Real-time supervisor system based on trinary logic to control experiments with behaving animals and humans

Similar neural states, but dissimilar decoding patterns for motor control in parietal cortex

Discrete neural states are associated with reaching movements across the fronto-parietal network. Here, the Hidden Markov Model (HMM) applied to spiking activity of the somato-motor parietal area PE revealed a sequence of states similar to those of the contiguous visuomotor areas PEc and V6A. Using a coupled clustering and decoding approach, we proved that these neural states carried spatiotemporal information regarding behaviour in all three posterior parietal areas. However, comparing decoding accuracy, PE was less informative than V6A and PEc. In addition, V6A outperformed PEc in target inference, indicating functional differences among the parietal areas. To check the consistency of these differences, we used both a supervised and an unsupervised variant of the HMM, and compared its performance with two more common classifiers, Support Vector Machine and Long-Short Term Memory. The differences in decoding between areas were invariant to the algorithm used, still showing the dissimilarities found with HMM, thus indicating that these dissimilarities are intrinsic in the information encoded by parietal neurons. These results highlight that, when decoding from the parietal cortex, for example, in brain machine interface implementations, attention should be paid in selecting the most suitable source of neural signals, given the great heterogeneity of this cortical sector.

Neurophysiological recordings from parietal areas of macaque brain during an instructed-delay reaching task

Facilitating data sharing in scientific research, especially in the domain of animal studies, holds immense value, particularly in mitigating distress and enhancing the efficiency of data collection. This study unveils a meticulously curated collection of neural activity data extracted from six electrophysiological datasets recorded from three parietal areas (V6A, PEc, PE) of two Macaca fascicularis during an instructed-delay foveated reaching task. This valuable resource is now accessible to the public, featuring spike timestamps, behavioural event timings and supplementary metadata, all presented alongside a comprehensive description of the encompassing structure. To enhance accessibility, data are stored as HDF5 files, a convenient format due to its flexible structure and the capability to attach diverse information to each hierarchical sub-level. To guarantee ready-to-use datasets, we also provide some MATLAB and Python code examples, enabling users to quickly familiarize themselves with the data structure.

Decoding sensorimotor information from superior parietal lobule of macaque via Convolutional Neural Networks

Despite the well-recognized role of the posterior parietal cortex (PPC) in processing sensory information to guide action, the differential encoding properties of this dynamic processing, as operated by different PPC brain areas, are scarcely known. Within the monkey's PPC, the superior parietal lobule hosts areas V6A, PEc, and PE included in the dorso-medial visual stream that is specialized in planning and guiding reaching movements. Here, a Convolutional Neural Network (CNN) approach is used to investigate how the information is processed in these areas. We trained two macaque monkeys to perform a delayed reaching task towards 9 positions (distributed on 3 different depth and direction levels) in the 3D peripersonal space. The activity of single cells was recorded from V6A, PEc, PE and fed to convolutional neural networks that were designed and trained to exploit the temporal structure of neuronal activation patterns, to decode the target positions reached by the monkey. Bayesian Optimization was used to define the main CNN hyper-parameters. In addition to discrete positions in space, we used the same network architecture to decode plausible reaching trajectories. We found that data from the most caudal V6A and PEc areas outperformed PE area in the spatial position decoding. In all areas, decoding accuracies started to increase at the time the target to reach was instructed to the monkey, and reached a plateau at movement onset. The results support a dynamic encoding of the different phases and properties of the reaching movement differentially distributed over a network of interconnected areas. This study highlights the usefulness of neurons' firing rate decoding via CNNs to improve our understanding of how sensorimotor information is encoded in PPC to perform reaching movements. The obtained results may have implications in the perspective of novel neuroprosthetic devices based on the decoding of these rich signals for faithfully carrying out patient's intentions.

Motor-like neural dynamics in two parietal areas during arm reaching

The classical view on motor control makes a clear distinction between the role of motor cortex in controlling muscles and parietal cortex in processing movement plans and goals. However, the strong parieto-frontal connections argue against such clear-cut separation of function. Modern dynamical approaches revealed that population activity in motor cortex can be captured by a limited number of patterns, called neural states that are preserved across diverse motor behaviors. Whether such dynamics are also present in parietal cortex is unclear. Here, we studied neural dynamics in the primate parietal cortex during arm movements and found three main states temporally coupled to the planning, execution and target holding epochs. Strikingly, as reported recently in motor cortex, execution was subdivided into distinct, arm acceleration- and deceleration-related, states. These results suggest that dynamics across parieto-frontal areas are highly consistent and hint that parietal population activity largely reflects timing constraints while motor actions unfold.

Reduced neural representation of arm/hand actions in the medial posterior parietal cortex

Several investigations at a single-cell level demonstrated that the medial posterior parietal area V6A is involved in encoding reaching and grasping actions in different visual conditions. Here, we looked for a “low-dimensional” representation of these encoding processes by studying macaque V6A neurons tested in three different tasks with a dimensionality reduction technique, the demixed principal component analysis (dPCA), which is very suitable for neuroprosthetics readout. We compared neural activity in reaching and grasping tasks by highlighting the portions of population variance involved in the encoding of visual information, target position, wrist orientation and grip type. The weight of visual information and task parameters in the encoding process was dependent on the task. We found that the distribution of variance captured by visual information in the three tasks did not differ significantly among the tasks, whereas the variance captured by target position and grip type parameters were significantly higher with respect to that captured by wrist orientation regardless of the number of conditions considered in each task. These results suggest a different use of relevant information according to the type of planned and executed action. This study shows a simplified picture of encoding that describes how V6A processes relevant information for action planning and execution.

Preparatory activity for purposeful arm movements in the dorsomedial parietal area V6A: Beyond the online guidance of movement

Over the years, electrophysiological recordings in macaque monkeys performing visuomotor tasks brought about accumulating evidence for the expression of neuronal properties (e.g., selectivity in the visuospatial and somatosensory domains, encoding of visual affordances and motor cues) in the posterior parietal area V6A that characterize it as an ideal neural substrate for online control of prehension. Interestingly, neuroimaging studies suggested a role of putative human V6A also in action preparation; moreover, pre-movement population activity in monkey V6A has been recently shown to convey grip-related information for upcoming grasping. Here we directly test whether macaque V6A neurons encode preparatory signals that effectively differentiate between dissimilar actions before movement. We recorded the activity of single V6A neurons during execution of two visuomotor tasks requiring either reach-to-press or reach-to-grasp movements in different background conditions, and described the nature and temporal dynamics of V6A activity preceding movement execution. We found striking consistency in neural discharges measured during pre-movement and movement epochs, suggesting that the former is a preparatory activity exquisitely linked to the subsequent execution of particular motor actions. These findings strongly support a role of V6A beyond the online guidance of movement, with preparatory activity implementing suitable motor programs that subsequently support action execution.

Mixed Body/Hand Reference Frame for Reaching in 3D Space in Macaque Parietal Area PEc

The neural correlates of coordinate transformations from vision to action are expressed in the activity of posterior parietal cortex (PPC). It has been demonstrated that among the medial-most areas of the PPC, reaching targets are represented mainly in hand-centered coordinates in area PE, and in eye-centered, body-centered, and mixed body/hand-centered coordinates in area V6A. Here, we assessed whether neurons of area PEc, located between V6A and PE in the medial PPC, encode targets in body-centered, hand-centered, or mixed frame of reference during planning and execution of reaching. We studied 104 PEc cells in 3 Macaca fascicularis. The animals performed a reaching task toward foveated targets located at different depths and directions in darkness, starting with the hand from 2 positions located at different depths, one next to the trunk and the other far from it. We show that most PEc neurons encoded targets in a mixed body/hand-centered frame of reference. Although the effect of hand position was often rather strong, it was not as strong as reported previously in area PE. Our results suggest that area PEc represents an intermediate node in the gradual transformation from vision to action that takes place in the reaching network of the dorsomedial PPC.

Decoding Information for Grasping from the Macaque Dorsomedial Visual Stream

Neurodecoders have been developed by researchers mostly to control neuroprosthetic devices, but also to shed new light on neural functions. In this study, we show that signals representing grip configurations can be reliably decoded from neural data acquired from area V6A of the monkey medial posterior parietal cortex. Two Macaca fascicularis monkeys were trained to perform an instructed-delay reach-to-grasp task in the dark and in the light toward objects of different shapes. Population neural activity was extracted at various time intervals on vision of the objects, the delay before movement, and grasp execution. This activity was used to train and validate a Bayes classifier used for decoding objects and grip types. Recognition rates were well over chance level for all the epochs analyzed in this study. Furthermore, we detected slightly different decoding accuracies, depending on the task's visual condition. Generalization analysis was performed by training and testing the system during different time intervals. This analysis demonstrated that a change of code occurred during the course of the task. Our classifier was able to discriminate grasp types fairly well in advance with respect to grasping onset. This feature might be important when the timing is critical to send signals to external devices before the movement start. Our results suggest that the neural signals from the dorsomedial visual pathway can be a good substrate to feed neural prostheses for prehensile actions.SIGNIFICANCE STATEMENT Recordings of neural activity from nonhuman primate frontal and parietal cortex have led to the development of methods of decoding movement information to restore coordinated arm actions in paralyzed human beings. Our results show that the signals measured from the monkey medial posterior parietal cortex are valid for correctly decoding information relevant for grasping. Together with previous studies on decoding reach trajectories from the medial posterior parietal cortex, this highlights the medial parietal cortex as a target site for transforming neural activity into control signals to command prostheses to allow human patients to dexterously perform grasping actions.

Neural activity in the medial parietal area V6A while grasping with or without visual feedback

Recent works have reported that grasping movements are controlled not only by the dorsolateral visual stream, as generally thought, but also by the dorsomedial visual stream, and in particular by the medial posterior parietal area V6A. To date, the grasping activity of V6A neurons has been studied only in darkness. Here we studied the effect of visual feedback on grasp-related discharges of V6A neurons while the monkey was preparing and executing the grasping of a handle. We found that V6A grasping activity could be excited or inhibited by visual information. The neural population was divided into Visual, Motor, and Visuomotor cells. The majority of Visual and Visuomotor neurons did not respond to passive observation of the handle, suggesting that vision of action, rather than object vision, is the most effective factor. The present findings highlight the role of the dorsomedial visual stream in integrating visual and motor signals to monitor and correct grasping.

Reference frames for reaching when decoupling eye and target position in depth and direction

Spatial representations in cortical areas involved in reaching movements were traditionally studied in a frontoparallel plane where the two-dimensional target location and the movement direction were the only variables to consider in neural computations. No studies so far have characterized the reference frames for reaching considering both depth and directional signals. Here we recorded from single neurons of the medial posterior parietal area V6A during a reaching task where fixation point and reaching targets were decoupled in direction and depth. We found a prevalent mixed encoding of target position, with eye-centered and spatiotopic representations differently balanced in the same neuron. Depth was stronger in defining the reference frame of eye-centered cells, while direction was stronger in defining that of spatiotopic cells. The predominant presence of various typologies of mixed encoding suggests that depth and direction signals are processed on the basis of flexible coordinate systems to ensure optimal motor response.

Overlapping representations for reach depth and direction in caudal superior parietal lobule of macaques

Reaching movements in the real world have typically a direction and a depth component. Despite numerous behavioral studies, there is no consensus on whether reach coordinates are processed in separate or common visuomotor channels. Furthermore, the neural substrates of reach depth in parietal cortex have been ignored in most neurophysiological studies. In the medial posterior parietal area V6A, we recently demonstrated the strong presence of depth signals and the extensive convergence of depth and direction information on single neurons during all phases of a fixate-to-reach task in 3-dimensional (3D) space. Using the same task, in the present work we examined the processing of direction and depth information in area PEc of the caudal superior parietal lobule (SPL) in three Macaca fascicularis monkeys. Across the task, depth and direction had a similar, high incidence of modulatory effect. The effect of direction was stronger than depth during the initial fixation period. As the task progressed toward arm movement execution, depth tuning became more prominent than directional tuning and the number of cells modulated by both depth and direction increased significantly. Neurons tuned by depth showed a small bias for far peripersonal space. Cells with directional modulations were more frequently tuned toward contralateral spatial locations, but ipsilateral space was also represented. These findings, combined with results from neighboring areas V6A and PE, support a rostral-to-caudal gradient of overlapping representations for reach depth and direction in SPL. These findings also support a progressive change from visuospatial (vergence angle) to somatomotor representations of 3D space in SPL.

Multiple representation of reaching space in the medial posterior parietal area V6A

During foveal reaching, the activity of neurons in the macaque medial posterior parietal area V6A is modulated by both gaze and arm direction. In the present work, we dissociated the position of gaze and reaching targets, and studied the neural activity of single V6A cells while the eyes and reaching targets were arranged in different spatial configurations (peripheral and foveal combinations). Target position influenced neural activity in all stages of the task, from visual presentation of target and movement planning, through reach execution and holding time. The majority of neurons preferred reaches directed toward peripheral targets, rather than foveal. Most neurons discharged in both premovement and action epochs. In most cases, reaching activity was tuned coherently across action planning and execution. When reaches were planned and executed in different eye/target configurations, multiple analyses revealed that few neurons coded reaching actions according to the absolute position of target, or to the position of target relative to the eye. The majority of cells responded to a combination of both these factors. These data suggest that V6A contains multiple representations of spatial information for reaching, consistent with a role of this area in forming cross-reference frame representations to be used by premotor cortex.

Multiple aspects of neural activity during reaching preparation in the medial posterior parietal area V6A

The posterior parietal cortex is involved in the visuomotor transformations occurring during arm-reaching movements. The medial posterior parietal area V6A has been shown to be implicated in reaching execution, but its role in reaching preparation has not been sufficiently investigated. Here, we addressed this issue exploring the neural correlates of reaching preparation in V6A. Neural activity of single cells during the instructed delay period of a foveated Reaching task was compared with the activity in the same delay period during a Detection task. In this latter task, animals fixated the target but, instead of performing an arm reaching movement, they responded with a button release to the go signal. Targets were allocated in different positions in 3-D space. We found three types of neurons: cells where delay activity was equally spatially tuned in the two tasks (Gaze cells), cells spatially tuned only during reaching preparation (Set cells), and cells influenced by both gaze and reaching preparation signals (Gaze/Set cells). In cells influenced by reaching preparation, the delay activity in the Reaching task could be higher or lower compared with the Detection task. All the Set cells and a minority of Gaze/Set cells were more active during reaching preparation. Most cells modulated by movement preparation were also modulated with a congruent spatial tuning during movement execution. Present results highlight the convergence of visuospatial information, reach planning and reach execution signals on V6A, and indicate that visuospatial processing and movement execution have a larger influence on V6A activity than the encoding of reach plans.

Body-centered, mixed, but not hand-centered coding of visual targets in the medial posterior parietal cortex during reaches in 3D space

The frames of reference used by neurons in posterior parietal cortex (PPC) to encode spatial locations during arm reaching movements is a debated topic in modern neurophysiology. Traditionally, target location, encoded in retinocentric reference frame (RF) in caudal PPC, was assumed to be serially transformed to body-centered and then hand-centered coordinates rostrally. However, recent studies suggest that these transformations occur within a single area. The caudal PPC area V6A has been shown to represent reach targets in eye-centered, body-centered, and a combination of both RFs, but the presence of hand-centered coding has not been yet investigated. To examine this issue, 141 single neurons were recorded from V6A in 2 Macaca fascicularis monkeys while they performed a foveated reaching task in darkness. The targets were presented at different distances and lateralities from the body and were reached from initial hand positions located at different depths. Most V6A cells used body-centered, or mixed body- and hand-centered coordinates. Only a few neurons used pure hand-centered coordinates, thus clearly distinguishing V6A from nearby PPC regions. Our findings support the view of a gradual RF transformation in PPC and also highlight the impact of mixed frames of reference.

Vision for action in the macaque medial posterior parietal cortex

Area V6A encodes hand configurations for grasping objects (Fattori et al., 2010). The aim of the present study was to investigate whether V6A cells also encode three-dimensional objects, and the relationship between object encoding and grip encoding. Single neurons were recorded in V6A of two monkeys trained to perform two tasks. In the first task, the monkeys were required to passively view an object without performing any action on it. In the second task, the monkeys viewed an object at the beginning of each trial and then they needed to grasp that object in darkness. Five different objects were used. Both tasks revealed that object presentation activates ∼60% of V6A neurons, with about half of them displaying object selectivity. In the Reach-to-Grasp task, the majority of V6A cells discharged during both object presentation and grip execution, displaying selectivity for either the object or the grip, or in some cases for both object and grip. Although the incidence of neurons encoding grips was twofold that of neurons encoding objects, object selectivity in single cells was as strong as grip selectivity, indicating that V6A cells were able to discriminate both the different objects and the different grips required to grasp them. Hierarchical cluster analysis revealed that clustering of the object-selective responses depended on the task requirements (view only or view to grasp) and followed a visual or a visuomotor rule, respectively. Object encoding in V6A reflects representations for action, useful for motor control in reach-to-grasp.

Eye position encoding in three-dimensional space: integration of version and vergence signals in the medial posterior parietal cortex

Eye position signals are pivotal in the visuomotor transformations performed by the posterior parietal cortex (PPC), but to date there are few studies addressing the influence of vergence angle upon single PPC neurons. In the present study, we investigated the influence on single neurons of the medial PPC area V6A of vergence and version signals. Single-unit activity was recorded from V6A in two Macaca fascicularis fixating real targets in darkness. The fixation targets were placed at eye level and at different vergence and version angles within the peripersonal space. Few neurons were modulated by version or vergence only, while the majority of cells were affected by both signals. We advance here the hypothesis that gaze-modulated V6A cells are able to encode gazed positions in the three-dimensional space. In single cells, version and vergence influenced the discharge with variable time course. In several cases, the two gaze variables influence neural discharges during only a part of the fixation time, but, more often, their influence persisted through large parts of it. Cells discharging for the first 400-500 ms of fixation could signal the arrival of gaze (and/or of spotlight of attention) in a new position in the peripersonal space. Cells showing a more sustained activity during the fixation period could better signal the location in space of the gazed objects. Both signals are critical for the control of upcoming or ongoing arm movements, such as those needed to reach and grasp objects located in the peripersonal space.

Fix your eyes in the space you could reach: neurons in the macaque medial parietal cortex prefer gaze positions in peripersonal space

Interacting in the peripersonal space requires coordinated arm and eye movements to visual targets in depth. In primates, the medial posterior parietal cortex (PPC) represents a crucial node in the process of visual-to-motor signal transformations. The medial PPC area V6A is a key region engaged in the control of these processes because it jointly processes visual information, eye position and arm movement related signals. However, to date, there is no evidence in the medial PPC of spatial encoding in three dimensions. Here, using single neuron recordings in behaving macaques, we studied the neural signals related to binocular eye position in a task that required the monkeys to perform saccades and fixate targets at different locations in peripersonal and extrapersonal space. A significant proportion of neurons were modulated by both gaze direction and depth, i.e., by the location of the foveated target in 3D space. The population activity of these neurons displayed a strong preference for peripersonal space in a time interval around the saccade that preceded fixation and during fixation as well. This preference for targets within reaching distance during both target capturing and fixation suggests that binocular eye position signals are implemented functionally in V6A to support its role in reaching and grasping.

Reaching activity in the medial posterior parietal cortex of monkeys is modulated by visual feedback

Reaching and grasping an object is an action that can be performed in light, as well as in darkness. Area V6A is a visuomotor area of the medial posterior parietal cortex involved in the control of reaching movements. It contains reaching neurons as well as neurons modulated by passive somatosensory and visual stimulations. In the present work we analyze the effect of visual feedback on reaching activity of V6A neurons. Three macaques were trained to execute reaching movements in two conditions: in darkness, where only the reaching target was visible, and in full light, where the monkey also saw its own moving arm and the environment. Approximately 85% of V6A neurons (127/149) were significantly related to the task in at least one of the two conditions. The majority of task-related cells (69%) showed reach-related activity in both visual conditions, some were modulated only in light (15%), while others only in dark (16%). The sight of the moving arm often changed dramatically the cell's response to arm movements. In some cases the reaching activity was enhanced and in others it was reduced or disappeared altogether. These neuronal properties may represent differences in the degree to which cells are influenced by feedback control versus feedforward movement planning. On average, reach-related modulations were stronger in light than in dark, a phenomenon similar to that observed in brain imaging experiments in the human medial posterior parietal cortex, a region likely homologous to macaque area V6A.

Covert shift of attention modulates the ongoing neural activity in a reaching area of the macaque dorsomedial visual stream

Background

Attention is used to enhance neural processing of selected parts of a visual scene. It increases neural responses to stimuli near target locations and is usually coupled to eye movements. Covert attention shifts, however, decouple the attentional focus from gaze, allowing to direct the attention to a peripheral location without moving the eyes. We tested whether covert attention shifts modulate ongoing neuronal activity in cortical area V6A, an area that provides a bridge between visual signals and arm-motor control.

Methodology/Principal Findings

We performed single cell recordings from 3 Macaca Fascicularis trained to fixate straight-head, while shifting attention outward to a peripheral cue and inward again to the fixation point. We found that neurons in V6A are influenced by spatial attention. The attentional modulation occurs without gaze shifts and cannot be explained by visual stimulations. Visual, motor, and attentional responses can occur in combination in single neurons.

Conclusions/Significance

This modulation in an area primarily involved in visuo-motor transformation for reaching may form a neural basis for coupling attention to the preparation of reaching movements. Our results show that cortical processes of attention are related not only to eye-movements, as many studies have shown, but also to arm movements, a finding that has been suggested by some previous behavioral findings. Therefore, the widely-held view that spatial attention is tightly intertwined with—and perhaps directly derived from—motor preparatory processes should be extended to a broader spectrum of motor processes than just eye movements.

The dorsomedial pathway is not just for reaching: grasping neurons in the medial parieto-occipital cortex of the macaque monkey

Brain control of prehension is thought to rely on two specific brain circuits: a dorsomedial one (involving the areas of the superior parietal lobule and the dorsal premotor cortex) involved in the transport of the hand toward the object and a dorsolateral one (involving the inferior parietal lobule and the ventral premotor cortex) dealing with the preshaping of the hand according to the features of the object. The present study aimed at testing whether a pivotal component of the dorsomedial pathway (area V6A) is involved also in hand preshaping and grip formation to grasp objects of different shapes. Two macaque monkeys were trained to reach and grasp different objects. For each object, animals used a different grip: whole-hand prehension, finger prehension, hook grip, primitive precision grip, and advanced precision grip. Almost half of 235 neurons recorded from V6A displayed selectivity for a grip or a group of grips. Several experimental controls were used to ensure that neural modulation was attributable to grip only. These findings, in concert with previous studies demonstrating that V6A neurons are modulated by reach direction and wrist orientation, that lesion of V6A evokes reaching and grasping deficits, and that dorsal premotor cortex contains both reaching and grasping neurons, indicate that the dorsomedial parieto-frontal circuit may play a central role in all phases of reach-to-grasp action. Our data suggest new directions for the modeling of prehension movements and testable predictions for new brain imaging and neuropsychological experiments.

Hand orientation during reach-to-grasp movements modulates neuronal activity in the medial posterior parietal area V6A

Reach-to-grasp actions involve several components of forelimb movements needed to direct the hand toward the object to be grasped, and to orient and preshape the hand according to the object axis and shape. Area V6A, which represents a node of the dorsomedial frontoparietal circuits, has so far been implicated only in directing the arm toward different spatial locations. The present results confirm this finding and demonstrate, for the first time, that during reach-to-grasp, V6A neurons are also modulated by the orientation of the hand. In the present work the object to be grasped was a handle that could have different orientations. Reach-to-grasp movements were executed in complete darkness while gazing at a small fixation point. The majority of the tested cells (76/142; 54%) turned out to be sensitive to the orientation of the handle. Neurons could be modulated during preparation or execution of reach-to-grasp movements. The most represented cells were those modulated by hand orientation both during preparatory and movement periods. These data show that reaching and grasping are processed by the same population of neurons, providing evidence that the coordination of reaching and grasping takes place much earlier than previously thought, i.e., in the parieto-occipital cortex. The data here reported are in agreement with results of lesions to the medial posterior parietal cortex in both monkeys and humans, and with recent imaging data in humans, all of them indicating a functional coupling in the control of reaching and grasping by the medial parietofrontal circuit.

Reaching activity in parietal area V6A of macaque: eye influence on arm activity or retinocentric coding of reaching movements?

Parietal area V6A contains neurons modulated by the direction of gaze as well as neurons able to code the direction of arm movement. The present study was aimed to disentangle the gaze effect from the effect of reaching activity upon single V6A neurons. To this purpose, we used a visuomotor task in which the direction of arm movement remained constant while the animal changed the direction of gaze. Gaze direction modulated reach-related activity in about two-thirds of tested neurons. In several cases, modulations were not due to the eye-position signal per se, the apparent eye-position modulation being just an epiphenomenon. The real modulating factor was the location of reaching target with respect to the point gazed by the animal, that is, the retinotopic coordinates towards which the action of reaching occurred. Comparison of neural discharge of the same cell during execution of foveated and non-foveated reaching movements, performed towards the same or different spatial locations, confirmed that in a part of V6A neurons reaching activity is coded retinocentrically. In other neurons, reaching activity is coded spatially, depending on the direction of reaching movement regardless of where the animal was looking at. The majority of V6A reaching neurons use a system that encompasses both of these reference frames. These results are in line with the view of a progressive visuomotor transformation in the dorsal visual stream, that changes the frame of reference from the retinocentric one, typically used by the visual system, to the arm-centred one, typically used by the motor system.

Spatial tuning of reaching activity in the medial parieto-occipital cortex (area V6A) of macaque monkey

We recorded neural activity from the medial parieto-occipital area V6A while three monkeys performed an instructed-delay reaching task in the dark. Targets to be reached were in different spatial positions. Neural discharges were recorded during reaching movements directed outward from the body (towards visual objects), during the holding phase (when the hand was on the target) and during inward movements of the hand towards the home button (which was near the body and outside the field of view). Reach-related activity was observed in the majority of 207 V6A cells, during outward (78%) and inward (65%) movements as well as during the holding phase (62%). Most V6A reaching neurons (84%) were modulated in more than one phase of the task. The reach-related activity in V6A could depend on somatosensory inputs and/or on corollary discharges from the dorsal premotor cortex. Although visual and oculomotor inputs are known to have a strong influence on V6A activity, we excluded the possibility that the reach-related activity which we observed was due to visual stimulation and/or oculomotor activity. Reach-related activity for movements towards different locations was spatially modulated during outward (40%) and inward (47%) reaching movements. The position of the hand/arm in space modulated about 40% of V6A cells. Preferred reach directions and spatial locations were represented uniformly across the workspace. These data suggest that V6A reach-related neurons are able to code the direction of movement of the arm and the position of the hand/arm in space. We suggest that the V6A reach-related neurons are involved in the guidance of goal-directed arm movements, whether these actions are visually guided or not.