Grasping synergies: A motor-control approach to the mirror neuron mechanism

Excitatory/inhibitory motor balance reflects individual differences during joint action coordination

Joint action (JA) is a continuous process of motor co-regulation based on the integration of contextual (top-down) and kinematic (bottom-up) cues from partners. The fine equilibrium between excitation and inhibition in sensorimotor circuits is, thus, central to such a dynamic process of action selection and execution. In a bimanual task adapted to become a unimanual JA task, the participant held a bottle (JA), while a confederate had to reach and unscrew either that bottle or another stabilized by a mechanical clamp (No_JA). Prior knowledge was manipulated in each trial such that the participant knew (K) or not (No_K) the target bottle in advance. Online transcranial magnetic stimulation (TMS) was administered at action-relevant landmarks to explore corticospinal excitability (CSE) and inhibition (cortical silent period [cSP]). CSE was modulated early on before the action started if prior information was available. In contrast, cSP modulation emerged later during the reaching action, regardless of prior information. These two indexes could thus reflect the concurrent elaboration of contextual priors (top-down) and the online sampling of partner's kinematic cues (bottom-up). Furthermore, participants selected either one of two possible behavioural strategies, preferring early or late force exertion on the bottle. One translates into a reduced risk of motor coordination failure and the other into reduced metabolic expenditure. Each strategy was characterised by a specific excitatory/inhibitory profile. In conclusion, the study of excitatory/inhibitory balance paves the way for the neurophysiological determination of individual differences in the combination of top-down and bottom-up processing during JA coordination.

Identification of movement phenotypes from occupational gesture kinematics: Advancing individual ergonomic exposure classification and personalized training

The identification of personalized preventive strategies plays a major role in contrasting the occurrence of work-related musculoskeletal disorders. This requires the identification of distinct movement patterns within large samples and the attribution of a proper risk level to each identified movement phenotype. We assessed the feasibility of this approach by exploiting wearable inertial measurement units to estimate the whole-body kinematics of 43 healthy participants performing 18 reach-to-manipulate movements, which differed based on the object's position in the space and the type of manipulation required. Through unsupervised clustering, we identified multiple movement phenotypes graded by ergonomic performance. Furthermore, we determined which joints mostly contributed to instantiating the ergonomic differences across clusters, emphasizing the importance of monitoring this aspect during occupational gestures. Overall, our analysis suggests that movement phenotypes can be identified within occupational motor repertoires. Assigning individual performance to specific phenotypes has the potential to inform the development of more effective and tailored interventions.

Scale-invariant changes in corticospinal excitability reflect multiplexed oscillations in the motor output

In the absence of disease, humans produce smooth and accurate movement trajectories. Despite such 'macroscopic' aspect, the 'microscopic' structure of movements reveals recurrent (quasi-rhythmic) discontinuities. To date, it is unclear how the sensorimotor system contributes to the macroscopic and microscopic architecture of movement. Here, we investigated how corticospinal excitability changes in relation to microscopic fluctuations that are naturally embedded within larger macroscopic variations in motor output. Participants performed a visuomotor tracking task. In addition to the 0.25 Hz modulation that is required for task fulfilment (macroscopic scale), the motor output shows tiny but systematic fluctuations at ∼2 and 8 Hz (microscopic scales). We show that motor-evoked potentials (MEPs) elicited by transcranial magnetic stimulation (TMS) during task performance are consistently modulated at all (time) scales. Surprisingly, MEP modulation covers a similar range at both micro- and macroscopic scales, even though the motor output differs by several orders of magnitude. Thus, corticospinal excitability finely maps the multiscale temporal patterning of the motor output, but it does so according to a principle of scale invariance. These results suggest that corticospinal excitability indexes a relatively abstract level of movement encoding that may reflect the hierarchical organisation of sensorimotor processes. KEY POINTS: Motor behaviour is organised on multiple (time)scales. Small but systematic ('microscopic') fluctuations are engrained in larger and slower ('macroscopic') variations in motor output, which are instrumental in deploying the desired motor plan. Corticospinal excitability is modulated in relation to motor fluctuations on both macroscopic and microscopic (time)scales. Corticospinal excitability obeys a principle of scale invariance, that is, it is modulated similarly at all (time)scales, possibly reflecting hierarchical mechanisms that optimise motor encoding.

Motor invariants in action execution and perception

The nervous system is sensitive to statistical regularities of the external world and forms internal models of these regularities to predict environmental dynamics. Given the inherently social nature of human behavior, being capable of building reliable predictive models of others' actions may be essential for successful interaction. While social prediction might seem to be a daunting task, the study of human motor control has accumulated ample evidence that our movements follow a series of kinematic invariants, which can be used by observers to reduce their uncertainty during social exchanges. Here, we provide an overview of the most salient regularities that shape biological motion, examine the role of these invariants in recognizing others' actions, and speculate that anchoring socially-relevant perceptual decisions to such kinematic invariants provides a key computational advantage for inferring conspecifics' goals and intentions.

Insula cortex gates the interplay of action observation and preparation for controlled imitation

Perceiving, anticipating and responding to the actions of another person are fundamentally entwined processes such that seeing another's movement can prompt automatic imitation, as in social mimicry and contagious yawning. Yet the direct-matching of others' movements is not always appropriate, so this tendency must be controlled. This necessitates the hierarchical integration of the systems for action mirroring with domain-general control networks. Here we use functional magnetic resonance imaging (fMRI) and computational modelling to examine the top-down and context-dependent modulation of mirror representations and their influence on motor planning. Participants performed actions that either intentionally or incidentally imitated, or counter-imitated, an observed action. Analyses of these fMRI data revealed a region in the mid-occipital gyrus (MOG) where activity differed between imitation versus counter-imitation in a manner that depended on whether this was intentional or incidental. To identify broader cortical network mechanisms underlying this interaction between intention and imitativeness, we used dynamic causal modelling to pose specific hypotheses which embody assumptions about inter-areal interactions and contextual modulations. These models each incorporated four regions - medial temporal V5 (early motion perception), MOG (action-observation), supplementary motor area (action planning), and anterior insula (executive control) - but differ in their interactions and hierarchical structure. The best model of our data afforded a crucial role for the anterior insula, gating the interaction of supplementary motor area and MOG activity. This provides a novel brain network-based account of task-dependent control over the integration of motor planning and mirror systems, with mirror responses suppressed for intentional counter-imitation.

Emerging of new bioartificial corticospinal motor synergies using a robotic additional thumb

It is likely that when using an artificially augmented hand with six fingers, the natural five plus a robotic one, corticospinal motor synergies controlling grasping actions might be different. However, no direct neurophysiological evidence for this reasonable assumption is available yet. We used transcranial magnetic stimulation of the primary motor cortex to directly address this issue during motor imagery of objects’ grasping actions performed with or without the Soft Sixth Finger (SSF). The SSF is a wearable robotic additional thumb patented for helping patients with hand paresis and inherent loss of thumb opposition abilities. To this aim, we capitalized from the solid notion that neural circuits and mechanisms underlying motor imagery overlap those of physiological voluntary actions. After a few minutes of training, healthy humans wearing the SSF rapidly reshaped the pattern of corticospinal outputs towards forearm and hand muscles governing imagined grasping actions of different objects, suggesting the possibility that the extra finger might rapidly be encoded into the user’s body schema, which is integral part of the frontal-parietal grasping network. Such neural signatures might explain how the motor system of human beings is open to very quickly welcoming emerging augmentative bioartificial corticospinal grasping strategies. Such an ability might represent the functional substrate of a final common pathway the brain might count on towards new interactions with the surrounding objects within the peripersonal space. Findings provide a neurophysiological framework for implementing augmentative robotic tools in humans and for the exploitation of the SSF in conceptually new rehabilitation settings.

What modulates the Mirror Neuron System during action observation?: Multiple factors involving the action, the actor, the observer, the relationship between actor and observer, and the context

Seeing an agent perform an action typically triggers a motor simulation of that action in the observer's Mirror Neuron System (MNS). Over the past few years, it has become increasingly clear that during action observation the patterns and strengths of responses in the MNS are modulated by multiple factors. The first aim of this paper is therefore to provide the most comprehensive survey to date of these factors. To that end, 22 distinct factors are described, broken down into the following sets: six involving the action; two involving the actor; nine involving the observer; four involving the relationship between actor and observer; and one involving the context. The second aim is to consider the implications of these findings for four prominent theoretical models of the MNS: the Direct Matching Model; the Predictive Coding Model; the Value-Driven Model; and the Associative Model. These assessments suggest that although each model is supported by a wide range of findings, each one is also challenged by other findings and relatively unaffected by still others. Hence, there is now a pressing need for a richer, more inclusive model that is better able to account for all of the modulatory factors that have been identified so far.

Motor Recruitment during Action Observation: Effect of Interindividual Differences in Action Strategy

Visual processing of other's actions is supported by sensorimotor brain activations. Access to sensorimotor representations may, in principle, provide the top-down signal required to bias search and selection of critical visual features. For this to happen, it is necessary that a stable one-to-one mapping exists between observed kinematics and underlying motor commands. However, due to the inherent redundancy of the human musculoskeletal system, this is hardly the case for multijoint actions where everyone has his own moving style (individual motor signature-IMS). Here, we investigated the influence of subject's IMS on subjects' motor excitability during the observation of an actor achieving the same goal by adopting two different IMSs. Despite a clear dissociation in kinematic and electromyographic patterns between the two actions, we found no group-level modulation of corticospinal excitability (CSE) in observers. Rather, we found a negative relationship between CSE and actor-observer IMS distance, already at the single-subject level. Thus, sensorimotor activity during action observation does not slavishly replicate the motor plan implemented by the actor, but rather reflects the distance between what is canonical according to one's own motor template and the observed movements performed by other individuals.

Low or High-Level Motor Coding? The Role of Stimulus Complexity

Transcranial magnetic stimulation (TMS) studies have shown that observing an action induces activity in the onlooker's motor system. In light of the muscle specificity and time-locked mirroring nature of the effect, this motor resonance has been traditionally viewed as an inner automatic replica of the observed movement. Notably, studies highlighting this aspect have classically considered movement in isolation (i.e., using non-realistic stimuli such as snapshots of hands detached from background). However, a few recent studies accounting for the role of contextual cues, motivational states, and social factors, have challenged this view by showing that motor resonance is not completely impervious to top-down modulations. A debate is still present. We reasoned that motor resonance reflects the inner replica of the observed movement only when its modulation is assessed during the observation of movements in isolation. Conversely, the presence of top-down modulations of motor resonance emerges when other high-level factors (i.e., contextual cues, past experience, social, and motivational states) are taken into account. Here, we attempt to lay out current TMS studies assessing this issue and discuss the results in terms of their potential to favor the inner replica or the top-down modulation hypothesis. In doing so, we seek to shed light on this actual debate and suggest specific avenues for future research, highlighting the need for a more ecological approach when studying motor resonance phenomenon.

Motor modules account for active perception of force

Despite longstanding evidence suggesting a relation between action and perception, the mechanisms underlying their integration are still unclear. It has been proposed that to simplify the sensorimotor integration processes underlying active perception, the central nervous system (CNS) selects patterns of movements aimed at maximizing sampling of task-related sensory input. While previous studies investigated the action-perception loop focusing on the role of higher-level features of motor behavior (e.g., kinematic invariants, effort), the present study explored and quantified the contribution of lower-level organization of motor control. We tested the hypothesis that the coordinated recruitment of group of muscles (i.e., motor modules) engaged to counteract an external force contributes to participants’ perception of the same force. We found that: 1) a model describing the modulation of a subset of motor modules involved in the motor task accounted for about 70% of participants’ perceptual variance; 2) an alternative model, incompatible with the motor modules hypothesis, accounted for significantly lower variance of participants’ detection performance. Our results provide empirical evidence of the potential role played by muscle activation patterns in active perception of force. They also suggest that a modular organization of motor control may mediate not only coordination of multiple muscles, but also perceptual inference.

Interactor's body shape does not affect visuo-motor interference effects during motor coordination

The biological-tuning of the Action Observation Network is highly debated. A current open question relates to whether the morphological appearance (body shape) and/or the biological motion of the observed agent triggers action simulation processes. Motor simulation of the partner's action is critical for motor interactions, where two partners coordinate their actions in space and time. It supports interpersonal alignment and facilitates online coordination. However, motor simulation also leads to visuo-motor interference effects when people are required to coordinate with complementary actions, i.e. incongruent movements as compared to the observed ones. Movement kinematics of interactive partners allows us to capture their automatic tendency to simulate and imitate the partner's complementary movements. In an online reach-to-grasp task, we investigated whether visuo-motor interference effects, visible in the kinematics of complementary movements, are modulated by the visual presence of the interactor's body shape. We asked participants to interact with 1) a humanoid agent with a human-like body shape and with real human, biological, movement kinematics, or 2) a non-humanoid agent, which did not resemble the human body-shape but moved with the same real kinematics. Through the combination of inferential and Bayesian statistics, the results show no effect of interactor's body shape on visuo-motor interference in reaching and grasping kinematics during online motor coordination. We discuss the results and propose that the kinematics of the observed movements, during motor interactions, might be the key factor for visuo-motor interference to take place independently from the morphological appearance of the partner. This is particularly relevant in a technological society that constantly asks humans to interact with artificial agents.

Posture similarity index: a method to compare hand postures in synergy space

Background

The human hand can perform a range of manipulation tasks, from holding a pen to holding a hammer. The central nervous system (CNS) uses different strategies in different manipulation tasks based on task requirements. Attempts to compare postures of the hand have been made for use in robotics and animation industries. In this study, we developed an index called the posture similarity index to quantify the similarity between two human hand postures.

Methods

Twelve right-handed volunteers performed 70 postures, and lifted and held 30 objects (total of 100 different postures, each performed five times). A 16-sensor electromagnetic tracking system captured the kinematics of individual finger phalanges (segments). We modeled the hand as a 21-DoF system and computed the corresponding joint angles. We used principal component analysis to extract kinematic synergies from this 21-DoF data. We developed a posture similarity index (PSI), that represents the similarity between posture in the synergy (Principal component) space. First, we tested the performance of this index using a synthetic dataset. After confirming that it performs well with the synthetic dataset, we used it to analyze the experimental data. Further, we used PSI to identify postures that are “representative” in the sense that they have a greater overlap (in synergy space) with a large number of postures.

Results

Our results confirmed that PSI is a relatively accurate index of similarity in synergy space both with synthetic data and real experimental data. Also, more special postures than common postures were found among “representative” postures.

Conclusion

We developed an index for comparing posture similarity in synergy space and demonstrated its utility by using synthetic dataset and experimental dataset. Besides, we found that “special” postures are actually “special” in the sense that there are more of them in the “representative” postures as identified by our posture similarity index.

Motor system recruitment during action observation: No correlation between mu-rhythm desynchronization and corticospinal excitability

Observing others’ actions desynchronizes electroencephalographic (EEG) rhythms and modulates corticospinal excitability as assessed by transcranial magnetic stimulation (TMS). However, it remains unclear if these measures reflect similar neurofunctional mechanisms at the individual level. In the present study, a within-subject experiment was designed to assess these two neurophysiological indexes and to quantify their mutual correlation. Participants observed reach-to-grasp actions directed towards a small (precision grip) or a large object (power grip). We focused on two specific time points for both EEG and TMS. The first time point (t1) coincided with the maximum hand aperture, i.e. the moment at which a significant modulation of corticospinal excitability is expected. The second (t2), coincided with the EEG resynchronization occurring at the end of the action, i.e. the moment at which a hypothetic minimum for action observation effect is expected. Results showed a Mu rhythm bilateral desynchronization at t1 with differential resynchronization at t2 in the two hemispheres. Beta rhythm was more desynchronized in the left hemisphere at both time points. These EEG differences, however, were not influenced by grip type. Conversely, motor potentials evoked by TMS in an intrinsic hand muscle revealed an interaction effect of grip and time. No significant correlations between Mu/Beta rhythms and motor evoked potentials were found. These findings are discussed considering the spatial and temporal resolution of the two investigated techniques and argue over two alternative explanations: i. each technique provides different measures of the same process or ii. they describe complementary features of the action observation network in humans.

Evidence for a dyadic motor plan in joint action

What mechanisms distinguish interactive from non-interactive actions? To answer this question we tested participants while they took turns playing music with a virtual partner: in the interactive joint action condition, the participants played a melody together with their partner by grasping (C note) or pressing (G note) a cube-shaped instrument, alternating in playing one note each. In the non-interactive control condition, players’ behavior was not guided by a shared melody, so that the partner’s actions and notes were irrelevant to the participant. In both conditions, the participant’s and partner’s actions were physically congruent (e.g., grasp-grasp) or incongruent (e.g., grasp-point), and the partner’s association between actions and notes was coherent with the participant’s or reversed. Performance in the non-interactive condition was only affected by physical incongruence, whereas joint action was only affected when the partner’s action-note associations were reversed. This shows that task interactivity shapes the sensorimotor coding of others’ behaviors, and that joint action is based on active prediction of the partner’s action effects rather than on passive action imitation. We suggest that such predictions are based on Dyadic Motor Plans that represent both the agent’s and the partner’s contributions to the interaction goal, like playing a melody together.

Early modulation of intra-cortical inhibition during the observation of action mistakes

Errors while performing an action are fundamental for learning. During interaction others' errors must be monitored and taken into account to allow joint action coordination and imitation learning. This monitoring relies on an action observation network (AON) mainly based on parietofrontal recurrent circuits. Although different studies suggest that inappropriate actions may rapidly be inhibited during execution, little is known about the modulation of the AON when an action misstep is shown. Here we used single and paired pulse transcranial magnetic stimulation to assess corticospinal excitability, intracortical facilitation and intracortical inhibition at different time intervals (120, 180, 240 ms) after the visual presentation of a motor execution error. Results show a specific and early (120 ms) decrease of intracortical inhibition likely because of a significant mismatch between the observed erroneous action and observer's expectations. Indeed, as proposed by the top-down predictive framework, the motor system may be involved in the generation of these error signals and our data show that this mechanism could rely on the early decrease of intracortical inhibition within the corticomotor system.

How preschoolers and adults represent their joint action partner's behavior

We investigated the cognitive mechanisms underlying turn-taking joint action in 42-month-old children (Experiment 1) and adults (Experiment 2) using a behavioral task of dressing a virtual bear together. We aimed to investigate how participants represent a partners' behavior, i.e., in terms of specific action kinematics or of action effects. The bear was dressed by pressing a smaller and a bigger button. In the Action-response task, instructions asked participants to respond to the partner by pressing the same or opposite button; in the Action-effect task they had to respond to the partner's action effect by dressing the bear with the lacking part of the clothing, which in some cases implied pressing the same button and in other cases implied pressing the opposite button. In 50% of the trials, the partner's association between each button and the ensuing effect (dressing the bear with t-shirt or pants) was reversed, while it never changed for participants. Both children and adults showed no effect of physical congruency of actions, but showed impaired performance in the Action-effect task if their partner achieved her effect through a different action-effect association than their own. These results suggest that, when encoding their partner's actions, agents are influenced by action-effect associations that they learnt through their own experience. While interference led to overt errors in children, it caused longer reaction times in adults, suggesting that a flexible cognitive control (that is still in development in young children) is required to take on the partner's perspective.

Facial expressions as a model to test the role of the sensorimotor system in the visual perception of the actions

A long-term debate concerns whether the sensorimotor coding carried out during transitive actions observation reflects the low-level movement implementation details or the movement goals. On the contrary, phonemes and emotional facial expressions are intransitive actions that do not fall into this debate. The investigation of phonemes discrimination has proven to be a good model to demonstrate that the sensorimotor system plays a role in understanding actions acoustically presented. In the present study, we adapted the experimental paradigms already used in phonemes discrimination during face posture manipulation, to the discrimination of emotional facial expressions. We submitted participants to a lower or to an upper face posture manipulation during the execution of a four alternative labelling task of pictures randomly taken from four morphed continua between two emotional facial expressions. The results showed that the implementation of low-level movement details influence the discrimination of ambiguous facial expressions differing for a specific involvement of those movement details. These findings indicate that facial expressions discrimination is a good model to test the role of the sensorimotor system in the perception of actions visually presented.

Action observation effects reflect the modular organization of the human motor system

Action observation, similarly to action execution, facilitates the observer's motor system and Transcranial Magnetic Stimulation (TMS) has been instrumental in exploring the nature of these motor activities. However, contradictory findings question some of the fundamental assumptions regarding the neural computations run by the Action Observation Network (AON). To better understand this issue, we delivered TMS over the observers' motor cortex at two timings of two reaching-grasping actions (precision vs power grip) and we recorded Motor-Evoked Potentials (4 hand/arm muscles; MEPs). At the same time, we also recorded whole-hand TMS Evoked Kinematics (8 hand elevation angles; MEKs) that capture the global functional motor output, as opposed to the limited view offered by recording few muscles. By repeating the same protocol twice, and a third time after continuous theta burst stimulation (cTBS) over the motor cortex, we observe significant time-dependent grip-specific MEPs and MEKs modulations, that disappeared after cTBS. MEKs, differently from MEPs, exhibit a consistent significant modulation across pre-cTBS sessions. Beside clear methodological implications, the multidimensionality of MEKs opens a window on muscle synergies needed to overcome system redundancy. By providing better access to the AON computations, our results strengthen the idea that action observation shares key organizational similarities with action execution.

Biological bases of human musicality

Music is a universal language, present in all human societies. It pervades the lives of most human beings and can recall memories and feelings of the past, can exert positive effects on our mood, can be strongly evocative and ignite intense emotions, and can establish or strengthen social bonds. In this review, we summarize the research and recent progress on the origins and neural substrates of human musicality as well as the changes in brain plasticity elicited by listening or performing music. Indeed, music improves performance in a number of cognitive tasks and may have beneficial effects on diseased brains. The emerging picture begins to unravel how and why particular brain circuits are affected by music. Numerous studies show that music affects emotions and mood, as it is strongly associated with the brain's reward system. We can therefore assume that an in-depth study of the relationship between music and the brain may help to shed light on how the mind works and how the emotions arise and may improve the methods of music-based rehabilitation for people with neurological disorders. However, many facets of the mind-music connection still remain to be explored and enlightened.

Beta rhythm modulation by speech sounds: somatotopic mapping in somatosensory cortex

During speech listening motor regions are somatotopically activated, resembling the activity that subtends actual speech production, suggesting that motor commands can be retrieved from sensory inputs. Crucially, the efficient motor control of the articulators relies on the accurate anticipation of the somatosensory reafference. Nevertheless, evidence about somatosensory activities elicited by auditory speech processing is sparse. The present work looked for specific interactions between auditory speech presentation and somatosensory cortical information processing. We used an auditory speech identification task with sounds having different place of articulation (bilabials and dentals). We tested whether coupling the auditory task with a peripheral electrical stimulation of the lips would affect the pattern of sensorimotor electroencephalographic rhythms. Peripheral electrical stimulation elicits a series of spectral perturbations of which the beta rebound reflects the return-to-baseline stage of somatosensory processing. We show a left-lateralized and selective reduction in the beta rebound following lip somatosensory stimulation when listening to speech sounds produced with the lips (i.e. bilabials). Thus, the somatosensory processing could not return to baseline due to the recruitment of the same neural resources by speech stimuli. Our results are a clear demonstration that heard speech sounds are somatotopically mapped onto somatosensory cortices, according to place of articulation.

The Extended Mirror Neuron Network

Mirror neurons (MNs) are a fascinating class of cells originally discovered in the ventral premotor cortex (PMv) and, subsequently, in the inferior parietal lobule (IPL) of the macaque, which become active during both the execution and observation of actions. In this review, I will first highlight the mounting evidence indicating that mirroring others’ actions engages a broad system of reciprocally connected cortical areas, which extends well beyond the classical IPL-PMv circuit and might even include subcortical regions such as the basal ganglia. Then, I will present the most recent findings supporting the idea that the observation of one’s own actions, which might play a role in the ontogenetic origin and tuning of MNs, retains a particular relevance within the adult MN system. Finally, I will propose that both cortical and subcortical mechanisms do exist to decouple MN activity from the motor output, in order to render it exploitable for high-order perceptual, cognitive, and even social functions. The findings reviewed here provide an original framework for envisaging the main challenges and experimental directions of future neurophysiological and neuroanatomical studies of the monkey MN system.

A synergy-based hand control is encoded in human motor cortical areas

How the human brain controls hand movements to carry out different tasks is still debated. The concept of synergy has been proposed to indicate functional modules that may simplify the control of hand postures by simultaneously recruiting sets of muscles and joints. However, whether and to what extent synergic hand postures are encoded as such at a cortical level remains unknown. Here, we combined kinematic, electromyography, and brain activity measures obtained by functional magnetic resonance imaging while subjects performed a variety of movements towards virtual objects. Hand postural information, encoded through kinematic synergies, were represented in cortical areas devoted to hand motor control and successfully discriminated individual grasping movements, significantly outperforming alternative somatotopic or muscle-based models. Importantly, hand postural synergies were predicted by neural activation patterns within primary motor cortex. These findings support a novel cortical organization for hand movement control and open potential applications for brain-computer interfaces and neuroprostheses.

DOI:http://dx.doi.org/10.7554/eLife.13420.001

The human hand can perform an enormous range of movements with great dexterity. Some common everyday actions, such as grasping a coffee cup, involve the coordinated movement of all four fingers and thumb. Others, such as typing, rely on the ability of individual fingers to move relatively independently of one another.

This flexibility is possible in part because of the complex anatomy of the hand, with its 27 bones and their connecting joints and muscles. But with this complexity comes a huge number of possibilities. Any movement-related task – such as picking up a cup – can be achieved via many different combinations of muscle contractions and joint positions. So how does the brain decide which muscles and joints to use?

One theory is that the brain simplifies this problem by encoding particularly useful patterns of joint movements as distinct units or “synergies”. A given task can then be performed by selecting from a small number of synergies, avoiding the need to choose between huge numbers of options every time movement is required.

Leo et al. now provide the first direct evidence for the encoding of synergies by the human brain. Volunteers lying inside a brain scanner reached towards virtual objects – from tennis rackets to toothpicks – while activity was recorded from the area of the brain that controls hand movements. As predicted, the scans showed specific and reproducible patterns of activity. Analysing these patterns revealed that each corresponded to a particular combination of joint positions. These activity patterns, or synergies, could even be ‘decoded’ to work out which type of movement a volunteer had just performed.

Future experiments should examine how the brain combines synergies with sensory feedback to allow movements to be adjusted as they occur. Such findings could help to develop brain-computer interfaces and systems for controlling the movement of artificial limbs.

DOI:http://dx.doi.org/10.7554/eLife.13420.002

Generalization of motor resonance during the observation of hand, mouth, and eye movements

Transcranial magnetic stimulation (TMS) of the motor cortex shows that hand action observation (AO) modulates corticospinal excitability (CSE). CSE modulation alternatively maps low-level kinematic characteristics or higher-level features, like object-directed action goals. However, action execution is achieved through the control of muscle synergies, consisting of coordinated patterns of muscular activity during natural movements, rather than single muscles or object-directed goals. This synergistic organization of action execution also underlies the ability to produce the same functional output (i.e., grasping an object) using different effectors. We hypothesize that motor system activation during AO may rely on similar principles. To investigate this issue, we recorded both hand CSE and TMS-evoked finger movements which provide a much more complete description of coordinated patterns of muscular activity. Subjects passively watched hand, mouth and eyelid opening or closing, which are performing non-object-directed (intransitive) actions. Hand and mouth share the same potential to grasp objects, whereas eyelid does not allow object-directed (transitive) actions. Hand CSE modulation generalized to all effectors, while TMS evoked finger movements only to mouth AO. Such dissociation suggests that the two techniques may have different sensitivities to fine motor modulations induced by AO. Differently from evoked movements, which are sensitive to the possibility to achieve object-directed action, CSE is generically modulated by "opening" vs. "closing" movements, independently of which effector was observed. We propose that motor activities during AO might exploit the same synergistic mechanisms shown for the neural control of movement and organized around a limited set of motor primitives.

Inferior frontal oscillations reveal visuo-motor matching for actions and speech: evidence from human intracranial recordings

The neural correspondence between the systems responsible for the execution and recognition of actions has been suggested both in humans and non-human primates. Apart from being a key region of this visuo-motor observation-execution matching (OEM) system, the human inferior frontal gyrus (IFG) is also important for speech production. The functional overlap of visuo-motor OEM and speech, together with the phylogenetic history of the IFG as a motor area, has led to the idea that speech function has evolved from pre-existing motor systems and to the hypothesis that an OEM system may exist also for speech. However, visuo-motor OEM and speech OEM have never been compared directly. We used electrocorticography to analyze oscillations recorded from intracranial electrodes in human fronto-parieto-temporal cortex during visuo-motor (executing or visually observing an action) and speech OEM tasks (verbally describing an action using the first or third person pronoun). The results show that neural activity related to visuo-motor OEM is widespread in the frontal, parietal, and temporal regions. Speech OEM also elicited widespread responses partly overlapping with visuo-motor OEM sites (bilaterally), including frontal, parietal, and temporal regions. Interestingly a more focal region, the inferior frontal gyrus (bilaterally), showed both visuo-motor OEM and speech OEM properties independent of orolingual speech-unrelated movements. Building on the methodological advantages in human invasive electrocorticography, the present findings provide highly precise spatial and temporal information to support the existence of a modality-independent action representation system in the human brain that is shared between systems for performing, interpreting and describing actions.

Social cues to joint actions: the role of shared goals

In daily life, we do not just move independently from how others move. Rather, the way we move conveys information about our cognitive and affective attitudes toward our conspecifics. However, the implicit social substrate of our movements is not easy to capture and isolate given the complexity of human interactive behaviors. In this perspective article we discuss the crucial conditions for exploring the impact of "interpersonal" cognitive/emotional dimensions on the motor behavior of individuals interacting in realistic contexts. We argue that testing interactions requires one to build up naturalistic and yet controlled scenarios where participants reciprocally adapt their movements in order to achieve an overarching "shared goal." We suggest that a shared goal is what singles out real interactions from situations where two or more individuals contingently but independently act next to each other, and that "interpersonal" socio-emotional dimensions might fail to affect co-agents' behaviors if real interactions are not at place. We report the results of a novel joint-grasping task suitable for exploring how individual sub-goals (i.e., correctly grasping an object) relate to, and depend from, the representation of "shared goals."