Planning grasps for object manipulation: integrating internal preferences and external constraints

Coordinating Initial and Final Action Goals in Planning Grasp-to-Rotate Movements: An ERP Study

Action goals have often been investigated in previous studies within a single action. However, most of the manual actions (such as prehension) are not restricted to a single action towards the object but can involve multiple follow-up actions to achieve a further purpose. The coordination of the initial (grip posture) and final (task purpose) action goals within such complex actions is still not fully understood. In the present experiment, the neural mechanisms underlying the goal coordination were investigated with the help of event-related potentials (ERP). With the "first cue - second cue - imperative signal" design, the action goals were presented separately in different sequences (either "final-initial" or "initial-final"), and participants were instructed to plan and execute a grasp-to-rotate movement with either free-choice or specified grasping. Results revealed that shorter reaction times were needed for the final-initial than for the initial-final trials only when the movement requires a free-choice grasping. At the moment when the goal information was incomplete (at the first cue), final goals evoked a larger anterior P2 than initial goals, whereas initial goals elicited a larger anterior N2 and a more robust frontal negativity (400--550 ms) than final goals. When the goal information was complete (at the second cue), we only found a larger P2 for final goals than for initial goals in free-choice grasping. Moreover, a larger N2 was also found for the specified than for the free-choice grasping in initial-final trials. These neurophysiological results indicate that final goals are more critical than initial grip postures in planning prehensile movements. The initial and final action goals seem to be preferably coordinated in a hierarchical manner, that is, the final task purpose is processed with precedence, whereas the initial grip posture is selected depending on the final task purpose.

Factors Influencing Manipulation of a Familiar Object in Patients With Limb Apraxia After Stroke

Previous studies have shown that hand actions to visual objects are affected both by perceptual factors and by action goals. Our aim was to study how these processes affected hand actions in chronic stroke patients, based on whether they had limb apraxia. Twenty-two left hemisphere, chronic stroke patients were measured on neuropsychological tasks of limb apraxia, which was identified in a subgroup of 10 patients. All patients underwent testing on a separate task of making simple reach and grasp actions to a cup. Their performance was compared to a group of 18 healthy age-matched volunteers. Participants were instructed to grasp the top or bottom of a cup to either lift or turn it over so as to end with a hand position that was either comfortable or uncomfortable. This task tested the influence of the compatibility of hand–cup orientation, as well as goals driven by the end-state comfort of the hand, on action selection for object manipulation. Participants’ performance was measured in terms of error rates, and speed of initiation and reaching (movement time) to the object. The patients’ performance was significantly delayed, and error rates increased when reaching to grasp a cup under conditions of poor compatibility and end-state comfort. The subgroup of patients with apraxia showed a decreased influence of compatibility of hand interaction with the cup, with increased error rates and delayed response times, compared to patients with no apraxia and healthy volunteers. This is despite the fact they did not display significant deficits on neuropsychological tasks of real object use. The study shows that patients with apraxia have difficulties in selecting elements of object-directed actions, pertaining to both habitual and goal-directed factors.

Preschool children adapt grasping movements to upcoming object manipulations: Evidence from a dial rotation task

In adults, the motor plans for object-directed grasping movements reflects the anticipated requirements of intended future object manipulations. This prospective mode of planning has been termed second-order planning. Surprisingly, second-order planning is thought to be fully developed only by 10 years of age, when children master seemingly more complex motor skills. In this study, we tested the hypothesis that already 5- and 6-year-old children consistently use second-order planning but that this ability does not become apparent in tasks that are traditionally used to probe it. We asked 5- and 6-year-olds and adults to grasp and rotate a circular dial in a clockwise or counterclockwise direction. Although children's grasp selections were less consistent on an intra- and inter-individual level than adults' grasp selections, all children adjusted their grasps to the upcoming dial rotations. By contrast, in an also administered bar rotation task, only a subset of children adjusted their grasps to different bar rotations, thereby replicating previous results. The results indicate that 5- and 6-year-olds consistently use second-order planning in a dial rotation task, although this ability does not become apparent in bar rotation tasks.

Toward a Unified Sub-symbolic Computational Theory of Cognition

This paper proposes how various disciplinary theories of cognition may be combined into a unifying, sub-symbolic, computational theory of cognition. The following theories are considered for integration: psychological theories, including the theory of event coding, event segmentation theory, the theory of anticipatory behavioral control, and concept development; artificial intelligence and machine learning theories, including reinforcement learning and generative artificial neural networks; and theories from theoretical and computational neuroscience, including predictive coding and free energy-based inference. In the light of such a potential unification, it is discussed how abstract cognitive, conceptualized knowledge and understanding may be learned from actively gathered sensorimotor experiences. The unification rests on the free energy-based inference principle, which essentially implies that the brain builds a predictive, generative model of its environment. Neural activity-oriented inference causes the continuous adaptation of the currently active predictive encodings. Neural structure-oriented inference causes the longer term adaptation of the developing generative model as a whole. Finally, active inference strives for maintaining internal homeostasis, causing goal-directed motor behavior. To learn abstract, hierarchical encodings, however, it is proposed that free energy-based inference needs to be enhanced with structural priors, which bias cognitive development toward the formation of particular, behaviorally suitable encoding structures. As a result, it is hypothesized how abstract concepts can develop from, and thus how they are structured by and grounded in, sensorimotor experiences. Moreover, it is sketched-out how symbol-like thought can be generated by a temporarily active set of predictive encodings, which constitute a distributed neural attractor in the form of an interactive free-energy minimum. The activated, interactive network attractor essentially characterizes the semantics of a concept or a concept composition, such as an actual or imagined situation in our environment. Temporal successions of attractors then encode unfolding semantics, which may be generated by a behavioral or mental interaction with an actual or imagined situation in our environment. Implications, further predictions, possible verification, and falsifications, as well as potential enhancements into a fully spelled-out unified theory of cognition are discussed at the end of the paper.