mid puberty, which is characterized by the lack of any kinematics change following tool use. The typical adult-like pattern emerges only at late puberty, when body size is stable. These findings reveal the complex dynamics of tool incorporation across development, possibly indexing the transition from a vision-based to a proprioception-based body representation plasticity.

Opposing force fields induce direction-specific sensorimotor adaptation but a non-specific perceptual shift consistent with a contraction of peripersonal space representation

Most of our daily interactions with objects occur in the space immediately surrounding the body, i.e. the peripersonal space. The peripersonal space is characterized by multisensory processing of objects which are coded in terms of potential actions, specifying for instance whether objects are within reach or not. Our recent work suggested a link between exposure to a new force field, which changed the effector dynamics, and the representation of peripersonal space. To better understand the interplay between the plasticity of the motor system and peripersonal space representation, the present study examined whether changing the direction of the force field specifically modified the perception of action boundaries. Participants seated at the centre of an experimental platform estimated visual targets' reachability before and after adapting upper-limb reaching movements to the Coriolis force generated by either clockwise or counter clockwise rotation of the platform (120°/s). Opposite spatial after-effects were observed, showing that force-field adaptation depends on the direction of the rotation. In contrast, perceived action boundaries shifted leftward following exposure to the new force field, regardless of the direction of the rotation. Overall, these findings support the idea that abrupt exposure to a new force field results in a direction-specific updating of the central sensorimotor representations underlying the control of arm movements. Abrupt exposure to a new force field also results in a nonspecific shift in the perception of action boundaries, which is consistent with a contraction of the peripersonal space. Such effect, which does not appear to be related to state anxiety, could be related to the protective role of the peripersonal space in response to the uncertainty of the sensorimotor system induced by the abrupt modification of the environment.

Online proprioception feeds plasticity of arm representation following tool-use in healthy aging

Following tool-use, the kinematics of free-hand movements are altered. This modified kinematic pattern has been taken as a behavioral hallmark of the modification induced by tool-use on the effector representation. Proprioceptive inputs appear central in updating the estimated effector state. Here we questioned whether online proprioceptive modality that is accessed in real time, or offline, memory-based, proprioception is responsible for this update. Since normal aging affects offline proprioception only, we examined a group of 60 year-old adults for proprioceptive acuity and movement's kinematics when grasping an object before and after tool-use. As a control, participants performed the same movements with a weight-equivalent to the tool-weight-attached to their wrist. Despite hampered offline proprioceptive acuity, 60 year-old participants exhibited the typical kinematic signature of tool incorporation: Namely, the latency of transport components peaks was longer and their amplitude reduced after tool-use. Instead, we observed no kinematic modifications in the control condition. In addition, online proprioception acuity correlated with tool incorporation, as indexed by the amount of kinematics changes observed after tool-use. Altogether, these findings point to the prominent role played by online proprioception in updating the body estimate for the motor control of tools.

Comparison of auditory spatial bisection and minimum audible angle in front, lateral, and back space

Although vision is important for calibrating auditory spatial perception, it only provides information about frontal sound sources. Previous studies of blind and sighted people support the idea that azimuthal spatial bisection in frontal space requires visual calibration, while detection of a change in azimuth (minimum audible angle, MAA) does not. The influence of vision on the ability to map frontal, lateral and back space has not been investigated. Performance in spatial bisection and MAA tasks was assessed for normally sighted blindfolded subjects using bursts of white noise presented frontally, laterally, or from the back relative to the subjects. Thresholds for both tasks were similar in frontal space, lower for the MAA task than for the bisection task in back space, and higher for the MAA task in lateral space. Two interpretations of the results are discussed, one in terms of visual calibration and the use of internal representations of source location and the other based on comparison of the magnitude or direction of change of the available binaural cues. That bisection thresholds were increased in back space relative to front space, where visual calibration information is unavailable, suggests that an internal representation of source location was used for the bisection task.

Toward Enhanced Teleoperation Through Embodiment

Telerobotics aims to transfer human manipulation skills and dexterity over an arbitrary distance and at an arbitrary scale to a remote workplace. A telerobotic system that is transparent enables a natural and intuitive interaction. We postulate that embodiment (with three sub-components: sense of ownership, agency, and self-location) of the robotic system leads to optimal perceptual transparency and increases task performance. However, this has not yet been investigated directly. We reason along four premises and present findings from the literature that substantiate each of them: (1) the brain can embody non-bodily objects (e.g., robotic hands), (2) embodiment can be elicited with mediated sensorimotor interaction, (3) embodiment is robust against inconsistencies between the robotic system and the operator's body, and (4) embodiment positively correlates to dexterous task performance. We use the predictive encoding theory as a framework to interpret and discuss the results reported in the literature. Numerous previous studies have shown that it is possible to induce embodiment over a wide range of virtual and real extracorporeal objects (including artificial limbs, avatars, and android robots) through mediated sensorimotor interaction. Also, embodiment can occur for non-human morphologies including for elongated arms and a tail. In accordance with the predictive encoding theory, none of the sensory modalities is critical in establishing ownership, and discrepancies in multisensory signals do not necessarily lead to loss of embodiment. However, large discrepancies in terms of multisensory synchrony or visual likeness can prohibit embodiment from occurring. The literature provides less extensive support for the link between embodiment and (dexterous) task performance. However, data gathered with prosthetic hands do indicate a positive correlation. We conclude that all four premises are supported by direct or indirect evidence in the literature, suggesting that embodiment of a remote manipulator may improve dexterous performance in telerobotics. This warrants further implementation testing of embodiment in telerobotics. We formulate a first set of guidelines to apply embodiment in telerobotics and identify some important research topics.

The Embodiment of Objects: Review, Analysis, and Future Directions

Here we offer a thorough review of the empirical literature on the conditions under which an object, such as a tool or a prosthetic (whether real or virtual), can be experienced as being in some sense a part or extension of one's body. We discuss this literature both from the standpoint of the apparent malleability of our body representations, and also from within the framework of radical embodied cognition, which understands the phenomenon to result not from an alteration to a representation, but rather from the achievement of a certain kind of sensory/motor coupling. We highlight both the tensions between these frameworks, and also areas where they can productively complement one another for future research.

The role of the co-actor's response reachability in the joint Simon effect: remapping of working space by tool use

The Simon effect, that is the advantage of the spatial correspondence between stimulus and response locations when stimulus location is task irrelevant, occurs even when the task is performed by two participants, each performing a go/no-go task. This effect, known as the joint Simon effect, does not emerge when participants sit outside each other's peripersonal space, thus suggesting that the presence of an active confederate in peripersonal space might provide a reference for response coding. The present study investigated whether this finding is due to the distance separating the participants and/or to the distance separating each participant and the other agent's response. In two experiments, pairs of participants performed a social detection task sitting outside each other's arm reach, with response keys located close to the participants or outside arm reach. When the response key was located outside the participant's arm reach, he/she could reach it by means of a tool. In Experiment 1, by means of a tool, participants could reach their response key only, while in Experiment 2, they could reach also their co-agent's response key. The joint Simon effect did not emerge when participants could not reach the co-actor's response, while it emerged when they could potentially reach the other participant's response using the tool, but only when turn taking was required. These results may be taken as evidence that the possibility to reach and act upon the co-actor's response key may be at the bases of compatibility effects observed in joint action contexts requiring complementary responses.

How Tool-Use Shapes Body Metric Representation: Evidence From Motor Training With and Without Robotic Assistance

Previous evidence has shown that tool-use can reshape one's own body schema, extending peripersonal space and modulating the representation of related body parts. Here, we investigated the role of tool action in shaping the body metric representation, by contrasting two different views. According to a first view, the shaping would rely on the mere execution of tool action, while the second view suggests that the shaping induced by tool action on body representation would primarily depend on the representation of the action goals to be accomplished. To this aim, we contrasted a condition in which participants voluntarily accomplish the movement by representing the program and goal of a tool action (i.e., active tool-use training) with a condition in which the tool-use training was produced without any prior goal representation (i.e., passive tool-use training by means of robotic assistance). If the body metric representation primarily depends on the coexistence between goal representation and bodily movements, we would expect an increase of the perceived forearm length in the post- with respect to the pre-training phase after the active training phase only. Healthy participants were asked to estimate the midpoint of their right forearm before and after 20 min of tool-use training. In the active condition, subjects performed "enfold-and-push" movements using a rake to prolong their arm. In the passive condition, subjects were asked to be completely relaxed while the movements were performed with robotic assistance. Results showed a significant increase in the perceived arm length in the post- with respect to the pre-training phase only in the active task. Interestingly, only in the post-training phase, a significant difference was found between active and passive conditions, with a higher perceived arm length in the former than in the latter. From a theoretical perspective, these findings suggest that tool-use may shape body metric representation only when action programs are motorically represented and not merely produced. From a clinical perspective, these results support the use of robots for the rehabilitation of brain-damaged hemiplegic patients, provided that robot assistance during the exercises is present only "as-needed" and that patients' motor representation is actively involved.

Somatosensory-guided tool use modifies arm representation for action

Tool-use changes both peripersonal space and body representations, with several effects being nowadays termed tool embodiment. Since somatosensation was typically accompanied by vision in most previous tool use studies, whether somatosensation alone is sufficient for tool embodiment remains unknown. Here we address this question via a task assessing arm length representation at an implicit level. Namely, we compared movement’s kinematics in blindfolded healthy participants when grasping an object before and after tool-use. Results showed longer latencies and smaller peaks in the arm transport component after tool-use, consistent with an increased length of arm representation. No changes were found in the hand grip component and correlations revealed similar kinematic signatures in naturally long-armed participants. Kinematics changes did not interact with target object position, further corroborating the finding that somatosensory-guided tool use may increase the represented size of the participants’ arm. Control experiments ruled out alternative interpretations based upon altered hand position sense. In addition, our findings indicate that tool-use effects are specific for the implicit level of arm representation, as no effect was observed on the explicit estimate of the forearm length. These findings demonstrate for the first time that somatosensation is sufficient for incorporating a tool that has never been seen, nor used before.

Tool Embodiment: The Tool's Output Must Match the User's Input

The embodiment of tools and rubber hands is believed to involve the modification of two separate body representations: the body schema and the body image, respectively. It is thought that tools extend the capabilities of the body’s action schema, whereas prosthetics like rubber hands are incorporated into the body image itself. Contrary to this dichotomy, recent research demonstrated that chopsticks can be embodied perceptually during a modified version of the rubber hand illusion (RHI) in which tools are held by the rubber hand and by the participant. In the present research, two experiments examined tool morpho-functional (tool output affordance, e.g., precision grasping) and sensorimotor (tool input, e.g., precision grip) match as a mechanism for this tool-use dependent change to the body image. Proprioceptive drift in the RHI occurred when the tool’s output and the user’s input matched, but not when this match was absent. This suggests that this factor may be necessary for tools to interact with the body image in the RHI.

Short-term upper-limb immobilization alters peripersonal space representation

Peripersonal space is a multisensory interface between the environment and the body subserving motor interactions with the physical and social world. Although changing body properties has been shown to alter the functional processing of space, little is known about the effect of short-term limb immobilization specifically on the motor representation of peripersonal space. In the present study, we investigated the effect of a right upper-limb immobilization for a duration of 24 h on a reachability judgment task and a brightness judgment task. Analyses of perceptual thresholds revealed a reduction of peripersonal space representation after the immobilization period, which was not observed when there was no immobilization (control group). In contrast, no variation appeared in the brightness judgment task, suggesting no presence of specific visual perception or decisional deficits in the limb immobilization group. Considered together, the results confirm the crucial role of the motor system in the representation of peripersonal space. They also highlight the plasticity of the motor system resulting in a rapid change of its activity following limb immobilization, with a concomitant effect on motor-related perceptual and cognitive processes.

Long- but not short-term tool-use changes hand representation

Tool-use has been found to change body representation. For example, participants who briefly used a mechanical grabber to pick up objects perceived their forearms to be longer immediately after its use (e.g., Cardinali et al., Curr Biol 19(12):R478-R479, 2009; they incorporated the tool into their perceived arm size). While some studies have investigated the long-term effects of tool-use on body representation, none of these studies have used a tool that encapsulates the entire body part (e.g., a glove). Moreover, the relationship between tool-use and the body model (the representation of the body's spatial characteristics) has yet to be explored. To test this, we recruited 19 elite baseball players (EBP) and 18 age-matched controls to participate in a hand representation task. We included EBP because of their many years (8+) of training with a tool (baseball glove). The task required participants to place their hands underneath a covered glass tabletop (no vision of their hands), and to point to where they believed 10 locations (the tips and bases of each finger) were on their hands (Coelho et al., Psychol Res 81(6):1224-1231, 2017). Each point's XY coordinates was tracked using an Optotrak camera. From these coordinates, we mapped out the participants perceived hand size. The results showed that when compared to the controls, EBP underestimated hand width and finger length of both hands. This indicates that long-term tool use produces changes in the body model for both, the trained and untrained hands. We conducted a follow-up study to examine if 15 min of glove use would change perceived hand size in control participants. Novice baseball players (participants without baseball experience: NBP) were recruited and hand maps were derived before and after 15 min of active catching with a glove. Results showed no significant differences between the pre and post hand maps. When we compared between the two experiments, the EBP showed smaller hand representation for both hand width and finger length, than the NBP. We discuss these results in relation to theories of altered body ownership.

Embodying functionally relevant action sounds in patients with spinal cord injury

Growing evidence indicates that perceptual-motor codes may be associated with and influenced by actual bodily states. Following a spinal cord injury (SCI), for example, individuals exhibit reduced visual sensitivity to biological motion. However, a dearth of direct evidence exists about whether profound alterations in sensorimotor traffic between the body and brain influence audio-motor representations. We tested 20 wheelchair-bound individuals with lower skeletal-level SCI who were unable to feel and move their lower limbs, but have retained upper limb function. In a two-choice, matching-to-sample auditory discrimination task, the participants were asked to determine which of two action sounds matched a sample action sound presented previously. We tested aural discrimination ability using sounds that arose from wheelchair, upper limb, lower limb, and animal actions. Our results indicate that an inability to move the lower limbs did not lead to impairment in the discrimination of lower limb-related action sounds in SCI patients. Importantly, patients with SCI discriminated wheelchair sounds more quickly than individuals with comparable auditory experience (i.e. physical therapists) and inexperienced, able-bodied subjects. Audio-motor associations appear to be modified and enhanced to incorporate external salient tools that now represent extensions of their body schemas.

Physiological Response to Facial Expressions in Peripersonal Space Determines Interpersonal Distance in a Social Interaction Context

Accurate control of interpersonal distances in social contexts is an important determinant of effective social interactions. Although comfortable interpersonal distance seems to be dependent on social factors such as the gender, age and activity of the confederates, it also seems to be modulated by the way we represent our peripersonal-action space. To test this hypothesis, the present study investigated the relation between the emotional responses registered through electrodermal activity (EDA) triggered by human-like point-light displays (PLDs) carrying different facial expressions (neutral, angry, happy) when located in the participants peripersonal or extrapersonal space, and the comfort distance with the same PLDs when approaching and crossing the participants fronto-parallel axis on the right or left side. The results show an increase of the phasic EDA for PLDs with angry facial expressions located in the peripersonal space (reachability judgment task), in comparison to the same PLDs located in the extrapersonal space, which was not observed for PLDs with neutral or happy facial expressions. The results also show an increase of the comfort distance for PLDs approaching the participants with an angry facial expression (interpersonal comfort distance judgment task), in comparison to PLDs with happy and neutral ones, which was related to the increase of the physiological response. Overall, the findings indicate that comfort social space can be predicted from the emotional reaction triggered by a confederate when located within the observer’s peripersonal space. This suggests that peripersonal-action space and interpersonal-social space are similarly sensitive to the emotional valence of the confederate, which could reflect a common adaptive mechanism in specifying theses spaces to subtend interactions with both the physical and social environment, but also to ensure body protection from potential threats.

Calibration to tool use during visually-guided reaching

In studying human perception and performance researchers must understand how the body schema is modified to accurately represent one's capabilities when tools are used, as humans use tools that alter their capabilities frequently. The present work tested the idea that calibration is responsible for modifying an embodied action schema during tool use. We investigated calibration in the context of manual activity in near space through a behavioral measure. Participants made blind reaches to various visual distances in pre- and post-test phases using a short tool that did not extend their reach. During an intervening calibration phase they received visual feedback about the accuracy of their reaches, with half of the participants reaching with a tool that extended their reach by 30cm. Results indicated both groups showed calibration appropriate to the type of tool that they used during the calibration phase, and this calibration carried over to reaches made in the post-test. These results inform discussions on the proposed embodied action schema and have applications to virtual reality, specifically the development of self-avatars.

Bodily Sensory Inputs and Anomalous Bodily Experiences in Complex Regional Pain Syndrome: Evaluation of the Potential Effects of Sound Feedback

Neuroscientific studies have shown that human's mental body representations are not fixed but are constantly updated through sensory feedback, including sound feedback. This suggests potential new therapeutic sensory approaches for patients experiencing body-perception disturbances (BPD). BPD can occur in association with chronic pain, for example in Complex Regional Pain Syndrome (CRPS). BPD often impacts on emotional, social, and motor functioning. Here we present the results from a proof-of-principle pilot study investigating the potential value of using sound feedback for altering BPD and its related emotional state and motor behavior in those with CRPS. We build on previous findings that real-time alteration of the sounds produced by walking can alter healthy people's perception of their own body size, while also resulting in more active gait patterns and a more positive emotional state. In the present study we quantified the emotional state, BPD, pain levels and gait of twelve people with CRPS Type 1, who were exposed to real-time alteration of their walking sounds. Results confirm previous reports of the complexity of the BPD linked to CRPS, as participants could be classified into four BPD subgroups according to how they mentally visualize their body. Further, results suggest that sound feedback may affect the perceived size of the CRPS affected limb and the pain experienced, but that the effects may differ according to the type of BPD. Sound feedback affected CRPS descriptors and other bodily feelings and emotions including feelings of emotional dominance, limb detachment, position awareness, attention and negative feelings toward the limb. Gait also varied with sound feedback, affecting the foot contact time with the ground in a way consistent with experienced changes in body weight. Although, findings from this small pilot study should be interpreted with caution, they suggest potential applications for regenerating BDP and its related bodily feelings in a clinical setting for patients with chronic pain and BPD.

Multisensory integration induces body ownership of a handtool, but not any handtool

Bodily boundaries are computed by integrating multisensory bodily signals and can be experimentally manipulated using bodily illusions. Research on tool use demonstrates that tools alter body representations motorically to account for changes in a user's action repertoire. The present experiment sought to unify perceptual and motoric accounts of tool embodiment using a modified Rubber Hand Illusion (RHI) that also addressed the skill and practice aspects of the tool use literature. In Experiment 1, synchronous multisensory stimulation induced perceptual embodiment of a tool, chopsticks. The embodiment of chopsticks was stronger for more skilled participants, and if the illusion was preceded by tool use. In Experiment 2, the illusion was not elicited with a different type of tool, a teacup, showing that not all objects can be incorporated. This experiment helps to clarify the role of perceptual and motoric embodiment and suggests future avenues for research into tools embodiment using this method.

The recalibration of tactile perception during tool use is body-part specific

Two decades of research have demonstrated that using a tool modulates spatial representations of the body. Whether this embodiment is specific to representations of the tool-using limb or extends to representations of other body parts has received little attention. Several studies of other perceptual phenomena have found that modulations to the primary somatosensory representation of the hand transfers to the face, due in part to their close proximity in primary somatosensory cortex. In the present study, we investigated whether tool-induced recalibration of tactile perception on the hand transfers to the cheek. Participants verbally estimated the distance between two tactile points applied to either their hand or face, before and after using a hand-shaped tool. Tool use recalibrated tactile distance perception on the hand-in line with previous findings-but left perception on the cheek unchanged. This finding provides support for the idea that embodiment is body-part specific. Furthermore, it suggests that tool-induced perceptual recalibration occurs at a level of somatosensory processing, where representations of the hand and face have become functionally disentangled.

What a car does to your perception: Distance evaluations differ from within and outside of a car

Almost a century ago it was first suggested that cars can be interpreted as tools, but consequences of this assumption were never tested. Research on hand-held tools that are used to manipulate objects in the environment suggests that perception of near space is extended by using tools. Literature on environment perception finds perception of far space to be modulated by the observer's potential to act in the environment. Here we argue that a car increases the action potential and modulates perception of far space in a way similar to how hand-held tools modulate perception of near space. Five distances (4 to 20 meters) were estimated by pedestrians and drivers before and after driving/walking. Drivers underestimated all distances to a larger percentage than did pedestrians. Underestimation was even stronger after driving. We conclude that cars modulate the perception of far distances because they modulate the driver's perception, like a tool typically does, and change the perceived action potential.

Visual illusion of tool use recalibrates tactile perception

Brief use of a tool recalibrates multisensory representations of the user's body, a phenomenon called tool embodiment. Despite two decades of research, little is known about its boundary conditions. It has been widely argued that embodiment requires active tool use, suggesting a critical role for somatosensory and motor feedback. The present study used a visual illusion to cast doubt on this view. We used a mirror-based setup to induce a visual experience of tool use with an arm that was in fact stationary. Following illusory tool use, tactile perception was recalibrated on this stationary arm, and with equal magnitude as physical use. Recalibration was not found following illusory passive tool holding, and could not be accounted for by sensory conflict or general interhemispheric plasticity. These results suggest visual tool-use signals play a critical role in driving tool embodiment.

Action Sounds Modulate Arm Reaching Movements

Our mental representations of our body are continuously updated through multisensory bodily feedback as we move and interact with our environment. Although it is often assumed that these internal models of body-representation are used to successfully act upon the environment, only a few studies have actually looked at how body-representation changes influence goal-directed actions, and none have looked at this in relation to body-representation changes induced by sound. The present work examines this question for the first time. Participants reached for a target object before and after adaptation periods during which the sounds produced by their hand tapping a surface were spatially manipulated to induce a representation of an elongated arm. After adaptation, participants’ reaching movements were performed in a way consistent with having a longer arm, in that their reaching velocities were reduced. These kinematic changes suggest auditory-driven recalibration of the somatosensory representation of the arm morphology. These results provide support to the hypothesis that one’s represented body size is used as a perceptual ruler to measure objects’ distances and to accordingly guide bodily actions.

Keeping you at arm's length: modifying peripersonal space influences interpersonal distance

Peripersonal space represents the area around the body where objects are coded in motor terms for the purpose of voluntary goal-directed actions. Previous studies have suggested that peripersonal space is also a safe space linked with our private area, influencing interpersonal space in social contexts. However, whether these two spaces rely on similar embodied processes remains an open issue. In the present study, participants observed a point-light walker (PLW) approaching them from different directions and passing near them at different distances from their right or left shoulder. While approaching, the PLW disappeared at a distance of 2 m and the task for the participants was to estimate if the interpersonal distance, at the time the PLW would have reached their level, was comfortable or not. Between two sessions of comfort judgments, the participants manipulated a 70 cm tool entailing an extension of peripersonal space, or a 10 cm tool entailing no extension of peripersonal space. The results revealed that the comfortable interpersonal distance was larger when the PLW crossed the mid-sagittal plane of the participants than when it approached them laterally, with a concomitant increase of response time. After participants manipulated the long tool, comfortable interpersonal distance increased, but predominantly when the PLW trajectory implied crossing the participants' mid-sagittal plane. This effect was not observed when participants manipulated the short tool. Two control tasks showed that using the long tool modified the reachability (control 1), but not the time to passage (control 2) estimates of PLW stimuli, suggesting that tool use extended peripersonal space without changing perceived visual distances. Overall, the data show that comfortable interpersonal distance is linked to the representation of peripersonal space. As a consequence, increasing peripersonal space through tool use has the immediate consequence that comfortable interpersonal distance from another person also increases, suggesting that interpersonal-comfort space and peripersonal-reaching space share a common motor nature.

Proprioception Is Necessary for Body Schema Plasticity: Evidence from a Deafferented Patient

The ability of using a large variety of tools is important in our daily life. Behind human tool-use abilities lays the brain capacity to incorporate tools into the body representation for action (Body Schema, BS), thought to rely mainly on proprioceptive information. Here, we tested whether tool incorporation is possible in absence of proprioception by studying a patient with right upper-limb deafferentation. We adopted a paradigm sensitive to changes of the BS and analyzed the kinematics of free-hand movements before and after tool-use, in three sessions over a period of 2 years. In the first session, before tool-use, the kinematics of the deafferented hand was disrupted. Similarly, the first movements with the tool (a mechanical grabber elongating the arm by ~40 cm) showed an abnormal profile that tended to normalize at the end of the session. Subsequent free-hand movements were also normalized. At session 2, 6 months later, the patient exhibited normal free-hand kinematic profiles, additionally showing changes in grasping kinematics after tool-use, but no sign of tool incorporation. A follow-up 2 years later, further confirmed the normalized kinematic profile but the absence of tool incorporation. This first description of tool-use in absence of proprioception shows the fundamental role of proprioception in the update of the BS. These results provide an important further step in understanding human motor control and have implications for future development of rehabilitation programs for patients with sensory deficits.

Tool-use: An open window into body representation and its plasticity

Over the last decades, scientists have questioned the origin of the exquisite human mastery of tools. Seminal studies in monkeys, healthy participants and brain-damaged patients have primarily focused on the plastic changes that tool-use induces on spatial representations. More recently, we focused on the modifications tool-use must exert on the sensorimotor system and highlighted plastic changes at the level of the body representation used by the brain to control our movements, i.e., the Body Schema. Evidence is emerging for tool-use to affect also more visually and conceptually based representations of the body, such as the Body Image. Here we offer a critical review of the way different tool-use paradigms have been, and should be, used to try disentangling the critical features that are responsible for tool incorporation into different body representations. We will conclude that tool-use may offer a very valuable means to investigate high-order body representations and their plasticity.