Overlapping representations for grip type and reach direction

Object-oriented hand dexterity and grasping abilities, from the animal quarters to the neurosurgical OR: a systematic review of the underlying neural correlates in non-human, human primate and recent findings in awake brain surgery

Introduction

The sensorimotor integrations subserving object-oriented manipulative actions have been extensively investigated in non-human primates via direct approaches, as intracortical micro-stimulation (ICMS), cytoarchitectonic analysis and anatomical tracers. However, the understanding of the mechanisms underlying complex motor behaviors is yet to be fully integrated in brain mapping paradigms and the consistency of these findings with intraoperative data obtained during awake neurosurgical procedures for brain tumor removal is still largely unexplored. Accordingly, there is a paucity of systematic studies reviewing the cross-species analogies in neural activities during object-oriented hand motor tasks in primates and investigating the concordance with intraoperative findings during brain mapping. The current systematic review was designed to summarize the cortical and subcortical neural correlates of object-oriented fine hand actions, as revealed by fMRI and PET studies, in non-human and human primates and how those were translated into neurosurgical studies testing dexterous hand-movements during intraoperative brain mapping.

Methods

A systematic literature review was conducted following the PRISMA guidelines. PubMed, EMBASE and Web of Science databases were searched. Original articles were included if they: (1) investigated cortical activation sites on fMRI and/or PET during grasping task; (2) included humans or non-human primates. A second query was designed on the databases above to collect studies reporting motor, hand manipulation and dexterity tasks for intraoperative brain mapping in patients undergoing awake brain surgery for any condition. Due to the heterogeneity in neurosurgical applications, a qualitative synthesis was deemed more appropriate.

Results

We provided an updated overview of the current state of the art in translational neuroscience about the extended frontoparietal grasping-praxis network with a specific focus on the comparative functioning in non-human primates, healthy humans and how the latter knowledge has been implemented in the neurosurgical operating room during brain tumor resection.

Discussion

The anatomical and functional correlates we reviewed confirmed the evolutionary continuum from monkeys to humans, allowing a cautious but practical adoption of such evidence in intraoperative brain mapping protocols. Integrating the previous results in the surgical practice helps preserve complex motor abilities, prevent long-term disability and poor quality of life and allow the maximal safe resection of intrinsic brain tumors.

Decoding Reach Direction in Early "Visual" Cortex of Congenitally Blind Individuals

Motor actions, such as reaching or grasping, can be decoded from fMRI activity of early visual cortex (EVC) in sighted humans. This effect can depend on vision or visual imagery, or alternatively, could be driven by mechanisms independent of visual experience. Here, we show that the actions of reaching in different directions can be reliably decoded from fMRI activity of EVC in congenitally blind humans (both sexes). Thus, neither visual experience nor visual imagery is necessary for EVC to represent action-related information. We also demonstrate that, within EVC of blind humans, the accuracy of reach direction decoding is highest in areas typically representing foveal vision and gradually decreases in areas typically representing peripheral vision. We propose that this might indicate the existence of a predictive, hard-wired mechanism of aligning action and visual spaces. This mechanism might send action-related information primarily to the high-resolution foveal visual areas, which are critical for guiding and online correction of motor actions. Finally, we show that, beyond EVC, the decoding of reach direction in blind humans is most accurate in dorsal stream areas known to be critical for visuo-spatial and visuo-motor integration in the sighted. Thus, these areas can develop space and action representations even in the lifelong absence of vision. Overall, our findings in congenitally blind humans match previous research on the action system in the sighted, and suggest that the development of action representations in the human brain might be largely independent of visual experience.SIGNIFICANCE STATEMENT Early visual cortex (EVC) was traditionally thought to process only visual signals from the retina. Recent studies proved this account incomplete, and showed EVC involvement in many activities not directly related to incoming visual information, such as memory, sound, or action processing. Is EVC involved in these activities because of visual imagery? Here, we show robust reach direction representation in EVC of humans born blind. This demonstrates that EVC can represent actions independently of vision and visual imagery. Beyond EVC, we found that reach direction representation in blind humans is strongest in dorsal brain areas, critical for action processing in the sighted. This suggests that the development of action representations in the human brain is largely independent of visual experience.

Depth and direction effects in the prediction of static and shifted reaching goals from kinematics

The kinematic parameters of reach-to-grasp movements are modulated by action intentions. However, when an unexpected change in visual target goal during reaching execution occurs, it is still unknown whether the action intention changes with target goal modification and which is the temporal structure of the target goal prediction. We recorded the kinematics of the pointing finger and wrist during the execution of reaching movements in 23 naïve volunteers where the targets could be located at different directions and depths with respect to the body. During the movement execution, the targets could remain static for the entire duration of movement or shifted, with different timings, to another position. We performed temporal decoding of the final goals and of the intermediate trajectory from the past kinematics exploiting a recurrent neural network. We observed a progressive increase of the classification performance from the onset to the end of movement in both horizontal and sagittal dimensions, as well as in decoding shifted targets. The classification accuracy in decoding horizontal targets was higher than the classification accuracy of sagittal targets. These results are useful for establishing how human and artificial agents could take advantage from the observed kinematics to optimize their cooperation in three-dimensional space.

Dynamic spatial coding in parietal cortex mediates tactile-motor transformation

Movements towards touch on the body require integrating tactile location and body posture information. Tactile processing and movement planning both rely on posterior parietal cortex (PPC) but their interplay is not understood. Here, human participants received tactile stimuli on their crossed and uncrossed feet, dissociating stimulus location relative to anatomy versus external space. Participants pointed to the touch or the equivalent location on the other foot, which dissociates sensory and motor locations. Multi-voxel pattern analysis of concurrently recorded fMRI signals revealed that tactile location was coded anatomically in anterior PPC but spatially in posterior PPC during sensory processing. After movement instructions were specified, PPC exclusively represented the movement goal in space, in regions associated with visuo-motor planning and with regional overlap for sensory, rule-related, and movement coding. Thus, PPC flexibly updates its spatial codes to accommodate rule-based transformation of sensory input to generate movement to environment and own body alike.

Structure of the Motor Descending Pathways Correlates with the Temporal Kinematics of Hand Movements

Simple Summary

How hand motor behavior relates to the microstructure of the underlying subcortical white matter pathways is yet to be fully understood. Here we consider two well-known examples of our everyday motor repertoire, reaching and reach-to-grasp, by looking at their temporal unfolding and at the microstructure of descending projection pathways, conveying motor information from the motor cortices towards the more ventral regions of the nervous system. We combine three-dimensional kinematics, describing the temporal profile of hand movements, with diffusion imaging tractography, exploring the microstructure of specific segments of the projection pathways (internal capsule, corticospinal and hand motor tracts). The results indicate that the level of anisotropy characterizing these white matter tracts can influence the temporal unfolding of reaching and reach-to-grasp movements.

Abstract

The projection system, a complex organization of ascending and descending white matter pathways, is the principal system for conveying sensory and motor information, connecting frontal and sensorimotor regions with ventral regions of the central nervous system. The corticospinal tract (CST), one of the principal projection pathways, carries distal movement-related information from the cortex to the spinal cord, and whether its microstructure is linked to the kinematics of hand movements is still an open question. The aim of the present study was to explore how microstructure of descending branches of the projection system, namely the hand motor tract (HMT), the corticospinal tract (CST) and its sector within the internal capsule (IC), can relate to the temporal profile of reaching and reach-to-grasp movements. Projection pathways of 31 healthy subjects were virtually dissected by means of diffusion tractography and the kinematics of reaching and reach-to-grasp movements were also analyzed. A positive association between Hindrance Modulated Orientation Anisotropy (HMOA) and kinematics was observed, suggesting that anisotropy of the considered tract can influence the temporal unfolding of motor performance. We highlight, for the first time, that hand kinematics and the visuomotor transformation processes underlying reaching and reach-to-grasp movements relate to the microstructure of specific projection fibers subserving these movements.

Action goals and the praxis network: an fMRI study

The praxis representation network (PRN) of the left cerebral hemisphere is typically linked to the control of functional interactions with familiar tools. Surprisingly, little is known about the PRN engagement in planning and execution of tool-directed actions motivated by non-functional but purposeful action goals. Here we used functional neuroimaging to perform both univariate and multi-voxel pattern analyses (MVPA) in 20 right-handed participants who planned and later executed, with their dominant and non-dominant hands, disparate grasps of tools for different goals, including: (1) planning simple vs. demanding functional grasps of conveniently vs. inconveniently oriented tools with an intention to immediately use them, (2) planning simple—but non-functional—grasps of inconveniently oriented tools with a goal to pass them to a different person, (3) planning reaching movements directed at such tools with an intention to move/push them with the back of the hand, and (4) pantomimed execution of the earlier planned tasks. While PRN contributed to the studied interactions with tools, the engagement of its critical nodes, and/or complementary right hemisphere processing, was differently modulated by task type. E.g., planning non-functional/structural grasp-to-pass movements of inconveniently oriented tools, regardless of the hand, invoked the left parietal and prefrontal nodes significantly more than simple, non-demanding functional grasps. MVPA corroborated decoding capabilities of critical PRN areas and some of their right hemisphere counterparts. Our findings shed new lights on how performance of disparate action goals influences the extraction of object affordances, and how or to what extent it modulates the neural activity within the parieto-frontal brain networks.

Two Distinct Systems Represent Contralateral and Ipsilateral Sensorimotor Processes in the Human Premotor Cortex: A Dense TMS Mapping Study

Animal brains contain behaviorally committed representations of the surrounding world, which integrate sensory and motor information. In primates, sensorimotor mechanisms reside in part in the premotor cortex (PM), where sensorimotor neurons are topographically clustered according to functional specialization. Detailed functional cartography of the human PM is still under investigation. We explored the topographic distribution of spatially dependent sensorimotor functions in healthy volunteers performing left or right, hand or foot, responses to visual cues presented in the left or right hemispace, thus combining independently stimulus side, effector side, and effector type. Event-related transcranial magnetic stimulation was applied to single spots of a dense grid of 10 points on the participants' left hemiscalp, covering the whole PM. Results showed: (1) spatially segregated hand and foot representations, (2) focal representations of contralateral cues and movements in the dorsal PM, and (3) distributed representations of ipsilateral cues and movements in the ventral and dorso-medial PM. The present novel causal information indicates that (1) the human PM is somatotopically organized and (2) the left PM contains sensory-motor representations of both hemispaces and of both hemibodies, but the hemispace and hemibody contralateral to the PM are mapped on a distinct, nonoverlapping cortical region compared to the ipsilateral ones.

Cerebral hemodynamic response during a live action-observation and action-execution task: A fNIRS study

Although many studies have examined the location of the action observation network (AON) in human adults, the shared neural correlates of action-observation and action-execution are still unclear partially due to lack of ecologically valid neuroimaging measures. In this study, we aim to demonstrate the feasibility of using functional near infrared spectroscopy (fNIRS) to measure the neural correlates of action-observation and action execution regions during a live task. Thirty adults reached for objects or observed an experimenter reaching for objects while their cerebral hemodynamic responses including oxy-hemoglobin (HbO) and deoxy-hemoglobin (HbR) were recorded in the sensorimotor and parietal regions. Our results indicated that the parietal regions, including bilateral superior parietal lobule (SPL), bilateral inferior parietal lobule (IPL), right supra-marginal region (SMG) and right angular gyrus (AG) share neural activity during action-observation and action-execution. Our findings confirm the applicability of fNIRS for the study of the AON and lay the foundation for future work with developmental and clinical populations.

Action Observation Responses Are Influenced by Movement Kinematics and Target Identity

In order to inform the debate whether cortical areas related to action observation provide a pragmatic or a semantic representation of goal-directed actions, we performed 2 functional magnetic resonance imaging (fMRI) experiments in humans. The first experiment, involving observation of aimless arm movements, resulted in activation of most of the components known to support action execution and action observation. Given the absence of a target/goal in this experiment and the activation of parieto-premotor cortical areas, which were associated in the past with direction, amplitude, and velocity of movement of biological effectors, our findings suggest that during action observation we could be monitoring movement kinematics. With the second, double dissociation fMRI experiment, we revealed the components of the observation-related cortical network affected by 1) actions that have the same target/goal but different reaching and grasping kinematics and 2) actions that have very similar kinematics but different targets/goals. We found that certain areas related to action observation, including the mirror neuron ones, are informed about movement kinematics and/or target identity, hence providing a pragmatic rather than a semantic representation of goal-directed actions. Overall, our findings support a process-driven simulation-like mechanism of action understanding, in agreement with the theory of motor cognition, and question motor theories of action concept processing.

Hand-Selective Visual Regions Represent How to Grasp 3D Tools: Brain Decoding during Real Actions

Most neuroimaging experiments that investigate how tools and their actions are represented in the brain use visual paradigms where tools or hands are displayed as 2D images and no real movements are performed. These studies discovered selective visual responses in occipitotemporal and parietal cortices for viewing pictures of hands or tools, which are assumed to reflect action processing, but this has rarely been directly investigated. Here, we examined the responses of independently visually defined category-selective brain areas when participants grasped 3D tools (N = 20; 9 females). Using real-action fMRI and multivoxel pattern analysis, we found that grasp typicality representations (i.e., whether a tool is grasped appropriately for use) were decodable from hand-selective areas in occipitotemporal and parietal cortices, but not from tool-, object-, or body-selective areas, even if partially overlapping. Importantly, these effects were exclusive for actions with tools, but not for biomechanically matched actions with control nontools. In addition, grasp typicality decoding was significantly higher in hand than tool-selective parietal regions. Notably, grasp typicality representations were automatically evoked even when there was no requirement for tool use and participants were naive to object category (tool vs nontools). Finding a specificity for typical tool grasping in hand-selective, rather than tool-selective, regions challenges the long-standing assumption that activation for viewing tool images reflects sensorimotor processing linked to tool manipulation. Instead, our results show that typicality representations for tool grasping are automatically evoked in visual regions specialized for representing the human hand, the primary tool of the brain for interacting with the world.

Structural brain differences associated with extensive massively-multiplayer video gaming

Video gaming can be associated with inter-individual differences in brain morphology. Much of this literature has focused on non-professional/occasional gamers who barely play, on the one extreme; or Internet Gaming Disorder (IGD) cases who typically play more than 5 h/day, on the other extreme. We sought to extend this literature and focus on extensive gamers, who play about 3 h/day, which is typically more than non-professional gamers, but less than IGD cases. Findings regarding this sector of gamers can inform research on risk factors or markers for IGD development, even before addiction symptoms emerge. We predicted that extensive gamers have smaller prefrontal regions that presumably reflect weaker inhibition abilities, and larger visuomotor regions that presumably reflect stronger motor skills in response to visual stimuli. We tested these assertions with a between-subject brain morphology comparison of 26 extensive League of Legends (LOL) and matched 26 non-gamers, using voxel based morphometry, deformation based morphometry, and cortical thickness and sulcus depth analyses. Findings largely supported our predictions by pointing to morphological alterations in extensive gamers in the bilateral ventromedial prefrontal cortex and left dorsolateral prefrontal cortex, as well is in the left superior parietal lobule. These findings suggest that extensive gamers, at least of Massive-Multiplayer battle arena games, present brain alterations that are consistent with presumed loss of control (as mediated by the prefrontal cortex), but also improved attention and visoumotor skills (as mediated by superior parietal lobule). Implications for research and practice are discussed.

Decoding stimuli (tool-hand) and viewpoint invariant grasp-type information

When we see a manipulable object (henceforth tool) or a hand performing a grasping movement, our brain is automatically tuned to how that tool can be grasped (i.e., its affordance) or what kind of grasp that hand is performing (e.g., a power or precision grasp). However, it remains unclear where visual information related to tools or hands are transformed into abstract grasp representations. We therefore investigated where different levels of abstractness in grasp information are processed: grasp information that is invariant to the kind of stimuli that elicits it (tool-hand invariance); and grasp information that is hand-specific but viewpoint-invariant (viewpoint invariance). We focused on brain areas activated when viewing both tools and hands, i.e., the posterior parietal cortices (PPC), ventral premotor cortices (PMv), and lateral occipitotemporal cortex/posterior middle temporal cortex (LOTC/pMTG). To test for invariant grasp representations, we presented participants with tool images and grasp videos (from first or third person perspective; 1pp or 3pp) inside an MRI scanner, and cross-decoded power versus precision grasps across (i) grasp perspectives (viewpoint invariance), (ii) tool images and grasp 1pp videos (tool-hand 1pp invariance), and (iii) tool images and grasp 3pp videos (tool-hand 3pp invariance). Tool-hand 1pp, but not tool-hand 3pp, invariant grasp information was found in left PPC, whereas viewpoint-invariant information was found bilaterally in PPC, left PMv, and left LOTC/pMTG. These findings suggest different levels of abstractness-where visual information is transformed into stimuli-invariant grasp representations/tool affordances in left PPC, and viewpoint invariant but hand-specific grasp representations in the hand network.

Reduced Facilitation of Parietal-Motor Functional Connections in Older Adults

Age-related changes in cortico-cortical connectivity in the human motor network in older adults are associated with declines in hand dexterity. Posterior parietal cortex (PPC) is strongly interconnected with motor areas and plays a critical role in many aspects of motor planning. Functional connectivity measures derived from dual-site transcranial magnetic stimulation (dsTMS) studies have found facilitatory inputs from PPC to ipsilateral primary motor cortex (M1) in younger adults. In this study, we investigated whether facilitatory inputs from PPC to M1 are altered by age. We used dsTMS in a conditioning-test paradigm to characterize patterns of functional connectivity between the left PPC and ipsilateral M1 and a standard pegboard test to assess skilled hand motor function in 13 young and 13 older adults. We found a PPC-M1 facilitation in young adults but not older adults. Older adults also showed a decline in motor performance compared to young adults. We conclude that the reduced PPC-M1 facilitation in older adults may be an early marker of age-related decline in the neural control of movement.

Evidence for an effector-independent action system from people born without hands

What are the principles of brain organization? In the motor domain, separate pathways were found for reaching and grasping actions performed by the hand. To what extent is this organization specific to the hand or based on abstract action types, regardless of which body part performs them? We tested people born without hands who perform actions with their feet. Activity in frontoparietal association motor areas showed preference for an action type (reaching or grasping), regardless of whether it was performed by the foot in people born without hands or by the hand in typically-developed controls. These findings provide evidence that some association areas are organized based on abstract functions of action types, independent of specific sensorimotor experience and parameters of specific body parts.

Many parts of the visuomotor system guide daily hand actions, like reaching for and grasping objects. Do these regions depend exclusively on the hand as a specific body part whose movement they guide, or are they organized for the reaching task per se, for any body part used as an effector? To address this question, we conducted a neuroimaging study with people born without upper limbs—individuals with dysplasia—who use the feet to act, as they and typically developed controls performed reaching and grasping actions with their dominant effector. Individuals with dysplasia have no prior experience acting with hands, allowing us to control for hand motor imagery when acting with another effector (i.e., foot). Primary sensorimotor cortices showed selectivity for the hand in controls and foot in individuals with dysplasia. Importantly, we found a preference based on action type (reaching/grasping) regardless of the effector used in the association sensorimotor cortex, in the left intraparietal sulcus and dorsal premotor cortex, as well as in the basal ganglia and anterior cerebellum. These areas also showed differential response patterns between action types for both groups. Intermediate areas along a posterior–anterior gradient in the left dorsal premotor cortex gradually transitioned from selectivity based on the body part to selectivity based on the action type. These findings indicate that some visuomotor association areas are organized based on abstract action functions independent of specific sensorimotor parameters, paralleling sensory feature-independence in visual and auditory cortices in people born blind and deaf. Together, they suggest association cortices across action and perception may support specific computations, abstracted from low-level sensorimotor elements.

The Topography of Visually Guided Grasping in the Premotor Cortex: A Dense-Transcranial Magnetic Stimulation (TMS) Mapping Study

Visuomotor transformations at the cortical level occur along a network where posterior parietal regions are connected to homologous premotor regions. Grasping-related activity is represented in a diffuse, ventral and dorsal system in the posterior parietal regions, but no systematic causal description of a premotor counterpart of a similar diffuse grasping representation is available. To fill this gap, we measured the kinematics of right finger movements in 17 male and female human participants during grasping of three objects of different sizes. Single-pulse transcranial magnetic stimulation was applied 100 ms after visual presentation of the object over a regular grid of 8 spots covering the left premotor cortex (PMC) and 2 Sham stimulations. Maximum finger aperture during reach was used as the feature to classify object size in different types of classifiers. Classification accuracy was taken as a measure of the efficiency of visuomotor transformations for grasping. Results showed that transcranial magnetic stimulation reduced classification accuracy compared with Sham stimulation when it was applied to 2 spots in the ventral PMC and 1 spot in the medial PMC, corresponding approximately to the ventral PMC and the dorsal portion of the supplementary motor area. Our results indicate a multifocal representation of object geometry for grasping in the PMC that matches the known multifocal parietal maps of grasping representations. Additionally, we confirm that, by applying a uniform spatial sampling procedure, transcranial magnetic stimulation can produce cortical functional maps independent of a priori spatial assumptions.SIGNIFICANCE STATEMENT Visually guided actions activate a large frontoparietal network. Here, we used a dense grid of transcranial magnetic stimulation spots covering the whole premotor cortex (PMC), to identify with accurate spatial mapping the functional specialization of the human PMC during grasping movement. Results corroborate previous findings about the role of the ventral PMC in preshaping the fingers according to the size of the target. Crucially, we found that the medial part of PMC, putatively covering the supplementary motor area, plays a direct role in object grasping. In concert with findings in nonhuman primates, these results indicate a multifocal representation of object geometry for grasping in the PMC and expand our understanding of how our brain integrates visual and motor information to perform visually guided actions.

Neurostimulation and Reach-to-Grasp Function Recovery Following Acquired Brain Injury: Insight From Pre-clinical Rodent Models and Human Applications

Reach-to-grasp is an evolutionarily conserved motor function that is adversely impacted following stroke and traumatic brain injury (TBI). Non-invasive brain stimulation (NIBS) methods, such as transcranial magnetic stimulation and transcranial direct current stimulation, are promising tools that could enhance functional recovery of reach-to-grasp post-brain injury. Though the rodent literature provides a causal understanding of post-injury recovery mechanisms, it has had a limited impact on NIBS protocols in human research. The high degree of homology in reach-to-grasp circuitry between humans and rodents further implies that the application of NIBS to brain injury could be better informed by findings from pre-clinical rodent models and neurorehabilitation research. Here, we provide an overview of the advantages and limitations of using rodent models to advance our current understanding of human reach-to-grasp function, cortical circuitry, and reorganization. We propose that a cross-species comparison of reach-to-grasp recovery could provide a mechanistic framework for clinically efficacious NIBS treatments that could elicit better functional outcomes for patients.

Representational Neural Mapping of Dexterous Grasping Before Lifting in Humans

The ability of humans to reach and grasp objects in their environment has been the mainstay paradigm for characterizing the neural circuitry driving object-centric actions. Although much is known about hand shaping, a persistent question is how the brain orchestrates and integrates the grasp with lift forces of the fingers in a coordinated manner. The objective of the current study was to investigate how the brain represents grasp configuration and lift force during a dexterous object-centric action in a large sample of male and female human subjects. BOLD activity was measured as subjects used a precision-grasp to lift an object with a center of mass (CoM) on the left or right with the goal of minimizing tilting the object. The extent to which grasp configuration and lift force varied between left and right CoM conditions was manipulated by grasping the object collinearly (requiring a non-collinear force distribution) or non-collinearly (requiring more symmetrical forces). Bayesian variational representational similarity analyses on fMRI data assessed the evidence that a set of cortical and cerebellar regions were sensitive to grasp configuration or lift force differences between CoM conditions at differing time points during a grasp to lift action. In doing so, we reveal strong evidence that grasping and lift force are not represented by spatially separate functionally specialized regions, but by the same regions at differing time points. The coordinated grasp to lift effort is shown to be under dorsolateral (PMv and AIP) more than dorsomedial control, and under SPL7, somatosensory PSC, ventral LOC and cerebellar control.SIGNIFICANCE STATEMENT Clumsy disasters such as spilling, dropping, and crushing during our daily interactions with objects are a rarity rather than the norm. These disasters are avoided in part as a result of our orchestrated anticipatory efforts to integrate and coordinate grasping and lifting of object interactions, all before the lift of an object even commences. How the brain orchestrates this integration process has been largely neglected by historical approaches independently and solely focusing on reaching and grasping and the neural principles that guide them. Here, we test the extent to which grasping and lifting are represented in a spatially or temporally distinct manner and identified strong evidence for the consecutive emergence of sensitivity to grasping, then lifting within the same region.

Hierarchical Action Encoding Within the Human Brain

Humans are able to interact with objects with extreme flexibility. To achieve this ability, the brain does not only control specific muscular patterns, but it also needs to represent the abstract goal of an action, irrespective of its implementation. It is debated, however, how abstract action goals are implemented in the brain. To address this question, we used multivariate pattern analysis of functional magnetic resonance imaging data. Human participants performed grasping actions (precision grip, whole hand grip) with two different wrist orientations (canonical, rotated), using either the left or right hand. This design permitted to investigate a hierarchical organization consisting of three levels of abstraction: 1) “concrete action” encoding; 2) “effector-dependent goal” encoding (invariant to wrist orientation); and 3) “effector-independent goal” encoding (invariant to effector and wrist orientation). We found that motor cortices hosted joint encoding of concrete actions and of effector-dependent goals, while the parietal lobe housed a convergence of all three representations, comprising action goals within and across effectors. The left lateral occipito-temporal cortex showed effector-independent goal encoding, but no convergence across the three levels of representation. Our results support a hierarchical organization of action encoding, shedding light on the neural substrates supporting the extraordinary flexibility of human hand behavior.

A review of grasping as the movements of digits in space

It is tempting to describe human reach-to-grasp movements in terms of two, more or less independent visuomotor channels, one relating hand transport to the object’s location and the other relating grip aperture to the object’s size. Our review of experimental work questions this framework for reasons that go beyond noting the dependence between the two channels. Both the lack of effect of size illusions on grip aperture and the finding that the variability in grip aperture does not depend on the object’s size indicate that size information is not used to control grip aperture. An alternative is to describe grip formation as emerging from controlling the movements of the digits in space. Each digit’s trajectory when grasping an object is remarkably similar to its trajectory when moving to tap the same position on its own. The similarity is also evident in the fast responses when the object is displaced. This review develops a new description of the speed-accuracy trade-off for multiple effectors that is applied to grasping. The most direct support for the digit-in-space framework is that prism-induced adaptation of each digit’s tapping movements transfers to that digit’s movements when grasping, leading to changes in grip aperture for adaptation in opposite directions for the two digits. We conclude that although grip aperture and hand transport are convenient variables to describe grasping, treating grasping as movements of the digits in space is a more suitable basis for understanding the neural control of grasping.

Decoding Grasping Movements from the Parieto-Frontal Reaching Circuit in the Nonhuman Primate

Prehension movements typically include a reaching phase, guiding the hand toward the object, and a grip phase, shaping the hand around it. The dominant view posits that these components rely upon largely independent parieto-frontal circuits: a dorso-medial circuit involved in reaching and a dorso-lateral circuit involved in grasping. However, mounting evidence suggests a more complex arrangement, with dorso-medial areas contributing to both reaching and grasping. To investigate the role of the dorso-medial reaching circuit in grasping, we trained monkeys to reach-and-grasp different objects in the dark and determined if hand configurations could be decoded from functional magnetic resonance imaging (MRI) responses obtained from the reaching and grasping circuits. Indicative of their established role in grasping, object-specific grasp decoding was found in anterior intraparietal (AIP) area, inferior parietal lobule area PFG and ventral premotor region F5 of the lateral grasping circuit, and primary motor cortex. Importantly, the medial reaching circuit also conveyed robust grasp-specific information, as evidenced by significant decoding in parietal reach regions (particular V6A) and dorsal premotor region F2. These data support the proposed role of dorso-medial "reach" regions in controlling aspects of grasping and demonstrate the value of complementing univariate with more sensitive multivariate analyses of functional MRI (fMRI) data in uncovering information coding in the brain.

Reduced neural representation of arm/hand actions in the medial posterior parietal cortex

Several investigations at a single-cell level demonstrated that the medial posterior parietal area V6A is involved in encoding reaching and grasping actions in different visual conditions. Here, we looked for a “low-dimensional” representation of these encoding processes by studying macaque V6A neurons tested in three different tasks with a dimensionality reduction technique, the demixed principal component analysis (dPCA), which is very suitable for neuroprosthetics readout. We compared neural activity in reaching and grasping tasks by highlighting the portions of population variance involved in the encoding of visual information, target position, wrist orientation and grip type. The weight of visual information and task parameters in the encoding process was dependent on the task. We found that the distribution of variance captured by visual information in the three tasks did not differ significantly among the tasks, whereas the variance captured by target position and grip type parameters were significantly higher with respect to that captured by wrist orientation regardless of the number of conditions considered in each task. These results suggest a different use of relevant information according to the type of planned and executed action. This study shows a simplified picture of encoding that describes how V6A processes relevant information for action planning and execution.

How does human motor cortex regulate vocal pitch in singers?

Vocal pitch is used as an important communicative device by humans, as found in the melodic dimension of both speech and song. Vocal pitch is determined by the degree of tension in the vocal folds of the larynx, which itself is influenced by complex and nonlinear interactions among the laryngeal muscles. The relationship between these muscles and vocal pitch has been described by a mathematical model in the form of a set of 'control rules'. We searched for the biological implementation of these control rules in the larynx motor cortex of the human brain. We scanned choral singers with functional magnetic resonance imaging as they produced discrete pitches at four different levels across their vocal range. While the locations of the larynx motor activations varied across singers, the activation peaks for the four pitch levels were highly consistent within each individual singer. This result was corroborated using multi-voxel pattern analysis, which demonstrated an absence of patterned activations differentiating any pairing of pitch levels. The complex and nonlinear relationships between the multiple laryngeal muscles that control vocal pitch may obscure the neural encoding of vocal pitch in the brain.

Preparatory activity for purposeful arm movements in the dorsomedial parietal area V6A: Beyond the online guidance of movement

Over the years, electrophysiological recordings in macaque monkeys performing visuomotor tasks brought about accumulating evidence for the expression of neuronal properties (e.g., selectivity in the visuospatial and somatosensory domains, encoding of visual affordances and motor cues) in the posterior parietal area V6A that characterize it as an ideal neural substrate for online control of prehension. Interestingly, neuroimaging studies suggested a role of putative human V6A also in action preparation; moreover, pre-movement population activity in monkey V6A has been recently shown to convey grip-related information for upcoming grasping. Here we directly test whether macaque V6A neurons encode preparatory signals that effectively differentiate between dissimilar actions before movement. We recorded the activity of single V6A neurons during execution of two visuomotor tasks requiring either reach-to-press or reach-to-grasp movements in different background conditions, and described the nature and temporal dynamics of V6A activity preceding movement execution. We found striking consistency in neural discharges measured during pre-movement and movement epochs, suggesting that the former is a preparatory activity exquisitely linked to the subsequent execution of particular motor actions. These findings strongly support a role of V6A beyond the online guidance of movement, with preparatory activity implementing suitable motor programs that subsequently support action execution.

Asymmetry and Structure of the Fronto-Parietal Networks Underlie Visuomotor Processing in Humans

Research in both humans and monkeys has shown that even simple hand movements require cortical control beyond primary sensorimotor areas. An extensive functional neuroimaging literature demonstrates the key role that cortical fronto-parietal regions play for movements such as reaching and reach-to-grasp. However, no study so far has examined the specific white matter connections linking the fronto-parietal regions, namely the 3 parallel pathways of the superior longitudinal fasciculus (SLF). The aim of the current study was to explore how selective fronto-parietal connections are for different kinds of hand movement in 30 right-handed subjects by correlating diffusion imaging tractography and kinematic data. We showed that a common network, consisting of bilateral SLF II and SLF III, was involved in both reaching and reach-to-grasp movements. Larger SLF II and SLF III in the right hemisphere were associated with faster speed of visuomotor processing, while the left SLF II and SLF III played a role in the initial movement trajectory control. Furthermore, the right SLF II was involved in the closing grip phase necessary for efficient grasping of the object. We demonstrated for the first time that individual differences in asymmetry and structure of the fronto-parietal networks were associated with visuomotor processing in humans.

Time-resolved decoding of planned delayed and immediate prehension movements

Different contexts require us either to react immediately, or to delay (or suppress) a planned movement. Previous studies that aimed at decoding movement plans typically dissociated movement preparation and execution by means of delayed-movement paradigms. Here we asked whether these results can be generalized to the planning and execution of immediate movements. To directly compare delayed, non-delayed, and suppressed reaching and grasping movements, we used a slow event-related functional magnetic resonance imaging (fMRI) design. To examine how neural representations evolved throughout movement planning, execution, and suppression, we performed time-resolved multivariate pattern analysis (MVPA). During the planning phase, we were able to decode upcoming reaching and grasping movements in contralateral parietal and premotor areas. During the execution phase, we were able to decode movements in a widespread bilateral network of motor, premotor, and somatosensory areas. Moreover, we obtained significant decoding across delayed and non-delayed movement plans in contralateral primary motor cortex. Our results demonstrate the feasibility of time-resolved MVPA and provide new insights into the dynamics of the prehension network, suggesting early neural representations of movement plans in the primary motor cortex that are shared between delayed and non-delayed contexts.

Decoding social intentions in human prehensile actions: Insights from a combined kinematics-fMRI study

Consistent evidence suggests that the way we reach and grasp an object is modulated not only by object properties (e.g., size, shape, texture, fragility and weight), but also by the types of intention driving the action, among which the intention to interact with another agent (i.e., social intention). Action observation studies ascribe the neural substrate of this 'intentional' component to the putative mirror neuron (pMNS) and the mentalizing (MS) systems. How social intentions are translated into executed actions, however, has yet to be addressed. We conducted a kinematic and a functional Magnetic Resonance Imaging (fMRI) study considering a reach-to-grasp movement performed towards the same object positioned at the same location but with different intentions: passing it to another person (social condition) or putting it on a concave base (individual condition). Kinematics showed that individual and social intentions are characterized by different profiles, with a slower movement at the level of both the reaching (i.e., arm movement) and the grasping (i.e., hand aperture) components. fMRI results showed that: (i) distinct voxel pattern activity for the social and the individual condition are present within the pMNS and the MS during action execution; (ii) decoding accuracies of regions belonging to the pMNS and the MS are correlated, suggesting that these two systems could interact for the generation of appropriate motor commands. Results are discussed in terms of motor simulation and inferential processes as part of a hierarchical generative model for action intention understanding and generation of appropriate motor commands.

Disentangling Representations of Object and Grasp Properties in the Human Brain

The properties of objects, such as shape, influence the way we grasp them. To quantify the role of different brain regions during grasping, it is necessary to disentangle the processing of visual dimensions related to object properties from the motor aspects related to the specific hand configuration. We orthogonally varied object properties (shape, size, and elongation) and task (passive viewing, precision grip with two or five digits, or coarse grip with five digits) and used representational similarity analysis of functional magnetic resonance imaging data to infer the representation of object properties and hand configuration in the human brain. We found that object elongation is the most strongly represented object feature during grasping and is coded preferentially in the primary visual cortex as well as the anterior and posterior superior-parieto-occipital cortex. By contrast, primary somatosensory, motor, and ventral premotor cortices coded preferentially the number of digits while ventral-stream and dorsal-stream regions coded a mix of visual and motor dimensions. The representation of object features varied with task modality, as object elongation was less relevant during passive viewing than grasping. To summarize, this study shows that elongation is a particularly relevant property of the object to grasp, which along with the number of digits used, is represented within both ventral-stream and parietal regions, suggesting that communication between the two streams about these specific visual and motor dimensions might be relevant to the execution of efficient grasping actions.

SIGNIFICANCE STATEMENT

To grasp something, the visual properties of an object guide preshaping of the hand into the appropriate configuration. Different grips can be used, and different objects require different hand configurations. However, in natural actions, grip and object type are often confounded, and the few experiments that have attempted to separate them have produced conflicting results. As such, it is unclear how visual and motor properties are represented across brain regions during grasping. Here we orthogonally manipulated object properties and grip, and revealed the visual dimension (object elongation) and the motor dimension (number of digits) that are more strongly coded in ventral and dorsal streams. These results suggest that both streams play a role in the visuomotor coding essential for grasping.

Differential Recruitment of Parietal Cortex during Spatial and Non-spatial Reach Planning

The planning of goal-directed arm reaching movements is associated with activity in the dorsal parieto-frontal cortex, within which multiple regions subserve the integration of arm- and target-related sensory signals to encode a motor goal. Surprisingly, many of these regions show sustained activity during reach preparation even when target location is not specified, i.e., when a motor goal cannot be unambiguously formed. The functional role of these non-spatial preparatory signals remains unresolved. Here this process was investigated in humans by comparing reach preparatory activity in the presence or absence of information regarding upcoming target location. In order to isolate the processes specific to reaching and to control for visuospatial attentional factors, the reaching task was contrasted to a finger movement task. Functional MRI and electroencephalography (EEG) were used to characterize the spatio-temporal pattern of reach-related activity in the parieto-frontal cortex. Reach planning with advance knowledge of target location induced robust blood oxygenated level dependent and EEG responses across parietal and premotor regions contralateral to the reaching arm. In contrast, reach preparation without knowledge of target location was associated with a significant BOLD response bilaterally in the parietal cortex. Furthermore, EEG alpha- and beta-band activity was restricted to parietal scalp sites, the magnitude of the latter being correlated with reach reaction times. These results suggest an intermediate stage of sensorimotor transformations in bilateral parietal cortex when target location is not specified.

An MR-compatible gyroscope-based arm movement tracking system

BACKGROUND

Functional magnetic resonance imaging is well suited to link neural population activation with movement parameters of complex natural arm movements. However, currently existing MR-compatible arm tracking devices are not constructed to measure arm joint movement parameters of unrestricted movements. Therefore, to date most research focuses on simple arm movements or includes very little knowledge about the actual movement kinematics.

NEW METHOD

We developed a low cost gyroscope-based arm movement tracking system (GAMTS) that features MR-compatibility. The system consists of dual-axis analogue gyroscopes that measure rotations of upper and lower arm joints. After MR artifact reduction, the rotation angles of the individual arm joints are calculated and used to animate a realistic arm model that is implemented in the OpenSim platform. The OpenSim platform can then provide the kinematics of any point on the arm model.

RESULTS

In order to demonstrate the capabilities of the system, we first assessed the quality of reconstructed wrist movements in a low-noise environment where typical MR-related problems are absent and finally, we validated the reconstruction in the MR environment.

COMPARISON WITH EXISTING METHODS

The system provides the kinematics of the whole arm when natural unrestricted arm movements are performed inside the MR-scanner.

CONCLUSION

The GAMTS is reliably capable of reconstructing the kinematics of trajectories and the reconstruction error is small in comparison with the movement induced variation of speed, displacement, and rotation. Moreover, the system can be used to probe brain areas for their correlation with movement kinematics.

The Contribution of Different Cortical Regions to the Control of Spatially Decoupled Eye-Hand Coordination

Our brain's ability to flexibly control the communication between the eyes and the hand allows for our successful interaction with the objects located within our environment. This flexibility has been observed in the pattern of neural responses within key regions of the frontoparietal reach network. More specifically, our group has shown how single-unit and oscillatory activity within the dorsal premotor cortex (PMd) and the superior parietal lobule (SPL) change contingent on the level of visuomotor compatibility between the eyes and hand. Reaches that involve a coupling between the eyes and hand toward a common spatial target display a pattern of neural responses that differ from reaches that require eye-hand decoupling. Although previous work examined the altered spiking and oscillatory activity that occurs during different types of eye-hand compatibilities, they did not address how each of these measures of neurological activity interacts with one another. Thus, in an effort to fully characterize the relationship between oscillatory and single-unit activity during different types of eye-hand coordination, we measured the spike-field coherence (SFC) within regions of macaque SPL and PMd. We observed stronger SFC within PMdr and superficial regions of SPL (areas 5/PEc) during decoupled reaches, whereas PMdc and regions within SPL surrounding medial intrapareital sulcus had stronger SFC during coupled reaches. These results were supported by meta-analysis on human fMRI data. Our results support the proposal of altered cortical control during complex eye-hand coordination and highlight the necessity to account for the different eye-hand compatibilities in motor control research.

Decoding Movement Goals from the Fronto-Parietal Reach Network

During reach planning, fronto-parietal brain areas need to transform sensory information into a motor code. It is debated whether these areas maintain a sensory representation of the visual cue or a motor representation of the upcoming movement goal. Here, we present results from a delayed pro-/anti-reach task which allowed for dissociating the position of the visual cue from the reach goal. In this task, the visual cue was combined with a context rule (pro vs. anti) to infer the movement goal. Different levels of movement goal specification during the delay were obtained by presenting the context rule either before the delay together with the visual cue (specified movement goal) or after the delay (underspecified movement goal). By applying functional magnetic resonance imaging (fMRI) multivoxel pattern analysis (MVPA), we demonstrate movement goal encoding in the left dorsal premotor cortex (PMd) and bilateral superior parietal lobule (SPL) when the reach goal is specified. This suggests that fronto-parietal reach regions (PRRs) maintain a prospective motor code during reach planning. When the reach goal is underspecified, only area PMd but not SPL represents the visual cue position indicating an incomplete state of sensorimotor integration. Moreover, this result suggests a potential role of PMd in movement goal selection.

Parietal area BA7 integrates motor programs for reaching, grasping, and bimanual coordination

Skillful interaction with the world requires that the brain uses a multitude of sensorimotor programs and subroutines, such as for reaching, grasping, and the coordination of the two body halves. However, it is unclear how these programs operate together. Networks for reaching, grasping, and bimanual coordination might converge in common brain areas. For example, Brodmann area 7 (BA7) is known to activate in disparate tasks involving the three types of movements separately. Here, we asked whether BA7 plays a key role in integrating coordinated reach-to-grasp movements for both arms together. To test this, we applied transcranial magnetic stimulation (TMS) to disrupt BA7 activity in the left and right hemispheres, while human participants performed a bimanual size-perturbation grasping task using the index and middle fingers of both hands to grasp a rectangular object whose orientation (and thus grasp-relevant width dimension) might or might not change. We found that TMS of the right BA7 during object perturbation disrupted the bimanual grasp and transport/coordination components, and TMS over the left BA7 disrupted unimanual grasps. These results show that right BA7 is causally involved in the integration of reach-to-grasp movements of the two arms.

NEW & NOTEWORTHY

Our manuscript describes a role of human Brodmann area 7 (BA7) in the integration of multiple visuomotor programs for reaching, grasping, and bimanual coordination. Our results are the first to suggest that right BA7 is critically involved in the coordination of reach-to-grasp movements of the two arms. The results complement previous reports of right-hemisphere lateralization for bimanual grasps.

The role of the frontal aslant tract and premotor connections in visually guided hand movements

Functional neuroimaging and brain lesion studies demonstrate that secondary motor areas of the frontal lobe play a crucial role in the cortical control of hand movements. However, no study so far has examined frontal white matter connections of the secondary motor network, namely the frontal aslant tract, connecting the supplementary motor complex and the posterior inferior frontal regions, and the U-shaped dorsal and ventral premotor fibers running through the middle frontal gyrus. The aim of the current study is to explore the involvement of the short frontal lobe connections in reaching and reach-to-grasp movements in 32 right-handed healthy subjects by correlating tractography data based on spherical deconvolution approach with kinematical data. We showed that individual differences in the microstructure of the bilateral frontal aslant tract, bilateral ventral and left dorsal premotor tracts were associated with kinematic features of hand actions. Furthermore, bilateral ventral premotor connections were also involved in the closing grip phase necessary for determining efficient and stable grasping of the target object. This work suggests for the first time that hand kinematics and visuomotor processing are associated with the anatomy of the short frontal lobe connections.

Beta band modulations underlie action representations for movement planning

To be able to interact with our environment, we need to transform incoming sensory information into goal-directed motor outputs. Whereas our ability to plan an appropriate movement based on sensory information appears effortless and simple, the underlying brain dynamics are still largely unknown. Here we used magnetoencephalography (MEG) to investigate this issue by recording brain activity during the planning of non-visually guided reaching and grasping actions, performed with either the left or right hand. Adopting a combination of univariate and multivariate analyses, we revealed specific patterns of beta power modulations underlying varying levels of neural representations during movement planning. (1) Effector-specific modulations were evident as a decrease in power in the beta band. Within both hemispheres, this decrease was stronger while planning a movement with the contralateral hand. (2) The comparison of planned grasping and reaching led to a relative increase in power in the beta band. These power changes were localized within temporal, premotor and posterior parietal cortices. Action-related modulations overlapped with effector-related beta power changes within widespread frontal and parietal regions, suggesting the possible integration of these two types of neural representations. (3) Multivariate analyses of action-specific power changes revealed that part of this broadband beta modulation also contributed to the encoding of an effector-independent neural representation of a planned action within fronto-parietal and temporal regions. Our results suggest that beta band power modulations play a central role in movement planning, within both the dorsal and ventral stream, by coding and integrating different levels of neural representations, ranging from the simple representation of the to-be-moved effector up to an abstract, effector-independent representation of the upcoming action.

Decoding Internally and Externally Driven Movement Plans

During movement planning, brain activity within parietofrontal networks encodes information about upcoming actions that can be driven either externally (e.g., by a sensory cue) or internally (i.e., by a choice/decision). Here we used multivariate pattern analysis (MVPA) of fMRI data to distinguish between areas that represent (1) abstract movement plans that generalize across the way in which these were driven, (2) internally driven movement plans, or (3) externally driven movement plans. In a delayed-movement paradigm, human volunteers were asked to plan and execute three types of nonvisually guided right-handed reaching movements toward a central target object: using a precision grip, a power grip, or touching the object without hand preshaping. On separate blocks of trials, movements were either instructed via color cues (Instructed condition), or chosen by the participant (Free-Choice condition). Using ROI-based and whole-brain searchlight-based MVPA, we found abstract representations of planned movements that generalize across the way these movements are selected (internally vs externally driven) in parietal cortex, dorsal premotor cortex, and primary motor cortex contralateral to the acting hand. In addition, we revealed representations specific for internally driven movement plans in contralateral ventral premotor cortex, dorsolateral prefrontal cortex, supramarginal gyrus, and in ipsilateral posterior parietotemporal regions, suggesting that these regions are recruited during movement selection. Finally, we observed representations of externally driven movement plans in bilateral supplementary motor cortex and a similar trend in presupplementary motor cortex, suggesting a role in stimulus-response mapping.

SIGNIFICANCE STATEMENT

The way the human brain prepares the body for action constitutes an essential part of our ability to interact with our environment. Previous studies demonstrated that patterns of neuronal activity encode upcoming movements. Here we used multivariate pattern analysis of human fMRI data to distinguish between brain regions containing movement plans for instructed (externally driven) movements, areas involved in movement selection (internally driven), and areas containing abstract movement plans that are invariant to the way these were generated (i.e., that generalize across externally and internally driven movement plans). Our findings extend our understanding of the neural basis of movement planning and have the potential to contribute to the development of brain-controlled neural prosthetic devices.

Probing the reaching-grasping network in humans through multivoxel pattern decoding

INTRODUCTION

The quest for a putative human homolog of the reaching-grasping network identified in monkeys has been the focus of many neuropsychological and neuroimaging studies in recent years. These studies have shown that the network underlying reaching-only and reach-to-grasp movements includes the superior parieto-occipital cortex (SPOC), the anterior part of the human intraparietal sulcus (hAIP), the ventral and the dorsal portion of the premotor cortex, and the primary motor cortex (M1). Recent evidence for a wider frontoparietal network coding for different aspects of reaching-only and reach-to-grasp actions calls for a more fine-grained assessment of the reaching-grasping network in humans by exploiting pattern decoding methods (multivoxel pattern analysis--MVPA).

METHODS

Here, we used MPVA on functional magnetic resonance imaging (fMRI) data to assess whether regions of the frontoparietal network discriminate between reaching-only and reach-to-grasp actions, natural and constrained grasping, different grasp types, and object sizes. Participants were required to perform either reaching-only movements or two reach-to-grasp types (precision or whole hand grasp) upon spherical objects of different sizes.

RESULTS

Multivoxel pattern analysis highlighted that, independently from the object size, all the selected regions of both hemispheres contribute in coding for grasp type, with the exception of SPOC and the right hAIP. Consistent with recent neurophysiological findings on monkeys, there was no evidence for a clear-cut distinction between a dorsomedial and a dorsolateral pathway that would be specialized for reaching-only and reach-to-grasp actions, respectively. Nevertheless, the comparison of decoding accuracy across brain areas highlighted their different contributions to reaching-only and grasping actions.

CONCLUSIONS

Altogether, our findings enrich the current knowledge regarding the functional role of key brain areas involved in the cortical control of reaching-only and reach-to-grasp actions in humans, by revealing novel fine-grained distinctions among action types within a wide frontoparietal network.

Flexible Reference Frames for Grasp Planning in Human Parietofrontal Cortex

Reaching to a location in space is supported by a cortical network that operates in a variety of reference frames. Computational models and recent fMRI evidence suggest that this diversity originates from neuronal populations dynamically shifting between reference frames as a function of task demands and sensory modality. In this human fMRI study, we extend this framework to nonmanipulative grasping movements, an action that depends on multiple properties of a target, not only its spatial location. By presenting targets visually or somaesthetically, and by manipulating gaze direction, we investigate how information about a target is encoded in gaze- and body-centered reference frames in dorsomedial and dorsolateral grasping-related circuits. Data were analyzed using a novel multivariate approach that combines classification and cross-classification measures to explicitly aggregate evidence in favor of and against the presence of gaze- and body-centered reference frames. We used this approach to determine whether reference frames are differentially recruited depending on the availability of sensory information, and where in the cortical networks there is common coding across modalities. Only in the left anterior intraparietal sulcus (aIPS) was coding of the grasping target modality dependent: predominantly gaze-centered for visual targets and body-centered for somaesthetic targets. Left superior parieto-occipital cortex consistently coded targets for grasping in a gaze-centered reference frame. Left anterior precuneus and premotor areas operated in a modality-independent, body-centered frame. These findings reveal how dorsolateral grasping area aIPS could play a role in the transition between modality-independent gaze-centered spatial maps and body-centered motor areas.

Dissociable contribution of the parietal and frontal cortex to coding movement direction and amplitude

To reach for an object, we must convert its spatial location into an appropriate motor command, merging movement direction and amplitude. In humans, it has been suggested that this visuo-motor transformation occurs in a dorsomedial parieto-frontal pathway, although the causal contribution of the areas constituting the “reaching circuit” remains unknown. Here we used transcranial magnetic stimulation (TMS) in healthy volunteers to disrupt the function of either the medial intraparietal area (mIPS) or dorsal premotor cortex (PMd), in each hemisphere. The task consisted in performing step-tracking movements with the right wrist towards targets located in different directions and eccentricities; targets were either visible for the whole trial (Target-ON) or flashed for 200 ms (Target-OFF). Left and right mIPS disruption led to errors in the initial direction of movements performed towards contralateral targets. These errors were corrected online in the Target-ON condition but when the target was flashed for 200 ms, mIPS TMS manifested as a larger endpoint spreading. In contrast, left PMd virtual lesions led to higher acceleration and velocity peaks—two parameters typically used to probe the planned movement amplitude—irrespective of the target position, hemifield and presentation condition; in the Target-OFF condition, left PMd TMS induced overshooting and increased the endpoint dispersion along the axis of the target direction. These results indicate that left PMd intervenes in coding amplitude during movement preparation. The critical TMS timings leading to errors in direction and amplitude were different, namely 160–100 ms before movement onset for mIPS and 100–40 ms for left PMd. TMS applied over right PMd had no significant effect. These results demonstrate that, during motor preparation, direction and amplitude of goal-directed movements are processed by different cortical areas, at distinct timings, and according to a specific hemispheric organization.

Human posterior parietal cortex encodes the movement goal in a pro-/anti-reach task

Previous research on reach planning in humans has implicated a frontoparietal network, including the precuneus (PCu), a putative human homolog of the monkey parietal reach region (PRR), and the dorsal premotor cortex (PMd). Using a pro-/anti-reach task, electrophysiological studies in monkeys have demonstrated that the movement goal rather than the location of the visual cue is encoded in PRR and PMd. However, if only the effector but not the movement goal is specified (underspecified condition), the PRR and PMd have been shown to represent all potential movement goals. In this functional magnetic resonance imaging study, we investigated whether the human PCu and PMd likewise encode the movement goal, and whether these reach-related areas also engage in situations with underspecified compared with specified movement goals. By using a pro-/anti-reach task, we spatially dissociated the location of the visual cue from the location of the movement goal. In the specified conditions, pro- and anti-reaches activated similar parietal and premotor areas. In the PCu contralateral to the moving arm, we found directionally selective activation fixed to the movement goal. In the underspecified conditions, we observed activation in reach-related areas of the posterior parietal cortex, including PCu. However, the activation was substantially weaker in parietal areas and lacking in PMd. Our results suggest that human PCu encodes the movement goal rather than the location of the visual cue if the movement goal is specified and even engages in situations when only the visual cue but not the movement goal is defined.

Differentiating intended sensory outcome from underlying motor actions in the human brain

To achieve a certain sensory outcome, multiple actions can be executed. For example, unlocking a door might require clockwise or counterclockwise key turns depending on regional norms. Using fMRI in healthy human subjects, we examined the neural networks that dissociate intended sensory outcome from underlying motor actions. Subjects controlled a figure on a computer screen by performing pen traces on an MR-compatible digital tablet. Our design allowed us to dissociate intended sensory outcome (moving the figure in a certain direction) from the underlying motor action (horizontal/vertical pen traces). Using multivoxel pattern analysis and a whole-brain searchlight strategy, we found that activity patterns in left (contralateral) motor and parietal cortex and also right (ipsilateral) motor cortex significantly discriminated direction of pen traces regardless of intended direction of figure movement. Conversely, activity patterns in right superior parietal lobule and premotor cortex, and also left frontopolar cortex, significantly discriminated intended direction of figure movement regardless of underlying direction of hand movement. Together, these results highlight the role of ipsilateral motor cortex in coding movement directions and point to a network of brain regions involved in high order representation of intended sensory outcome that is dissociated from specific motor plans.

Neural correlates of grasping

Prehension, the capacity to reach and grasp objects, comprises two main components: reaching, i.e., moving the hand towards an object, and grasping, i.e., shaping the hand with respect to its properties. Knowledge of this topic has gained a huge advance in recent years, dramatically changing our view on how prehension is represented within the dorsal stream. While our understanding of the various nodes coding the grasp component is rapidly progressing, little is known of the integration between grasping and reaching. With this Mini Review we aim to provide an up-to-date overview of the recent developments on the coding of prehension. We will start with a description of the regions coding various aspects of grasping in humans and monkeys, delineating where it might be integrated with reaching. To gain insights into the causal role of these nodes in the coding of prehension, we will link this functional description to lesion studies. Finally, we will discuss future directions that might be promising to unveil new insights on the coding of prehension movements.

An investigation of the neural circuits underlying reaching and reach-to-grasp movements: from planning to execution

Experimental evidence suggests the existence of a sophisticated brain circuit specifically dedicated to reach-to-grasp planning and execution, both in human and non-human primates (Castiello, 2005). Studies accomplished by means of neuroimaging techniques suggest the hypothesis of a dichotomy between a “reach-to-grasp” circuit, involving the anterior intraparietal area, the dorsal and ventral premotor cortices (PMd and PMv – Castiello and Begliomini, 2008; Filimon, 2010) and a “reaching” circuit involving the medial intraparietal area and the superior parieto-occipital cortex (Culham et al., 2006). However, the time course characterizing the involvement of these regions during the planning and execution of these two types of movements has yet to be delineated. A functional magnetic resonance imaging study has been conducted, including reach-to-grasp and reaching only movements, performed toward either a small or a large stimulus, and Finite Impulse Response model (Henson, 2003) was adopted to monitor activation patterns from stimulus onset for a time window of 10 s duration. Data analysis focused on brain regions belonging either to the reaching or to the grasping network, as suggested by Castiello and Begliomini (2008). Results suggest that reaching and grasping movements planning and execution might share a common brain network, providing further confirmation to the idea that the neural underpinnings of reaching and grasping may overlap in both spatial and temporal terms (Verhagen et al., 2013). But, although responsive for both actions, they show a significant predominance for either one of the two actions and such a preference is evident on a temporal scale.