For effective sensorimotor processing must there be explicit representations and reconciliation of differing frames of reference?

The representation of egocentric space in the posterior parietal cortex

The posterior parietal cortex (PPC) is the most likely site where egocentric spatial relationships are represented in the brain. PPC cells receive visual, auditory, somaesthetic, and vestibular sensory inputs; oculomotor, head, limb, and body motor signals; and strong motivational projections from the limbic system. Their discharge increases not only when an animal moves towards a sensory target, but also when it directs its attention to it. PPC lesions have the opposite effect: sensory inattention and neglect. The PPC does not seem to contain a "map" of the location of objects in space but a distributed neural network for transforming one set of sensory vectors into other sensory reference frames or into various motor coordinate systems. Which set of transformation rules is used probably depends on attention, which selectively enhances the synapses needed for making a particular sensory comparison or aiming a particular movement.

Does the nervous system depend on kinesthetic information to control natural limb movements?

This target article draws together two groups of experimental studies on the control of human movement through peripheral feedback and centrally generated signals of motor commands. First, during natural movement, feedback from muscle, joint, and cutaneous afferents changes; in human subjects these changes have reflex and kinesthetic consequences. Recent psychophysical and microneurographic evidence suggests that joint and even cutaneous afferents may have a proprioceptive role. Second, the role of centrally generated motor commands in the control of normal movements and movements following acute and chronic deafferentation is reviewed. There is increasing evidence that subjects can perceive their motor commands under various conditions, but that this is inadequate for normal movement; deficits in motor performance arise when the reliance on proprioceptive feedback is abolished either experimentally or because of pathology. During natural movement, the CNS appears to have access to functionally useful input from a range of peripheral receptors as well as from internally generated command signals. The unanswered questions that remain suggest a number of avenues for further research.

Implications of neural networks for how we think about brain function

Engineers use neural networks to control systems too complex for conventional engineering solutions. To examine the behavior of individual hidden units would defeat the purpose of this approach because it would be largely uninterpretable. Yet neurophysiologists spend their careers doing just that! Hidden units contain bits and scraps of signals that yield only arcane hints about network function and no information about how its individual units process signals. Most literature on single-unit recordings attests to this grim fact. On the other hand, knowing a system's function and describing it with elegant mathematics tell one very little about what to expect of interneuronal behavior. Examples of simple networks based on neurophysiology are taken from the oculomotor literature to suggest how single-unit interpretability might decrease with increasing task complexity. It is argued that trying to explain how any real neural network works on a cell-by-cell, reductionist basis is futile and we may have to be content with trying to understand the brain at higher levels of organization.

Rhythm and Beat Perception in Motor Areas of the Brain

When we listen to rhythm, we often move spontaneously to the beat. This movement may result from processing of the beat by motor areas. Previous studies have shown that several motor areas respond when attending to rhythms. Here we investigate whether specific motor regions respond to beat in rhythm. We predicted that the basal ganglia and supplementary motor area (SMA) would respond in the presence of a regular beat. To establish what rhythm properties induce a beat, we asked subjects to reproduce different types of rhythmic sequences. Improved reproduction was observed for one rhythm type, which had integer ratio relationships between its intervals and regular perceptual accents. A subsequent functional magnetic resonance imaging study found that these rhythms also elicited higher activity in the basal ganglia and SMA. This finding was consistent across different levels of musical training, although musicians showed activation increases unrelated to rhythm type in the premotor cortex, cerebellum, and SMAs (pre-SMA and SMA). We conclude that, in addition to their role in movement production, the basal ganglia and SMAs may mediate beat perception.

On the nature and evolution of the neural bases of human language

The traditional theory equating the brain bases of language with Broca's and Wernicke's neocortical areas is wrong. Neural circuits linking activity in anatomically segregated populations of neurons in subcortical structures and the neocortex throughout the human brain regulate complex behaviors such as walking, talking, and comprehending the meaning of sentences. When we hear or read a word, neural structures involved in the perception or real-world associations of the word are activated as well as posterior cortical regions adjacent to Wernicke's area. Many areas of the neocortex and subcortical structures support the cortical-striatal-cortical circuits that confer complex syntactic ability, speech production, and a large vocabulary. However, many of these structures also form part of the neural circuits regulating other aspects of behavior. For example, the basal ganglia, which regulate motor control, are also crucial elements in the circuits that confer human linguistic ability and abstract reasoning. The cerebellum, traditionally associated with motor control, is active in motor learning. The basal ganglia are also key elements in reward-based learning. Data from studies of Broca's aphasia, Parkinson's disease, hypoxia, focal brain damage, and a genetically transmitted brain anomaly (the putative "language gene," family KE), and from comparative studies of the brains and behavior of other species, demonstrate that the basal ganglia sequence the discrete elements that constitute a complete motor act, syntactic process, or thought process. Imaging studies of intact human subjects and electrophysiologic and tracer studies of the brains and behavior of other species confirm these findings. As Dobzansky put it, "Nothing in biology makes sense except in the light of evolution" (cited in Mayr, 1982). That applies with as much force to the human brain and the neural bases of language as it does to the human foot or jaw. The converse follows: the mark of evolution on the brains of human beings and other species provides insight into the evolution of the brain bases of human language. The neural substrate that regulated motor control in the common ancestor of apes and humans most likely was modified to enhance cognitive and linguistic ability. Speech communication played a central role in this process. However, the process that ultimately resulted in the human brain may have started when our earliest hominid ancestors began to walk.

Prism exposure affects the proprioceptive frames of reference for interlimb rhythmic coordination

Adaptation to prisms can produce a change in felt arm position, termed proprioceptive shift. We studied the effects of prism-induced proprioceptive shift on interlimb rhythmic coordination performed under proprioceptive guidance, in the absence of vision. Relative to interlimb rhythmic coordination performed before prism exposure, the observed steady states of relative phase for postexposure coordination were shifted by a small but reliable amount. The shift was in the direction expected, given the direction of optical displacement. The amount of variability of interlimb rhythmic coordination was unaffected by prism exposure. The results suggest that the same spatial frames of reference altered by prism adaptation are involved in the production of interlimb rhythmic coordination patterns.

Inertial constraints on limb proprioception are independent of visual calibration

When the coincidence of a limb's spatial axes and inertial eigenvectors is broken, haptic proprioception of the limb's position conforms to the eigenvectors. Additionally, when prisms break the coincidence between an arm's visual and actual positions, haptic proprioception is shifted toward the visual-spatial direction. In 3 experiments, variation of the arm's mass distribution was combined with prism adaptation to investigate the hypothesis that the proprioceptive effects of inertial and visual manipulations are additive. This hypothesis was supported across manipulations of plane of motion, body posture, proprioceptive target, and proprioceptive experience during prism adaptation. Haptic proprioception seems to depend on local, physical reference frames that are relative to the physical reference frames for the body's environmental position and orientation.

A computational model of information processing in the frontal cortex and basal ganglia

Performance on the Wisconsin Card Sort Test (WCST) of patients with schizophrenia, Parkinson's disease (PD), and Huntington's disease (HD) was simulated by a neural network model constructed on principles derived from neuroanatomic loops from the frontal cortex through the basal ganglia and thalamus. The model provided a computational rationale for the empirical pattern of perseverative errors associated with frontal cortex dysfunction and random errors associated with striatal dysfunction. The model displayed perseverative errors in performance when the gain parameter of the activation function in units representing frontal cortex neurons was reduced as an analog of reduced dopamine release. Random errors occurred when the gain parameter of the activation function in units representing striatal neurons was reduced, or when the activation level was itself reduced as an analog of a striatal lesion. The model demonstrated that the perseveration of schizophrenic, Huntington's, and demented Parkinsonian patients may be principally due to ineffective inhibition of previously learned contextual rules in the frontal cortex, while the random errors of Parkinson's and Huntington's patients are more likely to be due to unsystematic errors of matching in the striatum. The model also made specific, empirically falsifiable predictions that can be used to explore the utility of these putative mechanisms of information processing in the frontal cortex and basal ganglia.

Coordination of two- and one-joint muscles: functional consequences and implications for motor control

The purpose of this paper is three-fold: (a) to summarize available data on coordination of major two- and one-joint muscles in multijoint tasks and identify basic features of muscle coordination, (b) to demonstrate that there may exist an optimization criterion that predicts essential features of electromyographic activity of individual muscles in a variety of tasks, and (c) to address the functional consequences of the observed muscle coordination and underlying mechanisms of its control. The analysis of the literature revealed that basic features of muscle coordination are similar among different voluntary motor tasks and reflex responses. It is demonstrated that these basic features of coordination of one- and two-joint muscles in two-dimensional tasks are qualitatively predicted by minimizing the sum of muscle stresses cubed. Functional consequences of the observed coordination of one- and two-joint muscles are (a) reduction of muscle force as well as stress, mechanical and metabolic energy expenditure, muscle fatigue, and perceived effort; (b) a spring-like behavior of a multi-joint limb during maintenance of an equilibrium posture; and (c) energy transfer between joints via two-joint muscles. A conceptual scheme of connections between motoneuron pools of one- and two-joint muscles, which accounts for the observed muscle coordination, is proposed. An important part of this scheme is the force-dependent inhibition and excitation from two-joint to one-joint synergists and antagonists, respectively.

Intrinsic muscle properties facilitate locomotor control - a computer simulation study

The purpose of this study was to investigate, theoretically, to what extent muscle properties could contribute to recovery from perturbations during locomotion. Four models with different actuator properties were created: the FLVT model, which encompassed force-length (FL) and force-velocity (FV) characteristics of human muscles as well as muscle stimulation inputs as functions of time (T); the FLT model, which had muscles without force-velocity characteristics; the FVT model, which had muscles without specific force-length characteristics; and the MT model, which had no muscles but was driven by joint moments (M) as a function of time. Each model was exposed to static and dynamic perturbations and its response was examined. FLVT showed good resistance to both static can dynamic perturbations. FLT was resistant to static perturbation but could not counteract dynamic perturbation, whereas the opposite was found for FVT. MT could not counteract either of the perturbations. Based on the results of the simulations, skeletal muscle force-length-velocity properties, although interactively complex, contribute substantially to the dynamic stability of the musculoskeletal system.

Reaching movements with similar hand paths but different arm orientations. I. Activity of individual cells in motor cortex

This study shows that the discharge of many motor cortical cells is strongly influenced by attributes of movement related to the geometry and mechanics of the arm and not only by spatial attributes of the hand trajectory. The activity of 619 directionally tuned cells was recorded from the motor cortex of two monkeys during reaching movements with the use of similar hand paths but two different arm orientations, in the natural parasagittal plane and abducted into the horizontal plane. Nearly all cells (588 of 619, 95%) showed statistically significant changes in activity between the two arm orientations [analysis of variance (ANOVA). P < 0.01]. A majority of cells showed a significant change in their overall level of activity (ANOVA, main effect of task, P < 0.01) between arm orientations before, during, and after movement. Many cells (433 of 619, 70%) also showed a significant change in the relation of their discharge with movement direction (ANOVA, task x direction interaction term, P < 0.01) during movement, including changes in the dynamic range of discharge with movement and changes in the directional preference of cells that were directionally tuned in both arm orientations. Similar effects were seen for the discharge of cells while the monkey maintained constant arm postures over the different peripheral targets with the use of different arm orientations. Repeated data files from the same cell with the use of the same arm orientation showed only small changes in the level of discharge or in directional tuning, suggesting that changes in cell discharge between arm orientations cannot be explained by random temporal variations in cell activity. The distribution of movement-related preferred directions of the whole sample differed between arm orientations, and also differed strongly between cells receiving passive input predominantly from the shoulder or elbow. The electromyographic activity of most prime mover muscles at the shoulder and elbow was also strongly affected by arm orientation, resulting in changes in overall level of activity and/or directional tuning that often resembled those of the proximal arm-related motor cortical cells. A mathematical model that represented movements in terms of movement direction centered on the hand could not account for any of the arm-orientation-related response changes seen in this task, whereas models in intrinsic parameter spaces of joint kinematics and joint torques predicted many of the effects.

Distribution of programming in a rapid aimed sequential movement

Studies indicate that rapid sequential movements are preprogrammed and that preprogramming increases with complexity, but more complex sequences that require on-line programming have been seldom been studied. The purpose of this investigation was to determine whether on-line programming occurs in a 7-target sequence in which there is a unique target constraint and if so, to determine how different task constraints affect the distribution of additional programming. Subjects contacted seven targets with a hand-held stylus as quickly as possible while maintaining a 90% hit rate. Initiation-band execution-timing patterns and movement kinematics were measured to determine when the additional programming took place. Results indicated that additional programming occurred before initiation and during movement to the first target when the constraint required more spatial accuracy (small target). A different type of unique target (a triple hit of one target) caused the additional programming to occur on-line one or two segments before its execution. Different positions of the unique target also affected timing patterns. Results were discussed in terms of: (1) capacity of processing; (2) control of movement variance; and (3) mean velocity as a programmed parameter in sequential aiming movements.

Comparison of cerebellothalamic and pallidothalamic projections in the monkey (Macaca fuscata): a double anterograde labeling study

To address the question of segregated projections from the internal segment of the globus pallidus (GPi) and the cerebellar nuclei (Cb) to the thalamus in the monkey, we employed a double anterograde labeling strategy combining the anterograde transport of horseradish peroxidase conjugated to wheat germ agglutinin (WGA-HRP) with biotinylated dextran amine (BDA) transport. The tissue was processed sequentially for WGA-HRP, and then BDA immunohistochemistry using two different chromogens. Since the two labels were easily distinguishable on the same histological section, the interrelationship between the cerebellar and pallidal projection systems could be directly evaluated. We found that both the cerebellothalamic and pallidothalamic label consisted of dense plexuses of labeled fibers and swellings in a patch-like configuration. The patches or foci of labeling were distributed either as dense single label or as interdigitating patches of double label. We found dense single label in the central portion of the ventral anterior nucleus pars principalis (VApc) and the ventral lateral nucleus pars oralis (VLo) following the GPi injections or in the central portion of the ventral posterior lateral nucleus pars oralis (VPLo) and nucleus X (X) following the cerebellar nuclei injections. Complementary interdigitating patches of WGA-HRP and BDA labeling were found primarily in transitional border regions between thalamic nuclei. On occasion, we found overlap of both labels. We observed a gradient pattern in the density of the pallidothalamic and cerebellothalamic projections. The pallidothalamic territory included VApc, VLo, and the ventral lateral nucleus pars caudalis (VLc), with the density of these projections decreasing along an anterior to posterior gradient in the thalamus. Occasional patches of pallidal label were found in VPLo and nucleus X. Conversely, the density of cerebellothalamic projections increased along the same gradient, with the cerebellothalamic territory extending anteriorly beyond the cell-sparse zones of VPLo, X, and VLc to include VLo and VApc also. These data suggest that although the cerebellar and pallidal projections primarily occupy separate thalamic territories, individual thalamic nuclei receive differentially weighted inputs from these sources.

The reaching task: evidence for vector arithmetic in the motor system?

During a reaching task, the population vector is an encoding of direction based on cells with cosine response functions. Scaling the response by a magnitude factor produces a vector encoding, enabling vector arithmetic to be performed by the summation of firing rates. We show that the response properties of selected populations of cells in the primary motor cortex and area 5 can be explained in terms of arithmetic relationships among load, goal, and motor command vectors. Our computer simulations show good agreement with single-cell recording data.