Task-dependent vestibular feedback responses in reaching

Human reaching control in dynamic environments

Closed-loop models of movement control have attracted growing interest in how the nervous system transforms sensory information into motor commands, and several brain structures have been identified as neural substrates for these computational operations. Recently, several studies have focused on how these models need to be updated when environmental parameters change. Current evidence suggests that when the task changes, rapid control updates enable flexible modifications of current actions and online decisions. At the same time, when movement dynamics change, humans use different strategies based on a combination of adaptation and modulation of controller sensitivity to exogenous perturbations (robust control). This review proposes a unified framework to capture these results based on online estimation of model parameters with dynamic updates in control. The reviewed studies also identify the time scales of associated behavioral mechanisms to guide future research on the neural basis of movement control.

Continuous peripersonal tracking accuracy is limited by the speed and phase of locomotion

Recent evidence suggests that perceptual and cognitive functions are codetermined by rhythmic bodily states. Prior investigations have focused on the cardiac and respiratory rhythms, both of which are also known to synchronise with locomotion-arguably our most common and natural of voluntary behaviours. Compared to the cardiorespiratory rhythms, walking is easier to voluntarily control, enabling a test of how natural and voluntary rhythmic action may affect sensory function. Here we show that the speed and phase of human locomotion constrains sensorimotor performance. We used a continuous visuo-motor tracking task in a wireless, body-tracking virtual environment, and found that the accuracy and reaction time of continuous reaching movements were decreased at slower walking speeds, and rhythmically modulated according to the phases of the step-cycle. Decreased accuracy when walking at slow speeds suggests an advantage for interlimb coordination at normal walking speeds, in contrast to previous research on dual-task walking and reach-to-grasp movements. Phasic modulations of reach precision within the step-cycle also suggest that the upper limbs are affected by the ballistic demands of motor-preparation during natural locomotion. Together these results show that the natural phases of human locomotion impose constraints on sensorimotor function and demonstrate the value of examining dynamic and natural behaviour in contrast to the traditional and static methods of psychological science.

Continuous evaluation of cost-to-go for flexible reaching control and online decisions

Humans consider the parameters linked to movement goal during reaching to adjust their control strategy online. Indeed, rapid changes in target structure or disturbances interfering with their initial plan elicit rapid changes in behavior. Here, we hypothesize that these changes could result from the continuous use of a decision variable combining motor and cognitive components. We combine an optimal feedback controller with a real-time evaluation of the expected cost-to-go, which considers target- and movement-related costs, in a common theoretical framework. This model reproduces human behaviors in presence of changes in the target structure occurring during movement and of online decisions to flexibly change target following external perturbations. It also predicts that the time taken to decide to select a novel goal after a perturbation depends on the amplitude of the disturbance and on the rewards of the different options, which is a direct result of the continuous monitoring of the cost-to-go. We show that this result was present in our previously collected dataset. Together our developments point towards a continuous evaluation of the cost-to-go during reaching to update control online and make efficient decisions about movement goal.

Proprioceptive and Visual Feedback Responses in Macaques Exploit Goal Redundancy

A common problem in motor control concerns how to generate patterns of muscle activity when there are redundant solutions to attain a behavioral goal. Optimal feedback control is a theory that has guided many behavioral studies exploring how the motor system incorporates task redundancy. This theory predicts that kinematic errors that deviate the limb should not be corrected if one can still attain the behavioral goal. Studies in humans demonstrate that the motor system can flexibly integrate visual and proprioceptive feedback of the limb with goal redundancy within 90 ms and 70 ms, respectively. Here, we show monkeys (Macaca mulatta) demonstrate similar abilities to exploit goal redundancy. We trained four male monkeys to reach for a goal that was either a narrow square or a wide, spatially redundant rectangle. Monkeys exhibited greater trial-by-trial variability when reaching to the wide goal consistent with exploiting goal redundancy. On random trials we jumped the visual feedback of the hand and found monkeys corrected for the jump when reaching to the narrow goal and largely ignored the jump when reaching for the wide goal. In a separate set of experiments, we applied mechanical loads to the arm of the monkey and found similar corrective responses based on goal shape. Muscle activity reflecting these different corrective responses were detected for the visual and mechanical perturbations starting at ∼90 and ∼70 ms, respectively. Thus, rapid motor responses in macaques can exploit goal redundancy similar to humans, creating a paradigm to study the neural basis of goal-directed motor action and motor redundancy.SIGNIFICANCE STATEMENT Moving in the world requires selecting from an infinite set of possible motor commands. Theories predict that motor commands are selected that exploit redundancies. Corrective responses in humans to either visual or proprioceptive disturbances of the limb can rapidly exploit redundant trajectories to a goal in <100 ms after a disturbance. However, uncovering the neural correlates generating these rapid motor corrections has been hampered by the absence of an animal model. We developed a behavioral paradigm in monkeys that incorporates redundancy in the form of the shape of the goal. Critically, monkeys exhibit corrective responses and timings similar to humans performing the same task. Our paradigm provides a model for investigating the neural correlates of sophisticated rapid motor corrections.

Vestibular motor control

The vestibular system is an essential sensory system that generates motor reflexes that are crucial for our daily activities, including stabilizing the visual axis of gaze and maintaining head and body posture. In addition, the vestibular system provides us with our sense of movement and orientation relative to space and serves a vital role in ensuring accurate voluntary behaviors. Neurophysiological studies have provided fundamental insights into the functional circuitry of vestibular motor pathways. A unique feature of the vestibular system compared to other sensory systems is that the same central neurons that receive direct input from the afferents of the vestibular component of the 8th nerve can also directly project to motor centers that control vital vestibular motor reflexes. In turn, these reflexes ensure stabilize gaze and the maintenance of posture during everyday activities. For instance, a direct three-neuron pathway mediates the vestibulo-ocular reflex (VOR) pathway to provide stable gaze. Furthermore, recent studies have advanced our understanding of the computations performed by the cerebellum and cortex required for motor learning, compensation, and voluntary movement and navigation. Together, these findings have provided new insights into how the brain ensures accurate self-movement during our everyday activities and have also advanced our knowledge of the neurobiological mechanisms underlying disorders of vestibular processing.

Tapping on a target: dealing with uncertainty about its position and motion

Reaching movements are guided by estimates of the target object's location. Since the precision of instantaneous estimates is limited, one might accumulate visual information over time. However, if the object is not stationary, accumulating information can bias the estimate. How do people deal with this trade-off between improving precision and reducing the bias? To find out, we asked participants to tap on targets. The targets were stationary or moving, with jitter added to their positions. By analysing the response to the jitter, we show that people continuously use the latest available information about the target's position. When the target is moving, they combine this instantaneous target position with an extrapolation based on the target's average velocity during the last several hundred milliseconds. This strategy leads to a bias if the target's velocity changes systematically. Having people tap on accelerating targets showed that the bias that results from ignoring systematic changes in velocity is removed by compensating for endpoint errors if such errors are consistent across trials. We conclude that combining simple continuous updating of visual information with the low-pass filter characteristics of muscles, and adjusting movements to compensate for errors made in previous trials, leads to the precise and accurate human goal-directed movements.

Assessing corticospinal excitability and reaching hand choice during whole-body motion

Behavioral studies have shown that humans account for inertial acceleration in their decisions of hand choice when reaching during body motion. Physiologically, it is unclear at what stage of movement preparation information about body motion is integrated in the process of hand selection. Here, we addressed this question by applying transcranial magnetic stimulation over left motor cortex (M1) of human participants who performed a preferential reach task while they were sinusoidally translated on a linear motion platform. If M1 only represents a read-out of the final hand choice, we expect the body motion not to affect the motor-evoked potential (MEP) amplitude. If body motion biases the hand selection process prior to target onset, we expect corticospinal excitability to be influenced by the phase of the motion, with larger MEP amplitudes for phases that show a bias to using the right hand. Behavioral results replicate our earlier findings of a sinusoidal modulation of hand choice bias with motion phase. MEP amplitudes also show a sinusoidal modulation with motion phase, suggesting that body motion influences corticospinal excitability which may ultimately reflect changes of hand preference. The modulation being present prior to target onset suggests that competition between hands is represented throughout the corticospinal tract. Its phase relationship with the motion profile indicates that other processes after target onset take up time until the hand selection process has been completely resolved, and the reach is initiated.

Hierarchical Integration of Communicative and Spatial Perspective‐Taking Demands in Sensorimotor Control of Referential Pointing

Recognized as a simple communicative behavior, referential pointing is cognitively complex because it invites a communicator to consider an addressee's knowledge. Although we know referential pointing is affected by addressees’ physical location, it remains unclear whether and how communicators’ inferences about addressees’ mental representation of the interaction space influence sensorimotor control of referential pointing. The communicative perspective‐taking task requires a communicator to point at one out of multiple referents either to instruct an addressee which one should be selected (communicative, COM) or to predict which one the addressee will select (non‐communicative, NCOM), based on either which referents can be seen (Level‐1 perspective‐taking, PT1) or how the referents were perceived (Level‐2 perspective‐taking, PT2) by the addressee. Communicators took longer to initiate the movements in PT2 than PT1 trials, and they held their pointing fingers for longer at the referent in COM than NCOM trials. The novel findings of this study pertain to trajectory control of the pointing movements. Increasing both communicative and perspective‐taking demands led to longer pointing trajectories, with an under‐additive interaction between those two experimental factors. This finding suggests that participants generate communicative behaviors that are as informative as required rather than overly exaggerated displays, by integrating communicative and perspective‐taking information hierarchically during sensorimotor control. This observation has consequences for models of human communication. It implies that the format of communicative and perspective‐taking knowledge needs to be commensurate with the movement dynamics controlled by the sensorimotor system.

Distinct adaptation patterns between grip dynamics and arm kinematics when the body is upside-down

In humans, practically all movements are learnt and performed in a constant gravitational field. Yet, studies on arm movements and object manipulation in parabolic flight have highlighted very fast sensorimotor adaptations to altered gravity environments. Here, we wondered if the motor adjustments observed in those altered gravity environments could also be observed on Earth in a situation where the body is upside-down. To address this question, we asked participants to perform rhythmic arm movements in two different body postures (right-side-up and upside-down) while holding an object in precision grip. Analyses of grip-load force coordination and of movement kinematics revealed distinct adaptation patterns between grip and arm control. Grip force and load force were tightly synchronized from the first movements performed in upside-down posture, reflecting a malleable allocentric grip control. In contrast, velocity profiles showed a more progressive adaptation to the upside-down posture and reflected an egocentric planning of arm kinematics. In addition to suggesting distinct mechanisms between grip dynamics and arm kinematics for adaptation to novel contexts, these results also suggest the existence of general mechanisms underlying gravity-dependent motor adaptation that can be used for fast sensorimotor coordination across different postures on Earth and, incidentally, across different gravitational conditions in parabolic flights, in human centrifuges, or in Space.NEW & NOTEWORTHY During rhythmic arm movements performed in an upside-down posture, grip control adapted very quickly, but kinematics adaptation was more progressive. Our results suggest that grip control and movement kinematics planning might operate in different reference frames. Moreover, by comparing our results with previous results from parabolic flight studies, we propose that a common mechanism underlies adaptation to unfamiliar body postures and adaptation to altered gravity.

Vestibular contributions to online reach execution are processed via mechanisms with knowledge about limb biomechanics

Studies of reach control with the body stationary have shown that proprioceptive and visual feedback signals contributing to rapid corrections during reaching are processed by neural circuits that incorporate knowledge about the physical properties of the limb (an internal model). However, among the most common spatial and mechanical perturbations to the limb are those caused by our body's own motion, suggesting that processing of vestibular signals for online reach control may reflect a similar level of sophistication. We investigated this hypothesis using galvanic vestibular stimulation (GVS) to selectively activate the vestibular sensors, simulating body rotation, as human subjects reached to remembered targets in different directions (forward, leftward, rightward). If vestibular signals contribute to purely kinematic/spatial corrections for body motion, GVS should evoke reach trajectory deviations of similar size in all directions. In contrast, biomechanical modeling predicts that if vestibular processing for online reach control takes into account knowledge of the physical properties of the limb and the forces applied on it by body motion, then GVS should evoke trajectory deviations that are significantly larger during forward and leftward reaches as compared with rightward reaches. When GVS was applied during reaching, the observed deviations were on average consistent with this prediction. In contrast, when GVS was instead applied before reaching, evoked deviations were similar across directions, as predicted for a purely spatial correction mechanism. These results suggest that vestibular signals, like proprioceptive and visual feedback, are processed for online reach control via sophisticated neural mechanisms that incorporate knowledge of limb biomechanics.NEW & NOTEWORTHY Studies examining proprioceptive and visual contributions to rapid corrections for externally applied mechanical and spatial perturbations during reaching have provided evidence for flexible processing of sensory feedback that accounts for musculoskeletal system dynamics. Notably, however, such perturbations commonly arise from our body's own motion. In line with this, we provide compelling evidence that, similar to proprioceptive and visual signals, vestibular signals are processed for online reach control via sophisticated mechanisms that incorporate knowledge of limb biomechanics.

The potential of noisy galvanic vestibular stimulation for optimizing and assisting human performance

Noisy galvanic vestibular stimulation (nGVS) is an emerging non-invasive brain stimulation technique. It involves applying alternating currents of different frequencies and amplitudes presented in a random, or noisy, manner through electrodes on the mastoid bones behind the ears. Because it directly activates vestibular hair cells and afferents and has an indirect effect on a variety of brain regions, it has the potential to impact many different functions. The objective of this review is twofold: (1) to review how nGVS affects motor, sensory, and cognitive performance in healthy adults; and (2) to discuss potential clinical applications of nGVS. First, we introduce the technique. We then describe the regions receiving and processing vestibular information. Next, we discuss the effects of nGVS on motor, sensory, and cognitive function in healthy adults. Subsequently, we outline its potential clinical applications. Finally, we highlight other electrical stimulation technologies and discuss why nGVS offers an alternative or complementary approach. Overall, nGVS appears promising for optimizing human performance and as an assistive technology, though further research is required.

Two Neural Circuits to Point Towards Home Position After Passive Body Displacements

A challenge in motor control research is to understand the mechanisms underlying the transformation of sensory information into arm motor commands. Here, we investigated these transformation mechanisms for movements whose targets were defined by information issued from body rotations in the dark (i.e., idiothetic information). Immediately after being rotated, participants reproduced the amplitude of their perceived rotation using their arm (Experiment 1). The cortical activation during movement planning was analyzed using electroencephalography and source analyses. Task-related activities were found in regions of interest (ROIs) located in the prefrontal cortex (PFC), dorsal premotor cortex, dorsal region of the anterior cingulate cortex (ACC) and the sensorimotor cortex. Importantly, critical regions for the cognitive encoding of space did not show significant task-related activities. These results suggest that arm movements were planned using a sensorimotor-type of spatial representation. However, when a 8 s delay was introduced between body rotation and the arm movement (Experiment 2), we found that areas involved in the cognitive encoding of space [e.g., ventral premotor cortex (vPM), rostral ACC, inferior and superior posterior parietal cortex (PPC)] showed task-related activities. Overall, our results suggest that the use of a cognitive-type of representation for planning arm movement after body motion is necessary when relevant spatial information must be stored before triggering the movement.

Vestibular modulation of visuomotor feedback gains in reaching

Humans quickly and sophisticatedly correct their movements in response to changes in the world, such as when reaching to a target that abruptly changes its location. The vigor of these movement corrections is time-dependent, increasing if the time left to make the correction decreases, which can be explained by optimal feedback control (OFC) theory as an increase of optimal feedback gains. It is unknown whether corrections for changes in the world are as sophisticated under full-body motion. For successful visually probed motor corrections during full-body motion, not only the motion of the hand relative to the body needs to be taken into account, but also the motion of the hand in the world should be considered, because their relative positions are changing. Here, in two experiments, we show that visuomotor feedback corrections in response to target jumps are more vigorous for faster passive full-body translational acceleration than for slower acceleration, suggesting that vestibular information modulates visuomotor feedback gains. Interestingly, these corrections do not demonstrate the time-dependent characteristics that body-stationary visuomotor feedback gains typically show, such that an optimal feedback control model fell short to explain them. We further show that the vigor of corrections generally decreased over the course of trials within the experiment, suggesting that the sensorimotor system adjusted its gains when learning to integrate the vestibular input into hand motor control.

NEW & NOTEWORTHY Vestibular information is used in the control of reaching movements to world-stationary visual targets, while the body moves. Here, we show that vestibular information also modulates the corrective reach responses when the target changes position during the body motion: visuomotor feedback gains increase for faster body acceleration. Our results suggest that vestibular information is integrated into fast visuomotor control of reaching movements.

Visual Feedback Processing of the Limb Involves Two Distinct Phases

Muscle responses to mechanical disturbances exhibit two distinct phases: a response starting at ~20 ms that is fairly stereotyped, and a response starting at ~60 ms modulated by many behavioral contexts including goal-redundancy and environmental obstacles. Muscle responses to disturbances of visual feedback of the hand arise within ~90 ms. However, little is known whether these muscle responses are sensitive to behavioral contexts. We had 49 human participants (27 male) execute goal-directed reaches with visual feedback of their hand presented as a cursor. On random trials, the cursor jumped laterally to the reach direction, and thus, required a correction to attain the goal. The first experiment demonstrated that the response amplitude starting at 90 ms scaled with jump magnitude, but only for jumps <2 cm. For larger jumps, the duration of the muscle response scaled with the jump size starting after 120 ms. The second experiment demonstrated that the early response was sensitive to goal redundancy as wider targets evoked a smaller corrective response. The third experiment demonstrated that the early response did not consider the presence of obstacles, as this response routinely drove participants directly to the goal even though this path was blocked by an obstacle. Instead, the appropriate muscle response to navigate around the obstacle started after 120 ms. Our findings highlight that visual feedback of the limb involves two distinct phases: a response starting at 90 ms with limited sensitivity to jump magnitude and sensitive to goal-redundancy, and a response starting at 120 ms with increased sensitivity to jump magnitude and environmental factors.SIGNIFICANCE STATEMENT The motor system can integrate proprioceptive feedback to guide an ongoing action in ~60 ms and is flexible to a broad range of behavioral contexts. In contrast, the present study identified that the motor response to a visual disturbance exhibits two distinct phases: an early response starting at 90 ms with limited scaling with disturbance size and sensitivity to goal-redundancy, and a slower response starting after 120 ms with increased sensitivity to disturbance size and sensitive to environmental obstacles. These data suggest visual feedback of the hand is processed through two distinct feedback processes.

Is the manual following response an attempt to compensate for inferred self-motion?

If the surrounding of a visual target unexpectedly starts to move during a fast goal-directed hand movement, the hand reflexively moves along with it. This is known as the ‘manual following response’. One explanation for this response is that it is a compensation for inferred self-motion in space. Previous studies have shown that background motion gives rise to both postural responses and deviations in goal-directed hand movements. To evaluate whether compensation for inferred self-motion is responsible for the manual responses we examined whether galvanic stimulation of the vestibular system would give rise to similar deviations in hand movements. Standing participants tried to quickly tap on targets that were presented on a horizontal screen. Participants could infer self-motion on some of the trials, either from galvanic vestibular stimulation or from background motion. Both perturbations took place during the hand movement. It took both the head and hand about 45 ms longer to respond to background motion than to respond to galvanic stimulation. The head responded in a similar manner to both types of perturbations. The hand responded about as expected to galvanic stimulation, but much more vigorously to background motion. Thus, the manual response to background motion is probably not a direct consequence of trying to compensate for inferred self-motion. Perhaps the manual following response is a consequence of an error in binding motion information to objects.

Task-dependent responses to muscle vibration during reaching

Feedback corrections in reaching have been shown to be task-dependent for proprioceptive, visual and vestibular perturbations, in line with predictions from optimal feedback control theory. Mechanical perturbations have been used to elicit proprioceptive errors, but have the drawback to actively alter the limb's trajectory, making it nontrivial to dissociate the subject's compensatory response from the perturbation itself. In contrast, muscle vibration provides an alternative tool to perturb the muscle afferents without changing the hands trajectory, inducing only changes in the estimated, but not the actual, limb position and velocity. Here, we investigate whether upper-arm muscle vibration is sufficient to evoke task-dependent feedback corrections during goal-directed reaching to a narrow versus a wide target. Our main result is that for vibration of biceps and triceps, compensatory responses were down-regulated for the wide compared to the narrow target. The earliest detectable difference between these target-specific corrections is at about 100 ms, likely reflecting a task-dependent feedback control policy rather than a voluntary response.

Effects of Aging on Postural Responses to Visual Perturbations During Fast Pointing

People can quickly adjust their goal-directed hand movements to an unexpected visual perturbation (a target jump or background motion). Does this ability decrease with age? We examined how aging affects both the timing and vigor of fast manual and postural adjustments to visual perturbations. Young and older adults stood in front of a horizontal screen. They were instructed to tap on targets presented on the screen as quickly and accurately as possible by moving their hand in the sagittal direction. In some trials, the target or the background moved laterally when the hand started to move. The young and older adults tapped equally accurately, but older adults’ movement times were about 160 ms longer. The manual responses were similar for the young and older adults, but the older adults took about 15 ms longer to respond to both kinds of visual perturbations. The manual responses were also less vigorous for the older adults. In contrast to the young adults, the older adults responded more strongly to the motion of the background than to the target jump, probably because the elderly rely more on visual information for their posture. Thus, aging delays responses to visual perturbations, while at the same time making people rely more on the visual surrounding to adjust goal-directed movements.

Continuously updating one’s predictions underlies successful interception

This paper reviews our understanding of the interception of moving objects. Interception is a demanding task that requires both spatial and temporal precision. The required precision must be achieved on the basis of imprecise and sometimes biased sensory information. We argue that people make precise interceptive movements by continuously adjusting their movements. Initial estimates of how the movement should progress can be quite inaccurate. As the movement evolves, the estimate of how the rest of the movement should progress gradually becomes more reliable as prediction is replaced by sensory information about the progress of the movement. The improvement is particularly important when things do not progress as anticipated. Constantly adjusting one’s estimate of how the movement should progress combines the opportunity to move in a way that one anticipates will best meet the task demands with correcting for any errors in such anticipation. The fact that the ongoing movement might have to be adjusted can be considered when determining how to move, and any systematic anticipation errors can be corrected on the basis of the outcome of earlier actions.

State Estimation for Early Feedback Responses in Reaching: Intramodal or Multimodal?

Humans are highly skilled in controlling their reaching movements, making fast and task-dependent movement corrections to unforeseen perturbations. To guide these corrections, the neural control system requires a continuous, instantaneous estimate of the current state of the arm and body in the world. According to Optimal Feedback Control theory, this estimate is multimodal and constructed based on the integration of forward motor predictions and sensory feedback, such as proprioceptive, visual and vestibular information, modulated by context, and shaped by past experience. But how can a multimodal estimate drive fast movement corrections, given that the involved sensory modalities have different processing delays, different coordinate representations, and different noise levels? We develop the hypothesis that the earliest online movement corrections are based on multiple single modality state estimates rather than one combined multimodal estimate. We review studies that have investigated online multimodal integration for reach control and offer suggestions for experiments to test for the existence of intramodal state estimates. If proven true, the framework of Optimal Feedback Control needs to be extended with a stage of intramodal state estimation, serving to drive short-latency movement corrections.