In reaching, the task is to move the hand to a target

Viewer-centered frame of reference for pointing to memorized targets in three-dimensional space

Pointing to a remembered visual target involves the transformation of binocular visual information into an appropriate motor output. Errors generated during pointing tasks may indicate the reference frames used by the CNS for the transformation and storage of the target position. Previous studies have proposed eye-, shoulder-, or hand-centered reference frames for various pointing tasks, depending on visual conditions. We asked subjects to perform pointing movements to remembered three-dimensional targets after a fixed memory delay. Pointing movements were executed under dim lighting conditions, allowing vision of the fingertip against a uniform black background. Subjects performed repeated movements to targets distributed uniformly within a small (radius 25 mm) workspace volume. In separate blocks of trials, subjects pointed to different workspace regions that varied in terms of distance and direction from the head and shoulder. Additional blocks were performed that differed in terms of starting position, effector hand, head rotation, and memory delay duration. Final pointing positions were quantified in terms of the constant and variable errors in three dimensions. The orientation of these errors was examined as a function of workspace location to identify the underlying reference frames. Subjects produced anisotropic patterns of variable error, with greater variability for endpoint distances from the body. The major axes of the variable-error tolerance ellipsoids pointed toward the eyes of the subject, independent of workspace region, effector hand (left or right), initial hand position, and head rotations. Constant errors were less consistent across subjects, but also tended to point toward the head and body. Both overshoots and undershoots of the target position were observed. Increasing the duration of the memory delay period increased the size but did not alter the orientation of the variable-error ellipsoids. Variability of the endpoint positions increased equally in all three Cartesian directions as the memory delay increased from 0.5 to 8.0 s. The anisotropy of variable errors indicates a viewer-centered reference frame for pointing to remembered visual targets with vision of the finger. The anisotropy of pointing variability stems from variability in egocentric binocular cues as opposed to reliance on allocentric visual references or to specific approximations in the sensorimotor transformation. Nevertheless, observed increases in variability with longer memory delays indicate that the short-term storage of the target position does not simply mirror the retinal and ocular sensory signals of the visually acquired target location. Thus spatial memory is carried out in an internal representation that is viewer-centered but that may be isotropic with respect to Cartesian space.

Neural network simulations of the primate oculomotor system. II. Frames of reference

Theories of motor control often assume that the location of visual stimuli is expressed in non retinotopic frames of reference. The saccadic system is known in enough detail for us to examine the evidential basis of this assumption. The organization of the neural circuit that controls saccades is first summarized. It is shown to consist of at least two interconnected modules. The first one is the burst generator, which resides in the reticular formation, and is entrusted with the tasks of impedance matching, synergist coactivation and reciprocal inhibition between antagonists. The second is a metric computer, which resides in the superior colliculus and the cerebral cortex, and computes the size and direction of the desired movement. Alternative models of the burst generator are presented and their "verisimilitude" is assessed in the light of evidence concerning saccadic trajectories, neuronal discharge patterns, interneuronal connections, as well as the results of lesion and stimulation experiments. Several models of the "metric computer" in the superior colliculus are then examined; their performance is again evaluated in the light of psychophysical, anatomical, physiological, and clinical evidence. It is demonstrated that the location of visual stimuli need not be expressed in nonretinotopic frames of reference for either the burst generator or the metric computer to issue appropriate commands to move the eyes. Instead, using information concerning intervening movements of the eyes to update the location of visual stimuli in a retinotopic frame of reference suffices for the planning and execution of correct saccades. More generally, it is proposed that the location of sensory stimuli need not be expressed in higher order frames of reference (e.g., centered in the body or even in extrapersonal space) provided that their location in a sensorium specific map is updated on the basis of effector movements.

Accuracy of planar reaching movements. II. Systematic extent errors resulting from inertial anisotropy

This study examines the source of direction-dependent errors in movement extent made by human subjects in a reaching task. As in the preceding study, subjects were to move a cursor on a digitizing tablet to targets displayed on a computer monitor. Movements were made without concurrent visual feedback of cursor position, but movement paths were displayed on the monitor after the completion of each movement. We first examined horizontal hand movements made at waist level with the upper arm in a vertical orientation. Targets were located at five distances and two directions (30 degrees and 150 degrees) from one of two initial positions. Trajectory shapes were stereotyped, and movements to more distant targets had larger accelerations and velocities. Comparison of movements in the two directions showed that in the 30 degrees direction responses were hypermetric, accelerations and velocities were larger, and movement times were shorter. Since movements in the 30 degrees direction required less motion of the upper arm than movements in the 150 degrees direction, we hypothesized that the differences in accuracy and acceleration reflected a failure to take into account the difference in total limb inertia in the two directions. To test this hypothesis we simulated the initial accelerations of a two-segment limb moving in the horizontal plane with the hand at shoulder level when a constant force was applied at the hand in each of 24 directions. We compared these simulated accelerations to ones produced by our subjects with their arms in the same position when they aimed movements to targets in the 24 directions and at equal distances from an initial position. The magnitudes of both simulated and actual accelerations were greatest in the two directions perpendicular to the forearm, where inertial resistance is least, and lowest for movements directed along the axis of the forearm. In all subjects, the directional variation in peak acceleration was similar to that predicted by the model and shifted in the same way when the initial position of the hand was displaced. The pattern of direction-dependent variations in initial acceleration did not depend on the speed of movement. It was also unchanged when subjects aimed their movements toward targets presented within the workspace on the tablet instead of on the computer monitor. These findings indicate that, in programming the magnitude of the initial force that will accelerate the hand, subjects do not fully compensate for direction dependent differences in inertial resistance.(ABSTRACT TRUNCATED AT 400 WORDS)

Accuracy of planar reaching movements. I. Independence of direction and extent variability

This study examined the variability in movement end points in a task in which human subjects reached to targets in different locations on a horizontal surface. The primary purpose was to determine whether patterns in the variable errors would reveal the nature and origin of the coordinate system in which the movements were planned. Six subjects moved a hand-held cursor on a digitizing tablet. Target and cursor positions were displayed on a computer screen, and vision of the hand and arm was blocked. The screen cursor was blanked during movement to prevent visual corrections. The paths of the movements were straight and thus directions were largely specified at the onset of movement. The velocity profiles were bell-shaped, and peak velocities and accelerations were scaled to target distance, implying that movement extent was also programmed in advance of the movement. The spatial distributions of movement end points were elliptical in shape. The major axes of these ellipses were systematically oriented in the direction of hand movement with respect to its initial position. This was true for both fast and slow movements, as well as for pointing movements involving rotations of the wrist joint. Using principal components analysis to compute the axes of these ellipses, we found that the eccentricity of the elliptical dispersions was uniformly greater for small than for large movements: variability along the axis of movement, representing extent variability, increased markedly but nonlinearly with distance. Variability perpendicular to the direction of movement, which results from directional errors, was generally smaller than extent variability, but it increased in proportion to the extent of the movement. Therefore, directional variability, in angular terms, was constant and independent of distance. Because the patterns of variability were similar for both slow and fast movements, as well as for movements involving different joints, we conclude that they result largely from errors in the planning process. We also argue that they cannot be simply explained as consequences of the inertial properties of the limb. Rather they provide evidence for an organizing mechanism that moves the limb along a straight path. We further conclude that reaching movements are planned in a hand-centered coordinate system, with direction and extent of hand movement as the planned parameters. Since the factors which influence directional variability are independent of those that influence extent errors, we propose that these two variables can be separately specified by the brain.