Offset dynamics of human smooth pursuit eye movements: effects of target presence and subject attention

Representational horizon and visual space orientation: An investigation into the role of visual contextual cues on spatial mislocalisations

The perceived offset position of a moving target has been found to be displaced forward, in the direction of motion (Representational Momentum; RM), downward, in the direction of gravity (Representational Gravity; RG), and, recently, further displaced along the horizon implied by the visual context (Representational Horizon; RH). The latter, while still underexplored, offers the prospect to clarify the role of visual contextual cues in spatial orientation and in the perception of dynamic events. As such, the present work sets forth to ascertain the robustness of Representational Horizon across varying types of visual contexts, particularly between interior and exterior scenes, and to clarify to what degree it reflects a perceptual or response phenomenon. To that end, participants were shown targets, moving along one out of several possible trajectories, overlaid on a randomly chosen background depicting either an interior or exterior scene rotated -22.5º, 0º, or 22.5º in relation to the actual vertical. Upon the vanishing of the target, participants were required to indicate its last seen location with a computer mouse. For half the participants, the background vanished with the target while for the remaining it was kept visible until a response was provided. Spatial localisations were subjected to a discrete Fourier decomposition procedure to obtain independent estimates of RM, RG, and RH. Outcomes showed that RH's direction was biased towards the horizon implied by the visual context, but solely for exterior scenes, and irrespective of its presence or absence during the spatial localisation response, supporting its perceptual/representational nature.

The effect of explicit cues on smooth pursuit termination

Predictive deceleration of eye motion during smooth pursuit is induced by explicit cues indicating the timing of the visual target offset. The first aim of this study (experiment 1) was to determine whether the timing of the onset of cue-based predictive pursuit termination depends on spatial or temporal information using three target velocities. The second aim (experiment 2) was to examine whether an unexpected offset of the target affects the pursuit termination. We conducted a pursuit termination task where participants tracked a moving target and then stopped tracking after the target disappeared. The results of experiment 1 showed that the onset times of predictive eye deceleration were consistent regardless of target velocity, indicating that its timing is controlled by the temporal estimation, rather than the spatial distance between the target and cue positions. In experiment 2, we compared pursuit termination between the following two conditions. One condition did not present any cues (unknown condition), whereas a second condition included a same cue as experiment 1 but the target disappeared 500 ms before the timing indicated by the cue unpredictably (unexpected condition). As a result, the unexpected condition showed significant delays in the onset of eye deceleration, but no difference in the total time for completion of pursuit termination. Therefore, our findings suggest that the cue-based pursuit termination is controlled by the predictive pursuit system, and an unexpected offset of the target yields delays in the onset of eye deceleration, while does not affect the duration of pursuit termination.

Visual selective attention and the control of tracking eye movements: a critical review

People’s eyes are directed at objects of interest with the aim of acquiring visual information. However, processing this information is constrained in capacity, requiring task-driven and salience-driven attentional mechanisms to select few among the many available objects. A wealth of behavioral and neurophysiological evidence has demonstrated that visual selection and the motor selection of saccade targets rely on shared mechanisms. This coupling supports the premotor theory of visual attention put forth more than 30 years ago, postulating visual selection as a necessary stage in motor selection. In this review, we examine to which extent the coupling of visual and motor selection observed with saccades is replicated during ocular tracking. Ocular tracking combines catch-up saccades and smooth pursuit to foveate a moving object. We find evidence that ocular tracking requires visual selection of the speed and direction of the moving target, but the position of the motion signal may not coincide with the position of the pursuit target. Further, visual and motor selection can be spatially decoupled when pursuit is initiated (open-loop pursuit). We propose that a main function of coupled visual and motor selection is to serve the coordination of catch-up saccades and pursuit eye movements. A simple race-to-threshold model is proposed to explain the variable coupling of visual selection during pursuit, catch-up and regular saccades, while generating testable predictions. We discuss pending issues, such as disentangling visual selection from preattentive visual processing and response selection, and the pinpointing of visual selection mechanisms, which have begun to be addressed in the neurophysiological literature.

The role of cortical areas hMT/V5+ and TPJ on the magnitude of representational momentum and representational gravity: a transcranial magnetic stimulation study

The perceived vanishing location of a moving target is systematically displaced forward, in the direction of motion-representational momentum-, and downward, in the direction of gravity-representational gravity. Despite a wealth of research on the factors that modulate these phenomena, little is known regarding their neurophysiological substrates. The present experiment aims to explore which role is played by cortical areas hMT/V5+, linked to the processing of visual motion, and TPJ, thought to support the functioning of an internal model of gravity, in modulating both effects. Participants were required to perform a standard spatial localization task while the activity of the right hMT/V5+ or TPJ sites was selectively disrupted with an offline continuous theta-burst stimulation (cTBS) protocol, interspersed with control blocks with no stimulation. Eye movements were recorded during all spatial localizations. Results revealed an increase in representational gravity contingent on the disruption of the activity of hMT/V5+ and, conversely, some evidence suggested a bigger representational momentum when TPJ was stimulated. Furthermore, stimulation of hMT/V5+ led to a decreased ocular overshoot and to a time-dependent downward drift of gaze location. These outcomes suggest that a reciprocal balance between perceived kinematics and anticipated dynamics might modulate these spatial localization responses, compatible with a push-pull mechanism.

Ocular tracking of occluded ballistic trajectories: Effects of visual context and of target law of motion

In tracking a moving target, the visual context may provide cues for an observer to interpret the causal nature of the target motion and extract features to which the visual system is weakly sensitive, such as target acceleration. This information could be critical when vision of the target is temporarily impeded, requiring visual motion extrapolation processes. Here we investigated how visual context influences ocular tracking of motion either congruent or not with natural gravity. To this end, 28 subjects tracked computer-simulated ballistic trajectories either perturbed in the descending segment with altered gravity effects (0g/2g) or retaining natural-like motion (1g). Shortly after the perturbation (550 ms), targets disappeared for either 450 or 650 ms and became visible again until landing. Target motion occurred with either quasi-realistic pictorial cues or a uniform background, presented in counterbalanced order. We analyzed saccadic and pursuit movements after 0g and 2g target-motion perturbations and for corresponding intervals of unperturbed 1g trajectories, as well as after corresponding occlusions. Moreover, we considered the eye-to-target distance at target reappearance. Tracking parameters differed significantly between scenarios: With a neutral background, eye movements did not depend consistently on target motion, whereas with pictorial background they showed significant dependence, denoting better tracking of accelerated targets. These results suggest that oculomotor control is tuned to realistic properties of the visual scene.

Visualization and quantification of eye tracking data for the evaluation of oculomotor function

Oculomotor dysfunction may originate from physical, physiological or psychological causes and may be a marker for schizophrenia or other disorders. Observational tests for oculomotor dysfunction are easy to administer, but are subjective and transient, and it is difficult to quantify deviations. To date, video-based eye tracking systems have not provided a contextual overview of gaze data that integrates the eye video recording with the stimulus and gaze data together with quantitative feedback of metrics in relation to typical values. A system was developed with an interactive timeline to allow the analyst to scroll through a recording frame-by-frame while comparing data from three different sources. The visual and integrated nature of the analysis allows localisation and quantification of saccadic under- and overshoots as well as determination of the frequency and amplitude of catch-up and anticipatory saccades. Clinicians will be able to apply their expertise to diagnose disorders based on abnormal patterns in the gaze plots. They can use the line charts to quantify deviations from benchmark values for reaction time, saccadic accuracy and smooth pursuit gain. A clinician can refer to the eye video at any time to confirm that observed deviations originated from gaze behaviour and not from systemic errors.

Using Smooth Pursuit Calibration for Difficult-to-Calibrate Participants

Although the 45-dots calibration routine of a previous study ( 2) provided very good accuracy, it requires intense mental effort and the routine proved to be unsuccessful for young children who struggle to maintain concentration. The calibration procedures that are normally used for difficult-to-calibrate participants, such as autistic children and infants, do not suffice since they are not accurate enough and the reliability of research results might be jeopardised. Smooth pursuit has been used before for calibration and is applied in this paper as an alternative routine for participants who are difficult to calibrate with conventional routines. Gaze data is captured at regular intervals and many calibration targets are generated while the eyes are following a moving target. The procedure could take anything between 30 s and 60 s to complete, but since an interesting target and/or a conscious task may be used, participants are assisted to maintain concentration. It was proven that the accuracy that can be attained through calibration with a moving target along an even horizontal path is not significantly worse than the accura-cy that can be attained with a standard method of watching dots appearing in random order. The routine was applied successfully for a group of children with ADD, ADHD and learning abilities. This result is important as it provides for easier calibration - especially in the case of participants who struggle to keep their gaze focused and stable on a stationary target for long enough.

Stopping smooth pursuit

If a visual object of interest suddenly starts to move, we will try to follow it with a smooth movement of the eyes. This smooth pursuit response aims to reduce image motion on the retina that could blur visual perception. In recent years, our knowledge of the neural control of smooth pursuit initiation has sharply increased. However, stopping smooth pursuit eye movements is less well understood and will be discussed in this paper. The most straightforward way to study smooth pursuit stopping is by interrupting image motion on the retina. This causes eye velocity to decay exponentially towards zero. However, smooth pursuit stopping is not a passive response, as shown by behavioural and electrophysiological evidence. Moreover, smooth pursuit stopping is particularly influenced by active prediction of the upcoming end of the target. Here, we suggest that a particular class of inhibitory neurons of the brainstem, the omnipause neurons, could play a central role in pursuit stopping. Furthermore, the role of supplementary eye fields of the frontal cortex in smooth pursuit stopping is also discussed.This article is part of the themed issue 'Movement suppression: brain mechanisms for stopping and stillness'.

Disappearance of the inversion effect during memory-guided tracking of scrambled biological motion

The human visual system is highly sensitive to biological motion. Even when a point-light walker is temporarily occluded from view by other objects, our eyes are still able to maintain tracking continuity. To investigate how the visual system establishes a correspondence between the biological-motion stimuli visible before and after the disruption, we used the occlusion paradigm with biological-motion stimuli that were intact or scrambled. The results showed that during visually guided tracking, both the observers' predicted times and predictive smooth pursuit were more accurate for upright biological motion (intact and scrambled) than for inverted biological motion. During memory-guided tracking, however, the processing advantage for upright as compared with inverted biological motion was not found in the scrambled condition, but in the intact condition only. This suggests that spatial location information alone is not sufficient to build and maintain the representational continuity of the biological motion across the occlusion, and that the object identity may act as an important information source in visual tracking. The inversion effect disappeared when the scrambled biological motion was occluded, which indicates that when biological motion is temporarily occluded and there is a complete absence of visual feedback signals, an oculomotor prediction is executed to maintain the tracking continuity, which is established not only by updating the target's spatial location, but also by the retrieval of identity information stored in long-term memory.

Filling gaps in visual motion for target capture

A remarkable challenge our brain must face constantly when interacting with the environment is represented by ambiguous and, at times, even missing sensory information. This is particularly compelling for visual information, being the main sensory system we rely upon to gather cues about the external world. It is not uncommon, for example, that objects catching our attention may disappear temporarily from view, occluded by visual obstacles in the foreground. Nevertheless, we are often able to keep our gaze on them throughout the occlusion or even catch them on the fly in the face of the transient lack of visual motion information. This implies that the brain can fill the gaps of missing sensory information by extrapolating the object motion through the occlusion. In recent years, much experimental evidence has been accumulated that both perceptual and motor processes exploit visual motion extrapolation mechanisms. Moreover, neurophysiological and neuroimaging studies have identified brain regions potentially involved in the predictive representation of the occluded target motion. Within this framework, ocular pursuit and manual interceptive behavior have proven to be useful experimental models for investigating visual extrapolation mechanisms. Studies in these fields have pointed out that visual motion extrapolation processes depend on manifold information related to short-term memory representations of the target motion before the occlusion, as well as to longer term representations derived from previous experience with the environment. We will review recent oculomotor and manual interception literature to provide up-to-date views on the neurophysiological underpinnings of visual motion extrapolation.

Can representational trajectory reveal the nature of an internal model of gravity?

The memory for the vanishing location of a horizontally moving target is usually displaced forward in the direction of motion (representational momentum) and downward in the direction of gravity (representational gravity). Moreover, this downward displacement has been shown to increase with time (representational trajectory). However, the degree to which different kinematic events change the temporal profile of these displacements remains to be determined. The present article attempts to fill this gap. In the first experiment, we replicate the finding that representational momentum for downward-moving targets is bigger than for upward motions, showing, moreover, that it increases rapidly during the first 300 ms, stabilizing afterward. This temporal profile, but not the increased error for descending targets, is shown to be disrupted when eye movements are not allowed. In the second experiment, we show that the downward drift with time emerges even for static targets. Finally, in the third experiment, we report an increased error for upward-moving targets, as compared with downward movements, when the display is compatible with a downward ego-motion by including vection cues. Thus, the errors in the direction of gravity are compatible with the perceived event and do not merely reflect a retinotopic bias. Overall, these results provide further evidence for an internal model of gravity in the visual representational system.

Cognitive processes involved in smooth pursuit eye movements: behavioral evidence, neural substrate and clinical correlation

Smooth-pursuit eye movements allow primates to track moving objects. Efficient pursuit requires appropriate target selection and predictive compensation for inherent processing delays. Prediction depends on expectation of future object motion, storage of motion information and use of extra-retinal mechanisms in addition to visual feedback. We present behavioral evidence of how cognitive processes are involved in predictive pursuit in normal humans and then describe neuronal responses in monkeys and behavioral responses in patients using a new technique to test these cognitive controls. The new technique examines the neural substrate of working memory and movement preparation for predictive pursuit by using a memory-based task in macaque monkeys trained to pursue (go) or not pursue (no-go) according to a go/no-go cue, in a direction based on memory of a previously presented visual motion display. Single-unit task-related neuronal activity was examined in medial superior temporal cortex (MST), supplementary eye fields (SEF), caudal frontal eye fields (FEF), cerebellar dorsal vermis lobules VI–VII, caudal fastigial nuclei (cFN), and floccular region. Neuronal activity reflecting working memory of visual motion direction and go/no-go selection was found predominantly in SEF, cerebellar dorsal vermis and cFN, whereas movement preparation related signals were found predominantly in caudal FEF and the same cerebellar areas. Chemical inactivation produced effects consistent with differences in signals represented in each area. When applied to patients with Parkinson's disease (PD), the task revealed deficits in movement preparation but not working memory. In contrast, patients with frontal cortical or cerebellar dysfunction had high error rates, suggesting impaired working memory. We show how neuronal activity may be explained by models of retinal and extra-retinal interaction in target selection and predictive control and thus aid understanding of underlying pathophysiology.

Visual extrapolation under risk: human observers estimate and compensate for exogenous uncertainty

Humans commonly face choices between multiple options with uncertain outcomes. Such situations occur in many contexts, from purely financial decisions (which shares should I buy?) to perceptuo-motor decisions between different actions (where should I aim my shot at goal?). Regardless of context, successful decision-making requires that the uncertainty at the heart of the decision-making problem is taken into account. Here, we ask whether humans can recover an estimate of exogenous uncertainty and then use it to make good decisions. Observers viewed a small dot that moved erratically until it disappeared behind an occluder. We varied the size of the occluder and the unpredictability of the dot's path. The observer attempted to capture the dot as it emerged from behind the occluded region by setting the location and extent of a 'catcher' along the edge of the occluder. The reward for successfully catching the dot was reduced as the size of the catcher increased. We compared human performance with that of an agent maximizing expected gain and found that observers consistently selected catcher size close to this theoretical solution. These results suggest that humans are finely tuned to exogenous uncertainty information and can exploit it to guide action.

Do common systems control eye movements and motion extrapolation?

People are able to judge the current position of occluded moving objects. This operation is known as motion extrapolation. It has previously been suggested that motion extrapolation is independent of the oculomotor system. Here we revisited this question by measuring eye position while participants completed two types of motion extrapolation task. In one task, a moving visual target travelled rightwards, disappeared, then reappeared further along its trajectory. Participants discriminated correct reappearance times from incorrect (too early or too late) with a two-alternative forced-choice button press. In the second task, the target travelled rightwards behind a visible, rectangular occluder, and participants pressed a button at the time when they judged it should reappear. In both tasks, performance was significantly different under fixation as compared to free eye movement conditions. When eye movements were permitted, eye movements during occlusion were related to participants' judgements. Finally, even when participants were required to fixate, small changes in eye position around fixation (<2°) were influenced by occluded target motion. These results all indicate that overlapping systems control eye movements and judgements on motion extrapolation tasks. This has implications for understanding the mechanism underlying motion extrapolation.

The influence of cues and stimulus history on the non-linear frequency characteristics of the pursuit response to randomized target motion

When humans pursue motion stimuli composed of alternating constant velocity segments of randomised duration (RD), they nevertheless initiate anticipatory eye deceleration before stimulus direction changes at a pre-programmed time based on averaging prior stimulus timing. We investigated, in both the time and frequency domains, how averaging interacts with deceleration cues by comparing responses to stimuli composed of segments that were either constant-velocity ramps or half-cycle sinusoids. RDs were randomized within 6 ranges, each comprising 8 RDs and having differing mean RD. In sine responses, deceleration cues could be used to modulate eye velocity for long-range stimuli (RD = 840-1,200 ms) but in the shortest range (RD = 240-660 ms) cues became ineffective, so that sine responses resembled ramp responses, and anticipatory timing was primarily dependent on averaging. Additionally, inclusion of short duration (240 ms) segments reduced peak eye velocity for all RDs within a range, even when longer RDs in the range (up to 1,080 ms) would normally elicit much higher velocities. These effects could be attributed to antagonistic interactions between visually driven pursuit components and pre-programmed anticipatory deceleration components. In the frequency domain, the changes in peak velocity and anticipatory timing with RD range were translated into non-linear gain and phase characteristics similar to those evoked by sum-of-sines stimuli. Notably, a reduction in pursuit gain occurred when high-frequency components associated with short duration segments were present. Results appear consistent with an adapted pursuit model, in which pre-programmed timing information derived from an internally reconstructed stimulus signal is stored in short-term memory and controls the initiation of predictive responses.

Does the noise matter? Effects of different kinematogram types on smooth pursuit eye movements and perception

We investigated how the human visual system and the pursuit system react to visual motion noise. We presented three different types of random-dot kinematograms at five different coherence levels. For transparent motion, the signal and noise labels on each dot were preserved throughout each trial, and noise dots moved with the same speed as the signal dots but in fixed random directions. For white noise motion, every 20 ms the signal and noise labels were randomly assigned to each dot and noise dots appeared at random positions. For Brownian motion, signal and noise labels were also randomly assigned, but the noise dots moved at the signal speed in a direction that varied randomly from moment to moment. Neither pursuit latency nor early eye acceleration differed among the different types of kinematograms. Late acceleration, pursuit gain, and perceived speed all depended on kinematogram type, with good agreement between pursuit gain and perceived speed. For transparent motion, pursuit gain and perceived speed were independent of coherence level. For white and Brownian motions, pursuit gain and perceived speed increased with coherence but were higher for white than for Brownian motion. This suggests that under our conditions, the pursuit system integrates across all directions of motion but not across all speeds.

Evidence for a link between the extra-retinal component of random-onset pursuit and the anticipatory pursuit of predictable object motion

During pursuit of moving targets that temporarily disappear, residual smooth eye movements represent the internal (extra-retinal) component of pursuit. However, this response is dependent on expectation of target reappearance. By comparing responses with and without such expectation during early random-onset pursuit, we examined the temporal development of the extra-retinal component and compared it with anticipatory pursuit, another form of internally driven response. In an initial task (mid-ramp extinction), a moving, random-velocity target was initially visible for 100 or 150 ms but then extinguished for 600 ms before reappearing and continuing to move. Responses comprised an initial visually driven rapid rise in eye velocity, followed by a secondary slower increase during extinction. In a second task (short ramp), with identical initial target presentation but no expectation of target reappearance, the initial rapid rise in eye velocity was followed by decay toward zero. The expectation-dependent difference between responses to these tasks increased in velocity during extinction much more slowly than the initial, visually driven component. In a third task (initial extinction), the moving target was extinguished at motion onset but reappeared 600 ms later. Repetition of identical stimuli evoked anticipatory pursuit triggered by initial target offset. Temporal development and scaling of this anticipatory response, which was based on remembered velocity from prior stimuli, was remarkably similar to and covaried with the difference between mid-ramp extinction and short ramp tasks. Results suggest a common mechanism is responsible for anticipatory pursuit and the extra-retinal component of random-onset pursuit, a finding that is consistent with a previously developed model of pursuit.

Predicting curvilinear target motion through an occlusion

When a tracked target is occluded transiently, extraretinal signals are known to maintain smooth pursuit, albeit with a reduced gain. The extent to which extraretinal signals incorporate predictions of time-varying behavior, such as gradual changes in target direction, is not known. Three experiments were conducted to examine this question. In the experiments, subjects tracked a target that initially moved along a straight path, then (briefly) followed the arc of a circle, before it disappeared behind a visible occlusion. In the first experiment, the target did not emerge from the occlusion and subjects were asked to point to the location where they thought the target would have emerged. Gaze and pointing behaviors demonstrated that most of the subjects predicted that the target would follow a linear path through the occlusion. The direction of this extrapolated path was the same as the final visible target direction. In the second set of experiments, the target did emerge after following a curvilinear path through the occlusion, and subjects were asked to track the target with their eyes. Gaze behaviors indicated that, in this experimental condition, the subjects predicted curvilinear target motion while the target was occluded. Saccades were directed to the unseen curvilinear path and pursuit continued to follow this same path at a reduced speed in the occlusion. Importantly, the direction of smooth pursuit continued to change throughout the occlusion. Smooth pursuit angular velocity was maintained for approximately 200 ms following target disappearance. The results of the experiments indicate that extraretinal signals indeed incorporate cognitive expectations about the time-varying behavior of target motion.

Smooth ocular pursuit during the transient disappearance of an accelerating visual target: the role of reflexive and voluntary control

This study examined the extent to which human subjects predict future target motion for the control of smooth ocular pursuit. Subjects were required to pursue an accelerating target (0, 4 or 8 degrees/s2) that underwent a transient occlusion, and consequently reappeared with the same or increased velocity. Presentations were received in a random or blocked order. Subjects exhibited anticipatory smooth pursuit prior to target motion onset, which in blocked presentations was scaled to the velocity generated by the target acceleration. In random presentations subjects also exhibited anticipatory smooth pursuit, but this was reflected in a more generalized response. During the transient occlusion all subjects exhibited a reduction in eye velocity, which was followed in the majority by a recovery prior to target reappearance. In random presentations, eye velocity decayed and recovered to a level that followed on from the response to the initial ramp. In blocked presentations, there was evidence of improved scaling throughout, which culminated in a significant increase in eye velocity between the start and end of the transient occlusion (8 degrees/s2 only). These findings are difficult to reconcile with reflexive accounts of oculomotor control that perpetuate current eye motion, and hence generate a simple form of prediction using a direct efference copy ("eye-velocity memory"). Rather, they are more consistent with the scaling of smooth pursuit eye movements by means of a more-persistent velocity-based representation, which plays a significant role in both random and blocked stimulus presentations.

Evidence for Synergy Between Saccades and Smooth Pursuit During Transient Target Disappearance

Visual tracking of moving objects requires prediction to compensate for visual delays and minimize mismatches between eye and target position and velocity. In everyday life, objects often disappear behind an occluder, and prediction is required to align eye and target at reappearance. Earlier studies investigating eye motion during target blanking showed that eye velocity first decayed after disappearance but was sustained or often recovered in a predictive way. Furthermore, saccades were directed toward the unseen target trajectory and therefore appeared to correct for position errors resulting from eye velocity decay. To investigate the synergy between smooth and saccadic eye movements, this study used a target blanking paradigm where both position and velocity of the target at reappearance could vary independently but were presented repeatedly to facilitate prediction. We found that eye velocity at target reappearance was only influenced by expected target velocity, whereas saccades responded to the expected change of target position at reappearance. Moreover, subjects exhibited on-line adaptation, on a trial-by-trial basis, between smooth and saccadic components; i.e., saccades compensated for variability of smooth eye displacement during the blanking period such that gaze at target reappearance was independent of the level of smooth eye displacement. We suggest these results indicate that information arising from efference copies of saccadic and smooth pursuit systems are combined with the goal of adjusting eye position at target reappearance. Based on prior experimental evidence, we hypothesize that this spatial remapping is carried out through interactions between a number of identified neurophysiological structures.

Combined smooth and saccadic ocular pursuit during the transient occlusion of a moving visual object

Accurate ocular pursuit during a transient occlusion interval would minimize retinal position and velocity error, and could provide an advantage when discriminating object characteristics at reappearance. This study was designed to examine how the smooth and saccadic response extrapolates the trajectory of a moving visual object during a transient occlusion. We confirmed that subjects could not maintain unity gain smooth pursuit during the transient occlusion. Eye velocity decayed significantly without visual feedback but then in the majority of subjects, there was a recovery that brought eye velocity back towards object velocity. However, eye velocity did not increase to a level that eliminated the developing position error. Subjects corrected for the resulting error in eye position by releasing saccades that generally placed the eye ahead of the occluded object's extrapolated position. The majority of saccadic correction occurred between 220 and 600 ms of the occlusion interval, and when combined with the smooth response enabled accurate pursuit of a 10 degrees/s object for up to 1,200 ms of occlusion. The lack of saccadic correction after 600 ms of occlusion combined with the reduced eye velocity resulted in significant undershoot of eye position at the moment of object reappearance when pursuing an 18 degrees/s object. We suggest that extra-retinal information regarding eye velocity and smooth eye displacement could be available from a continually updating efference copy of eye motion in MST, whereas a veridical representation of extrapolated object velocity and displacement could be obtained from persistent activity in FEF.

Explicit estimation of visual uncertainty in human motion processing

We examine whether human observers have explicit access to an estimate of their own uncertainty in extrapolating the motion trajectories of moving objects. Objects moved across a display area at constant speed changing direction at short time intervals. Each new direction was obtained by adding a random perturbation to the previous direction. The perturbation distribution was always symmetric with mean zero (no change in direction) but could differ in variability: objects with low directional variability tended to travel in straight lines while objects with high directional variability moved more erratically. Objects eventually disappeared behind the near edge of an occluder. Observers marked a 'capture region' along the far edge of the occluder that they estimated would contain the object when it re-emerged. We varied both occluder width and directional variability across trials and found that observers correctly compensated for these changes. We present a two-stage model of observer performance in which the visual system first estimates the directional variability of the object and then uses this estimate to set a capture region.

Direct Evidence for a Position Input to the Smooth Pursuit System

When objects move in our environment, the orientation of the visual axis in space requires the coordination of two types of eye movements: saccades and smooth pursuit. The principal input to the saccadic system is position error, whereas it is velocity error for the smooth pursuit system. Recently, it has been shown that catch-up saccades to moving targets are triggered and programmed by using velocity error in addition to position error. Here, we show that, when a visual target is flashed during ongoing smooth pursuit, it evokes a smooth eye movement toward the flash. The velocity of this evoked smooth movement is proportional to the position error of the flash; it is neither influenced by the velocity of the ongoing smooth pursuit eye movement nor by the occurrence of a saccade, but the effect is absent if the flash is ignored by the subject. Furthermore, the response started around 85 ms after the flash presentation and decayed with an average time constant of 276 ms. Thus this is the first direct evidence of a position input to the smooth pursuit system. This study shows further evidence for a coupling between saccadic and smooth pursuit systems. It also suggests that there is an interaction between position and velocity error signals in the control of more complex movements.

Timing the anticipatory recovery in smooth ocular pursuit during the transient disappearance of a visual target

After the disappearance of a moving target and the loss of visual feedback regarding image motion, smooth pursuit eye velocity decays rapidly. If, however, there is an expectation the target will reappear further along its trajectory, there is a scaled recovery in eye velocity before target reappearance. The aim of this study was to examine whether the timing of the anticipatory recovery is influenced by the duration of transient target disappearance. We found that subjects (N=6) did not maintain eye velocity close to target velocity throughout the inter-stimulus interval (ISI). In general, after an initial reduction in eye velocity a significant increase was observed for most subjects before target reappearance, or a recovery that halted the decay. The timing of the recovery was not influenced by ISI even when this was predictable. There was, however, a significant effect of the initial visible ramp duration, indicating that the recovery was a consequence of the previous eye velocity trajectory and subsequent reacceleration. We suggest, therefore, that the recovery was timed to the moment of target disappearance rather than reappearance, and was the result of reactivation of a variable gain mechanism that acts on the visuomotor drive to ocular pursuit.

Predictive Smooth Ocular Pursuit During the Transient Disappearance of a Visual Target

When a moving target disappears and there is a complete absence of visual feedback signals, eye velocity decays rapidly but often recovers to previous levels if there is an expectation the target will reappear further along its trajectory Given that eye velocity cannot be maintained under such circumstances, the anticipatory recovery may function to minimize the developing velocity error. When there is a change in target velocity during a transient, any recovery should ideally be scaled and hence predictive of the expected target velocity at reappearance. This study confirmed that subjects did not maintain eye velocity close to target velocity for the duration of the inter-stimulus interval (ISI). The majority of subjects exhibited an initial reduction in eye velocity followed by a scaled recovery prior to target reappearance. Eye velocity during the ISI was, therefore, predictive of the expected change in target velocity. These behavioral data were simulated using a model in which gain applied to the visuomotor drive is reduced after the loss of visual feedback and then modulated depending on subject’s expectation regarding the target’s future trajectory.

Human Ocular Pursuit During the Transient Disappearance of a Visual Target

During the course of pursuing a moving target there are often periods of transient disappearance as it moves behind objects and surfaces. In experimental settings, eye velocity decays rapidly on the extinction of a moving target. However, eye velocity does not decay to zero if there is an expectation the target will reappear further along its trajectory. Increasing eye velocity to coincide with target reappearance could minimize the developing velocity error, but it remains to be empirically verified whether this can be achieved. The aim of the present study was to examine the influence of stimulus predictability, target velocity, and interstimulus interval (ISI) on ocular pursuit during the transient disappearance of a visual target. We confirmed that subjects ( n = 9) did not maintain eye velocity close to target velocity for the duration of the ISI. In general, after an initial reduction in eye velocity the majority of subjects ( n = 7) exhibited a significant increase before target reappearance. The timing of the velocity increase was not influenced by target velocity, stimulus predictability, or ISI. Consequently, for the 900-ms ISI the increase occurred too early and the eye was decelerating at the moment of target reappearance. These results are consistent with a reduction in gain being applied to the visuomotor drive when the target disappeared, followed by a reactivation in expectation of target reappearance. We modeled this process such that gain was modulated within a reafferent feedback system, hence preserving its output in the absence of negative visual feedback and enabling an anticipatory increase in eye velocity before expected target reappearance.

Evidence for object permanence in the smooth-pursuit eye movements of monkeys

We recorded the smooth-pursuit eye movements of monkeys in response to targets that were extinguished (blinked) for 200 ms in mid-trajectory. Eye velocity declined considerably during the target blinks, even when the blinks were completely predictable in time and space. Eye velocity declined whether blinks were presented during steady-state pursuit of a constant-velocity target, during initiation of pursuit before target velocity was reached, or during eye accelerations induced by a change in target velocity. When a physical occluder covered the trajectory of the target during blinks, creating the impression that the target moved behind it, the decline in eye velocity was reduced or abolished. If the target was occluded once the eye had reached target velocity, pursuit was only slightly poorer than normal, uninterrupted pursuit. In contrast, if the target was occluded during the initiation of pursuit, while the eye was accelerating toward target velocity, pursuit during occlusion was very different from normal pursuit. Eye velocity remained relatively stable during target occlusion, showing much less acceleration than normal pursuit and much less of a decline than was produced by a target blink. Anticipatory or predictive eye acceleration was typically observed just prior to the reappearance of the target. Computer simulations show that these results are best understood by assuming that a mechanism of eye-velocity memory remains engaged during target occlusion but is disengaged during target blinks.

Forward models in visuomotor control

In recent years, an increasing number of research projects investigated whether the central nervous system employs internal models in motor control. While inverse models in the control loop can be identified more readily in both motor behavior and the firing of single neurons, providing direct evidence for the existence of forward models is more complicated. In this paper, we will discuss such an identification of forward models in the context of the visuomotor control of an unstable dynamic system, the balancing of a pole on a finger. Pole balancing imposes stringent constraints on the biological controller, as it needs to cope with the large delays of visual information processing while keeping the pole at an unstable equilibrium. We hypothesize various model-based and non-model-based control schemes of how visuomotor control can be accomplished in this task, including Smith Predictors, predictors with Kalman filters, tapped-delay line control, and delay-uncompensated control. Behavioral experiments with human participants allow exclusion of most of the hypothesized control schemes. In the end, our data support the existence of a forward model in the sensory preprocessing loop of control. As an important part of our research, we will provide a discussion of when and how forward models can be identified and also the possible pitfalls in the search for forward models in control.

Computational study on monkey VOR adaptation and smooth pursuit based on the parallel control-pathway theory

Much controversy remains about the site of learning and memory for vestibuloocular reflex (VOR) adaptation in spite of numerous previous studies. One possible explanation for VOR adaptation is the flocculus hypothesis, which assumes that this adaptation is caused by synaptic plasticity in the cerebellar cortex. Another hypothesis is the model proposed by Lisberger that assumes that the learning that occurs in both the cerebellar cortex and the vestibular nucleus is necessary for VOR adaptation. Lisberger's model is characterized by a strong positive feedback loop carrying eye velocity information from the vestibular nucleus to the cerebellar cortex. This structure contributes to the maintenance of a smooth pursuit driving command with zero retinal slip during the steady-state phase of smooth pursuit with gain 1 or during the target blink condition. Here, we propose an alternative hypothesis that suggests that the pursuit driving command is maintained in the medial superior temporal (MST) area based on MST firing data during target blink and during ocular following blank, and as a consequence, we assume a much smaller gain for the positive feedback from the vestibular nucleus to the cerebellar cortex. This hypothesis is equivalent to assuming that there are two parallel neural pathways for controlling VOR and smooth pursuit: a main pathway of the semicircular canals to the vestibular nucleus for VOR, and a main pathway of the MST-dorsolateral pontine nuclei (DLPN)-flocculus/ventral paraflocculus to the vestibular nucleus for smooth pursuit. First, we theoretically demonstrate that this parallel control-pathway theory can reproduce the various firing patterns of horizontal gaze velocity Purkinje cells in the flocculus/ventral paraflocculus dependent on VOR in the dark, smooth pursuit, and VOR cancellation as reported in Miles et al. at least equally as well as the gaze velocity theory, which is the basic framework of Lisberger's model. Second, computer simulations based on our hypothesis can stably reproduce neural firing data as well as behavioral data obtained in smooth pursuit, VOR cancellation, and VOR adaptation, even if only plasticity in the cerebellar cortex is assumed. Furthermore, our computer simulation model can reproduce VOR adaptation automatically based on a heterosynaptic interaction model between parallel fiber inputs and climbing fiber inputs. Our results indicate that different assumptions about the site of pursuit driving command maintenance computationally lead to different conclusions about where the learning for VOR adaptation occurs. Finally, we propose behavioral and physiological experiments capable of discriminating between these two possibilities for the site of pursuit driving command maintenance and hence for the sites of learning and memory for VOR adaptation.

Role of retinal slip in the prediction of target motion during smooth and saccadic pursuit

Visual tracking of moving targets requires the combination of smooth pursuit eye movements with catch-up saccades. In primates, catch-up saccades usually take place only during pursuit initiation because pursuit gain is close to unity. This contrasts with the lower and more variable gain of smooth pursuit in cats, where smooth eye movements are intermingled with catch-up saccades during steady-state pursuit. In this paper, we studied in detail the role of retinal slip in the prediction of target motion during smooth and saccadic pursuit in the cat. We found that the typical pattern of pursuit in the cat was a combination of smooth eye movements with saccades. During smooth pursuit initiation, there was a correlation between peak eye acceleration and target velocity. During pursuit maintenance, eye velocity oscillated at approximately 3 Hz around a steady-state value. The average gain of smooth pursuit was approximately 0.5. Trained cats were able to continue pursuing in the absence of a visible target, suggesting a role of the prediction of future target motion in this species. The analysis of catch-up saccades showed that the smooth-pursuit motor command is added to the saccadic command during catch-up saccades and that both position error and retinal slip are taken into account in their programming. The influence of retinal slip on catch-up saccades showed that prediction about future target motion is used in the programming of catch-up saccades. Altogether, these results suggest that pursuit systems in primates and cats are qualitatively similar, with a lower average gain in the cat and that prediction affects both saccades and smooth eye movements during pursuit.

The role of target position in smooth pursuit deceleration and termination

Subjects smoothly pursued a target moving horizontally at 15 deg/s. After pursuit for 1 s, the target jumped 3 deg ahead of the fovea. At the moment of the jump, target velocity became 0 and 'effective visual feedback' assumed a value of either 0 (target retinally stabilized), -0.2, -0.4, or -1.0 (target fixed in space). With 0 visual feedback the eye continued to move smoothly at a moderate velocity, an apparent response to target position relative to the fovea. When negative visual feedback was present eye velocity decreased. With -0.2 and -0.4 feedback, this decrease was not a simple exponential, but often consisted of an initial fast decrease followed by slower decrease. With -1.0 feedback, eye velocity quickly decreased in an approximately exponential manner, and stopped. We were able to simulate these pursuit responses using a simple model of the pursuit system. Key features of the model are: (a) a target-velocity channel whose output decreases with target offset from the fovea, and whose gain switches from high to low as pursuit velocity approaches zero; (b) a target-position channel with a saturation non-linearity at 1-3 deg; and (c) a positive feedback loop with gain of less than 1.0. All of these features are essential to simulate the pursuit responses, especially with visual feedback values of -0.2 and -0.4. Our results and model suggest that target position serves as an important stimulus in guiding smooth pursuit as pursuit velocity decreases, and especially during pursuit termination.

Visual motion integration for perception and pursuit

To examine the relationship between visual motion processing for perception and pursuit, we measured the pursuit eye-movement and perceptual responses to the same complex-motion stimuli. We show that humans can both perceive and pursue the motion of line-figure objects, even when partial occlusion makes the resulting image motion vastly different from the underlying object motion. Our results show that both perception and pursuit can perform largely accurate motion integration, i.e. the selective combination of local motion signals across the visual field to derive global object motion. Furthermore, because we manipulated perceived motion while keeping image motion identical, the observed parallel changes in perception and pursuit show that the motion signals driving steady-state pursuit and perception are linked. These findings disprove current pursuit models whose control strategy is to minimize retinal image motion, and suggest a new framework for the interplay between visual cortex and cerebellum in visuomotor control.

Discharge properties of neurons in the rostral superior colliculus of the monkey during smooth-pursuit eye movements

The intermediate and deep layers of the monkey superior colliculus (SC) comprise a retinotopically organized map for eye movements. The rostral end of this map, corresponding to the representation of the fovea, contains neurons that have been referred to as "fixation cells" because they discharge tonically during active fixation and pause during the generation of most saccades. These neurons also possess movement fields and are most active for targets close to the fixation point. Because the parafoveal locations encoded by these neurons are also important for guiding pursuit eye movements, we studied these neurons in two monkeys as they generated smooth pursuit. We found that fixation cells exhibit the same directional preferences during pursuit as during small saccades-they increase their discharge during movements toward the contralateral side and decrease their discharge during movements toward the ipsilateral side. This pursuit-related activity could be observed during saccade-free pursuit and was not predictive of small saccades that often accompanied pursuit. When we plotted the discharge rate from individual neurons during pursuit as a function of the position error associated with the moving target, we found tuning curves with peaks within a few degrees contralateral of the fovea. We compared these pursuit-related tuning curves from each neuron to the tuning curves for a saccade task from which we separately measured the visual, delay, and peri-saccadic activity. We found the highest and most consistent correlation with the delay activity recorded while the monkey viewed parafoveal stimuli during fixation. The directional preferences exhibited during pursuit can therefore be attributed to the tuning of these neurons for contralateral locations near the fovea. These results support the idea that fixation cells are the rostral extension of the buildup neurons found in the more caudal colliculus and that their activity conveys information about the size of the mismatch between a parafoveal stimulus and the currently foveated location. Because the generation of pursuit requires a break from fixation, the pursuit-related activity indicates that these neurons are not strictly involved with maintaining fixation. Conversely, because activity during the delay period was found for many neurons even when no eye movement was made, these neurons are also not obligatorily related to the generation of a movement. Thus the tonic activity of these rostral neurons provides a potential position-error signal rather than a motor command-a principle that may be applicable to buildup neurons elsewhere in the SC.

Predictive smooth pursuit eye movements during identification of moving acuity targets

Repetitive, brief target ramp movements every few seconds lead to anticipatory acceleration before each ramp onset and anticipatory deceleration before ramp offset. We assessed whether identifying novel changes in the pursuit target would alter this pattern of anticipatory pursuit. Without target identification (TI), anticipatory acceleration increased when intervals between ramps were regular, rather than random. It increased further when, between ramps, the target was invisible rather than stationary and visible. Anticipatory deceleration increased when the target was expected to stop rather than disappear at ramp offset. For TI trials, the pursuit target changed briefly into a Landolt C acuity target that had to be identified. Compared to no TI, anticipatory acceleration decreased when a stationary C always appeared just before ramp onset. It increased when a moving C appeared just after ramp onset, but only when the target was invisible between ramps. Anticipatory deceleration was reduced when a moving C appeared just before ramp offset, but did not increase when a stationary C appeared just after ramp offset. The changes were significant, but of small magnitude, suggesting that predictive pursuit, especially with a visible target between ramps, cannot be greatly influenced by attempts to selectively improve acuity at a particular phase of the stimulus.

Latency of cross-axis vestibulo-ocular reflex induced by pursuit training in monkeys

To examine the latency of smooth pursuit induced, short-term modifications of the vestibulo-ocular reflex (VOR), Japanese monkeys were rewarded for tracking a vertically moving target spot synchronized with horizontal whole body rotation. Eye movements induced by equivalent rotation in complete darkness were examined before and after training. Before training, the horizontal trapezoidal rotation (peak acceleration approximately 78%/s2) resulted in a collinear VOR with a mean latency of 15.3 ms, and no orthogonal component in any of the three monkeys tested. After training, the collinear VOR remained unchanged but an orthogonal, cross-axis VOR developed. It had a mean latency of 42.4 ms with gain (eye/chair) of 0.19, followed by a decaying phase that had a mean time constant of 80 ms. These results suggest that the cross-axis VOR induced by pursuit-vestibular interaction is different from previously reported cross-axis VOR induced by optokinetic-vestibular interaction.

Detecting saccades with jerk

In studies of smooth eye movements, saccades are often detected and removed from eye movement records during analysis. A simple and effective method for saccade detection is described; the method uses jerk (the third derivative of eye position with respect to time).