Reflexive limb selection and control of reach direction to moving targets in cats, monkeys, and humans

Done in 65 ms: Express Visuomotor Responses in Upper Limb Muscles in Rhesus Macaques

How rapidly can the brain transform vision into action? Work in humans has established that the transformation for visually-guided reaching can be remarkably rapid, with the first phase of upper limb muscle recruitment, the express visuomotor response, beginning within less than 100 ms of visual target presentation. Such short-latency responses limit the opportunities for extensive cortical processing, leading to the hypothesis that they are generated via the subcortical tecto-reticulo-spinal pathway. Here, we examine whether nonhuman primates (NHPs) exhibit express visuomotor responses. Two male macaques made visually-guided reaches in a behavioral paradigm known to elicit express visuomotor responses in humans, while we acquired intramuscular recordings from the deltoid muscle. Across several variants of this paradigm, express visuomotor responses began within 65 ms (range: 48-91 ms) of target presentation. Although the timing of the express visuomotor response did not co-vary with reaction time, larger express visuomotor responses tended to precede shorter latency reaches. Further, we observed that the magnitude of the express visuomotor response could be muted by contextual context, although this effect was quite variable. Overall, the response properties in NHPs resemble those in humans. Our results establish a new benchmark for visuomotor transformations underlying visually-guided reaches, setting the stage for experiments that can directly compare the role of cortical and subcortical areas in reaching when time is of the essence.

Computation Through Neural Population Dynamics

Significant experimental, computational, and theoretical work has identified rich structure within the coordinated activity of interconnected neural populations. An emerging challenge now is to uncover the nature of the associated computations, how they are implemented, and what role they play in driving behavior. We term this computation through neural population dynamics. If successful, this framework will reveal general motifs of neural population activity and quantitatively describe how neural population dynamics implement computations necessary for driving goal-directed behavior. Here, we start with a mathematical primer on dynamical systems theory and analytical tools necessary to apply this perspective to experimental data. Next, we highlight some recent discoveries resulting from successful application of dynamical systems. We focus on studies spanning motor control, timing, decision-making, and working memory. Finally, we briefly discuss promising recent lines of investigation and future directions for the computation through neural population dynamics framework.

Preparatory activity links the frontal eye field response with small amplitude motor unit recruitment of neck muscles during gaze planning

A hallmark of intelligent behavior is that we can separate intention from action. To understand the mechanism that gates the flow of information between motor planning and execution, we compared the activity of frontal eye field neurons with motor unit activity from neck muscles in the presence of an intervening delay period in which spatial information regarding the target was available to plan a response. Although spatially specific delay period activity was present in the activity of frontal eye field neurons, it was absent in motor unit activity. Nonetheless, motor unit activity was correlated with the time it took to initiate saccades. Interestingly, we observed a heterogeneity of responses among motor units, such that only units with smaller amplitudes showed a clear modulation during the delay period. These small amplitude motor units also had higher spontaneous activity compared with the units which showed modulation only during the movement epoch. Taken together, our results suggest the activity of smaller motor units convey temporal information and explains how the delay period primes muscle activity leading to faster reaction times.NEW & NOTEWORTHY This study shows that the temporal aspects of a motor plan in the oculomotor circuitry can be accessed by peripheral neck muscles hundreds of milliseconds before the instruction to initiate a saccadic eye movement. The coupling between central and peripheral processes during the delay time is mediated by the recruitment pattern of motor units with smaller amplitude. These findings suggest that information processed in cortical areas could be read from periphery before execution.

The effect of salient stimuli on neural oscillations, isometric force, and their coupling

Survival in a suddenly-changing environment requires animals not only to detect salient stimuli, but also to promptly respond to them by initiating or revising ongoing motor processes. We recently discovered that the large vertex brain potentials elicited by sudden supramodal stimuli are strongly coupled with a multiphasic modulation of isometric force, a phenomenon that we named cortico-muscular resonance (CMR). Here, we extend our investigation of the CMR to the time-frequency domain. We show that (i) both somatosensory and auditory stimuli evoke a number of phase-locked and non-phase-locked modulations of EEG spectral power. Remarkably, (ii) some of these phase-locked and non-phase-locked modulations are also present in the Force spectral power. Finally, (iii) EEG and Force time-frequency responses are correlated in two distinct regions of the power spectrum. An early, low-frequency region (∼4 Hz) reflects the previously-described coupling between the phase-locked EEG vertex potential and force modulations. A late, higher-frequency region (beta-band, ∼20 Hz) reflects a second coupling between the non-phase-locked increase of power observed in both EEG and Force. In both time-frequency regions, coupling was maximal over the sensorimotor cortex contralateral to the hand exerting the force, suggesting an effect of the stimuli on the tonic corticospinal drive. Thus, stimulus-induced CMR occurs across at least two different types of cortical activities, whose functional significance in relation to the motor system should be investigated further. We propose that these different types of corticomuscular coupling are important to alter motor behaviour in response to salient environmental events.

Perturbation of Macaque Supplementary Motor Area Produces Context-Independent Changes in the Probability of Movement Initiation

The contribution of the supplementary motor area (SMA) to movement initiation remains unclear. SMA exhibits premovement activity across a variety of contexts, including externally cued and self-initiated movements. Yet SMA lesions impair initiation primarily for self-initiated movements. Does SMA influence initiation across contexts or does it play a more specialized role, perhaps contributing only when initiation is less dependent on external cues? To address this question, we perturbed SMA activity via microstimulation at variable times before movement onset. Experiments used two adult male rhesus monkeys trained on a reaching task. We used three contexts that differed regarding how tightly movement initiation was linked to external cues. Movement kinematics were not altered by microstimulation. Instead, microstimulation induced a variety of changes in the timing of movement initiation, with different effects dominating for different contexts. Despite their diversity, these changes could be explained by a simple model where microstimulation has a stereotyped impact on the probability of initiation. Surprisingly, a unified model accounted for effects across all three contexts, regardless of whether initiation was determined more by external cues versus internal considerations. All effects were present for stimulation both contralateral and ipsilateral to the moving arm. Thus, the probability of initiating a pending movement is altered by perturbation of SMA activity. However, changes in initiation probability are independent of the balance of internal and external factors that establish the baseline initiation probability.SIGNIFICANCE STATEMENT The role of the supplementary motor area (SMA) in initiating movement remains unclear. Lesion experiments suggest that SMA makes a critical contribution only for self-initiated movements. Yet SMA is active before movements made under a range of contexts, suggesting a less-specialized role in movement initiation. Here, we use microstimulation to probe the role of SMA across a range of behavioral contexts that vary in the degree to which movement onset is influenced by external cues. We demonstrate that microstimulation produces a temporally stereotyped change in the probability of initiation that is independent of context. These results argue that SMA participates in the computations that lead to movement initiation and does so across a variety of contexts.

Conservation of preparatory neural events in monkey motor cortex regardless of how movement is initiated

A time-consuming preparatory stage is hypothesized to precede voluntary movement. A putative neural substrate of motor preparation occurs when a delay separates instruction and execution cues. When readiness is sustained during the delay, sustained neural activity is observed in motor and premotor areas. Yet whether delay-period activity reflects an essential preparatory stage is controversial. In particular, it has remained ambiguous whether delay-period-like activity appears before non-delayed movements. To overcome that ambiguity, we leveraged a recently developed analysis method that parses population responses into putatively preparatory and movement-related components. We examined cortical responses when reaches were initiated after an imposed delay, at a self-chosen time, or reactively with low latency and no delay. Putatively preparatory events were conserved across all contexts. Our findings support the hypothesis that an appropriate preparatory state is consistently achieved before movement onset. However, our results reveal that this process can consume surprisingly little time.

Real-time slacking as a default mode of grip force control: implications for force minimization and personal grip force variation

During trial-to-trial movement adaptation, the motor system systematically reduces extraneous muscle forces when kinematic errors experienced on previous movements are small, a phenomenon termed "slacking." There is also growing evidence that the motor system slacks continuously (i.e., in real-time) during arm movement or grip force control, but the initiation of this slacking is not well-characterized, obfuscating its physiological cause. Here, we addressed this issue by asking participants ( n = 32) to track discrete force targets presented visually using isometric grip force, then applying a brief, subtle error-clamp to that visual feedback on random trials. Participants reduced their force in an exponential fashion, on these error-clamp trials, except when the target force was <10% maximum voluntary contraction (MVC). This force drift began <250 ms after the onset of the error-clamp, consistent with slacking being an ongoing process unmasked immediately after the motor system finished reacting to the last veridical feedback. Above 10% MVC, the slacking rate increased linearly with grip force magnitude. Grip force variation was approximately 50-100% higher with veridical feedback, largely due to heightened signal power at ~1 Hz, the band of visuomotor feedback control. Finally, the slacking rate measured for each participant during error-clamp trials correlated with their force variation during control trials. That is, participants who slacked more had greater force variation. These results suggest that real-time slacking continuously reduces grip force until visual error prompts correction. Whereas such slacking is suited for force minimization, it may also account for ~30% of the variability in personal grip force variation. NEW & NOTEWORTHY We provide evidence that a form of slacking continuously conditions real-time grip force production. This slacking is well-suited to promote efficiency but is expected to increase force variation by triggering additional feedback corrections. Moreover, we show that the rate at which a person slacks is substantially correlated with the variation of their grip force. In combination, at the neurophysiological level, our results suggest slacking is caused by one or more relatively smooth neural adaptations.

Perspectives on classical controversies about the motor cortex

Primary motor cortex has been studied for more than a century, yet a consensus on its functional contribution to movement control is still out of reach. In particular, there remains controversy as to the level of control produced by motor cortex ("low-level" movement dynamics vs. "high-level" movement kinematics) and the role of sensory feedback. In this review, we present different perspectives on the two following questions: What does activity in motor cortex reflect? and How do planned motor commands interact with incoming sensory feedback during movement? The four authors each present their independent views on how they think the primary motor cortex (M1) controls movement. At the end, we present a dialogue in which the authors synthesize their views and suggest possibilities for moving the field forward. While there is not yet a consensus on the role of M1 or sensory feedback in the control of upper limb movements, such dialogues are essential to take us closer to one.

The Largest Response Component in the Motor Cortex Reflects Movement Timing but Not Movement Type

Neural activity in monkey motor cortex (M1) and dorsal premotor cortex (PMd) can reflect a chosen movement well before that movement begins. The pattern of neural activity then changes profoundly just before movement onset. We considered the prediction, derived from formal considerations, that the transition from preparation to movement might be accompanied by a large overall change in the neural state that reflects when movement is made rather than which movement is made. Specifically, we examined “components” of the population response: time-varying patterns of activity from which each neuron’s response is approximately composed. Amid the response complexity of individual M1 and PMd neurons, we identified robust response components that were “condition-invariant”: their magnitude and time course were nearly identical regardless of reach direction or path. These condition-invariant response components occupied dimensions orthogonal to those occupied by the “tuned” response components. The largest condition-invariant component was much larger than any of the tuned components; i.e., it explained more of the structure in individual-neuron responses. This condition-invariant response component underwent a rapid change before movement onset. The timing of that change predicted most of the trial-by-trial variance in reaction time. Thus, although individual M1 and PMd neurons essentially always reflected which movement was made, the largest component of the population response reflected movement timing rather than movement type.

Independence of Movement Preparation and Movement Initiation

Initiating a movement in response to a visual stimulus takes significantly longer than might be expected on the basis of neural transmission delays, but it is unclear why. In a visually guided reaching task, we forced human participants to move at lower-than-normal reaction times to test whether normal reaction times are strictly necessary for accurate movement. We found that participants were, in fact, capable of moving accurately ∼80 ms earlier than their reaction times would suggest. Reaction times thus include a seemingly unnecessary delay that accounts for approximately one-third of their duration. Close examination of participants' behavior in conventional reaction-time conditions revealed that they generated occasional, spontaneous errors in trials in which their reaction time was unusually short. The pattern of these errors could be well accounted for by a simple model in which the timing of movement initiation is independent of the timing of movement preparation. This independence provides an explanation for why reaction times are usually so sluggish: delaying the mean time of movement initiation relative to preparation reduces the risk that a movement will be initiated before it has been appropriately prepared. Our results suggest that preparation and initiation of movement are mechanistically independent and may have a distinct neural basis. The results also demonstrate that, even in strongly stimulus-driven tasks, presentation of a stimulus does not directly trigger a movement. Rather, the stimulus appears to trigger an internal decision whether to make a movement, reflecting a volitional rather than reactive mode of control.

A motor planning stage represents the shape of upcoming movement trajectories

Interactions with our environment require curved movements that depend not only on the final position of the hand but also on the path used to achieve it. Current studies in motor control, however, largely focus on point-to-point movements and do not consider how movements with specific desired trajectories might arise. In this study, we examined intentionally curved reaching movements that navigate paths around obstacles. We found that the preparation of these movements incurred a large reaction-time cost. This cost could not be attributed to nonmotor task requirements (e.g., stimulus perception) and was independent of the execution difficulty (i.e., extent of curvature) of the movement. Additionally, this trajectory representation cost was not observed for point-to-point reaches but could be optionally included if the task encouraged consideration of straight trajectories. Therefore, when the path of a movement is task relevant, the shape of the desired trajectory is overtly represented as a stage of motor planning. This trajectory representation ability may help explain the vast repertoire of human motor behaviors.

Transient visual responses reset the phase of low-frequency oscillations in the skeletomotor periphery

We recorded muscle activity from an upper limb muscle while human subjects reached towards peripheral targets. We tested the hypothesis that the transient visual response sweeps not only through the central nervous system, but also through the peripheral nervous system. Like the transient visual response in the central nervous system, stimulus-locked muscle responses (< 100 ms) were sensitive to stimulus contrast, and were temporally and spatially dissociable from voluntary orienting activity. Also, the arrival of visual responses reduced the variability of muscle activity by resetting the phase of ongoing low-frequency oscillations. This latter finding critically extends the emerging evidence that the feedforward visual sweep reduces neural variability via phase resetting. We conclude that, when sensory information is relevant to a particular effector, detailed information about the sensorimotor transformation, even from the earliest stages, is found in the peripheral nervous system.

The influence of movement preparation time on the expression of visuomotor learning and savings

Following a change in the environment or motor apparatus, human subjects are able to rapidly compensate their movements to recover accurate performance. This ability to adapt is thought to be achieved through multiple, qualitatively distinct learning processes acting in parallel. It is unclear, however, what the relative contributions of these multiple processes are during learning. In particular, long-term memories in such paradigms have been extensively studied through the phenomenon of savings-faster adaptation to a given perturbation the second time it is experienced-but it is unclear which components of learning contribute to this effect. Here we show that distinct components of learning in an adaptation task can be dissociated based on the amount of preparation time they require. During adaptation, we occasionally forced subjects to generate movements at very low preparation times. Early in learning, subjects expressed only a limited amount of their prior learning in these trials, though performance improved gradually with further practice. Following washout, subjects exhibited a strong and persistent aftereffect in trials in which preparation time was limited. When subjects were exposed to the same perturbation twice in successive days, they adapted faster the second time. This savings effect was, however, not seen in movements generated at low preparation times. These results demonstrate that preparation time plays a critical role in the expression of some components of learning but not others. Savings is restricted to those components that require prolonged preparation to be expressed and might therefore reflect a declarative rather than procedural form of memory.

Cross-species comparison of anticipatory and stimulus-driven neck muscle activity well before saccadic gaze shifts in humans and nonhuman primates

Recent studies have described a phenomenon wherein the onset of a peripheral visual stimulus elicits short-latency (<100 ms) stimulus-locked recruitment (SLR) of neck muscles in nonhuman primates (NHPs), well before any saccadic gaze shift. The SLR is thought to arise from visual responses within the intermediate layers of the superior colliculus (SCi), hence neck muscle recordings may reflect presaccadic activity within the SCi, even in humans. We obtained bilateral intramuscular recordings from splenius capitis (SPL, an ipsilateral head-turning muscle) from 28 human subjects performing leftward or rightward visually guided eye-head gaze shifts. Evidence of an SLR was obtained in 16/55 (29%) of samples; we also observed examples where the SLR was present only unilaterally. We compared these human results with those recorded from a sample of eight NHPs from which recordings of both SPL and deeper suboccipital muscles were available. Using the same criteria, evidence of an SLR was obtained in 8/14 (57%) of SPL recordings, but in 26/29 (90%) of recordings from suboccipital muscles. Thus, both species-specific and muscle-specific factors contribute to the low SLR prevalence in human SPL. Regardless of the presence of the SLR, neck muscle activity in both human SPL and in NHPs became predictive of the reaction time of the ensuing saccade gaze shift ∼70 ms after target appearance; such pregaze recruitment likely reflects developing SCi activity, even if the tectoreticulospinal pathway does not reliably relay visually related activity to SPL in humans.

Major remaining gaps in models of sensorimotor systems

Experimental descriptions of the anatomy and physiology of individual components of sensorimotor systems have revealed substantial complexity, making it difficult to intuit how complete systems might work. This has led to increasing efforts to develop and employ mathematical models to study the emergent properties of such systems. Conversely, the development of such models tends to reveal shortcomings in the experimental database upon which models must be constructed and validated. In both cases models are most useful when they point up discrepancies between what we think we know and possibilities that we may have overlooked. This overview considers those components of complete sensorimotor systems that currently appear to be potentially important but poorly understood. These are generally omitted completely from modeled systems or buried in implicit assumptions that underlie the design of the model.

Motor Planning

Motor planning colloquially refers to any process related to the preparation of a movement that occurs during the reaction time prior to movement onset. However, this broad definition encompasses processes that are not strictly motor-related, such as decision-making about the identity of task-relevant stimuli in the environment. Furthermore, the assumption that all motor-planning processes require processing time, and can therefore be studied behaviorally by measuring changes in the reaction time, needs to be reexamined. In this review, we take a critical look at the processes leading from perception to action and suggest a definition of motor planning that encompasses only those processes necessary for a movement to be executed-that is, processes that are strictly movement related. These processes resolve the ambiguity inherent in an abstract goal by defining a specific movement to achieve it. We propose that the majority of processes that meet this definition can be completed nearly instantaneously, which means that motor planning itself in fact consumes only a small fraction of the reaction time.

Bayesian action&perception: representing the world in the brain

Theories of perception seek to explain how sensory data are processed to identify previously experienced objects, but they usually do not consider the decisions and effort that goes into acquiring the sensory data. Identification of objects according to their tactile properties requires active exploratory movements. The sensory data thereby obtained depend on the details of those movements, which human subjects change rapidly and seemingly capriciously. Bayesian Exploration is an algorithm that uses prior experience to decide which next exploratory movement should provide the most useful data to disambiguate the most likely possibilities. In previous studies, a simple robot equipped with a biomimetic tactile sensor and operated according to Bayesian Exploration performed in a manner similar to and actually better than humans on a texture identification task. Expanding on this, "Bayesian Action&Perception" refers to the construction and querying of an associative memory of previously experienced entities containing both sensory data and the motor programs that elicited them. We hypothesize that this memory can be queried (i) to identify useful next exploratory movements during identification of an unknown entity ("action for perception") or (ii) to characterize whether an unknown entity is fit for purpose ("perception for action") or (iii) to recall what actions might be feasible for a known entity (Gibsonian affordance). The biomimetic design of this mechatronic system may provide insights into the neuronal basis of biological action and perception.

Optimal isn't good enough

The notion that biological systems come to embody optimal solutions seems consistent with the competitive drive of evolution. It has been used to interpret many examples of sensorimotor behavior. It is attractive from the viewpoint of control engineers because it solves the redundancy problem by identifying the one optimal motor strategy out of many similarly acceptable possibilities. This perspective examines whether there is sufficient basis to apply the formal engineering tools of optimal control to a reductionist understanding of biological systems. For an experimental biologist, this translates into whether the theory of optimal control generates nontrivial and testable hypotheses that accurately predict novel phenomena, ideally at deeper levels of structure than the observable behavior. The methodology of optimal control is applicable when there is (i) a single, known cost function to be optimized, (ii) an invertible model of the plant, and (iii) simple noise interfering with optimal performance. None of these is likely to be true for biological organisms. Furthermore, their motivation is usually good-enough rather than globally optimal behavior. Even then, the performance of a biological organism is often much farther from optimal than the physical limits of its hardware because the brain is continuously testing the acceptable limits of performance as well as just performing the task. This perspective considers an alternative strategy called "good-enough" control, in which the organism uses trial-and-error learning to acquire a repertoire of sensorimotor behaviors that are known to be useful, but not necessarily optimal. This leads to a diversity of solutions that tends to confer robustness on the individual organism and its evolution. It is also more consistent with the capabilities of higher sensorimotor structures, such as cerebral cortex, which seems to be designed to classify and recall complex sets of information, thereby allowing the organism to learn from experience, rather than to compute new strategies online. Optimal control has been a useful metaphor for understanding some superficial aspects of motor psychophysics. Reductionists who want to understand the underlying neural mechanisms need to move on.

Planning of ballistic movement following stroke: insights from the startle reflex

Following stroke, reaching movements are slow, segmented, and variable. It is unclear if these deficits result from a poorly constructed movement plan or an inability to voluntarily execute an appropriate plan. The acoustic startle reflex provides a means to initiate a motor plan involuntarily. In the presence of a movement plan, startling acoustic stimulus triggers non-voluntary early execution of planned movement, a phenomenon known as the startReact response. In unimpaired individuals, the startReact response is identical to a voluntarily initiated movement, except that it is elicited 30–40 ms. As the startReact response is thought to be mediated by brainstem pathways, we hypothesized that the startReact response is intact in stroke subjects. If startReact is intact, it may be possible to elicit more task-appropriate patterns of muscle activation than can be elicited voluntarily. We found that startReact responses were intact following stroke. Responses were initiated as rapidly as those in unimpaired subjects, and with muscle coordination patterns resembling those seen during unimpaired volitional movements. Results were striking for elbow flexion movements, which demonstrated no significant differences between the startReact responses elicited in our stroke and unimpaired subject groups. The results during planned extension movements were less straightforward for stroke subjects, since the startReact response exhibited task inappropriate activity in the flexors. This inappropriate activity diminished over time. This adaptation suggests that the inappropriate activity was transient in nature and not related to the underlying movement plan. We hypothesize that the task-inappropriate flexor activity during extension results from an inability to suppress the classic startle reflex, which primarily influences flexor muscles and adapts rapidly with successive stimuli. These results indicate that stroke subjects are capable of planning ballistic elbow movements, and that when these planned movements are involuntarily executed they can be as rapid and appropriate as those in unimpaired individuals.