Experimental tests of a superposition hypothesis to explain the relationship between the vestibuloocular reflex and smooth pursuit during horizontal combined eye-head tracking in humans

Visual suppression of vestibulo-ocular reflex in patients treated with carotid artery revascularization: A potential biomarker for cerebral perfusion

BACKGROUND

Carotid endarterectomy (CEA) and carotid artery stenting (CAS) are common treatments for ischemic stroke prevention in patients with carotid artery stenosis. However, the beneficial effects of CEA/CAS for cerebral hypoperfusion due to carotid artery stenosis have yet to be fully established. As dizziness is a common symptom in patients with carotid artery stenosis, we aimed to evaluate the effects of CEA/CAS on cerebral function in patients with carotid artery stenosis, using equilibrium function tests.

METHODS

This prospective observational cohort study included 50 patients who had carotid artery stenosis and were scheduled to undergo CEA or CAS. Before CEA/CAS, we quantitatively evaluated the vestibulo-ocular reflex (VOR) and vestibular evoked myogenic potential (VEMP), as indicators of brainstem/inner ear functions related to balance, and visual suppression of VOR, as an indicator of cerebral control over the brainstem reflex related to balance. These were then compared with supratentorial cerebral blood flow (CBF). Changes in VOR, VEMP, visual suppression of VOR, CBF, and dizziness after CEA/CAS were also evaluated.

RESULTS

The visual suppression rates of VOR correlated with supratentorial CBFs before CEA/CAS (correlation coefficient = 0.47, p = 0.003). The visual suppression rates of VOR (p < 0.001) and supratentorial CBFs (p = 0.003) were improved by CEA/CAS, while VOR and VEMP did not change. Symptoms of dizziness improved after CEA/CAS.

CONCLUSIONS

Our results suggest that visual suppression of the VOR may be a novel and practical marker for the beneficial effects of CEA/CAS on supratentorial cerebral function.

Properties of pursuit movements

This chapter describes dynamic properties of smooth pursuit, visual and non-visual stimuli for pursuit, smooth eye-head tracking movements, and plastic-adaptive properties of pursuit. Step-ramp visual stimulus motion has revealed important properties of pursuit, including the latency to onset, initial acceleration, accuracy, and transient oscillations-all features that have been used to develop models of the pursuit system, discussed in the chapter "Models of pursuit" by Robinson. The role of predictive neural mechanisms in generating pursuit movements that anticipate target motion, and that enable near-perfect tracking of sinusoidal target motion, are examined. Smooth pursuit can be generated in response to targets that do not move, such as stroboscopic lights and images stabilized in the periphery of vision. The view that, during combined eye-head pursuit, the pursuit signal is used to cancel the vestibulo-ocular reflex is an incomplete hypothesis, contradicted by behavioral and electrophysiological findings. Smooth pursuit shows adaptive capabilities, evident in individuals who develop extraocular muscle palsies.

The neurophysiology of pursuit

This chapter summarizes early electrophysiological and lesion studies to elucidate cortical, subcortical and cerebellar mechanisms for extracting visual target motion and programming a smooth-pursuit response. The importance of a descending pursuit pathway from the middle temporal (MT) cortical visual area, which extracts the speed and direction of a moving target, the projections to dorsolateral pontine nuclei, and onto the cerebellum are outlined. Contributions of the cerebellum to pursuit are discussed and models are presented to account for the ways in which floccular gaze Purkinje cells behave during smooth pursuit, combined eye-head tracking, and during head rotation while viewing a stationary target.

Models of pursuit

This chapter deals with mathematical models for smooth-pursuit eye movements, starting with simple negative-feedback schemes. After pointing out their deficiencies, Robinson developed models that account for specific dynamic properties of pursuit behavior, such as the transient ocular oscillations that may occur at onset, and the adaptive properties of pursuit. The challenges posed by the inherent latency of visual responses to target motion-specifically the instability of a negative feedback model-are resolved by including an efference copy internal positive feedback loop, and distributing system delays throughout the model's pathways. A model for smooth combined eye-head tracking is presented in which the brain sends an efference copy of the planned head movement to null out the vestibular signal expected.

Temporally Coupled Coordination of Eye and Body Movements in Baseball Batting for a Wide Range of Ball Speeds

We investigated the visuomotor strategies of baseball batting, in particular, the relationship between eye and body (head and hip) movements during batting for a wide range of ball speeds. Nine college baseball players participated in the experiment and hit balls projected by a pitching machine operating at four different ball speeds (80, 100, 120, 140 km/h). Eye movements were measured with a wearable eye tracker, and body movements were measured with an optical motion capture system. In the early period of the ball's flight, batters foveated the ball with overshooting head movements in the direction of the ball's flight while compensating for the overshooting head movements with eye movements for the two slower ball speeds (80 and 100 km/h) and only head rotations for the two faster ball speeds (120 and 140 km/h). After that, batters made a predictive saccade and a quick head rotation to the future ball position before the angular velocity of the ball drastically increased. We also found that regardless of the ball speed, the onsets of the predictive saccade and the quick head movement were temporally aligned with the bat-ball contact and rotation of the hip (swing motion), but were not correlated with the elapsed time from the ball's release or the ball's location. These results indicate that the gaze movements in baseball batting are not solely driven by external visual information (ball position or velocity) but are determined in relation to other body movements.

Stopping smooth pursuit

If a visual object of interest suddenly starts to move, we will try to follow it with a smooth movement of the eyes. This smooth pursuit response aims to reduce image motion on the retina that could blur visual perception. In recent years, our knowledge of the neural control of smooth pursuit initiation has sharply increased. However, stopping smooth pursuit eye movements is less well understood and will be discussed in this paper. The most straightforward way to study smooth pursuit stopping is by interrupting image motion on the retina. This causes eye velocity to decay exponentially towards zero. However, smooth pursuit stopping is not a passive response, as shown by behavioural and electrophysiological evidence. Moreover, smooth pursuit stopping is particularly influenced by active prediction of the upcoming end of the target. Here, we suggest that a particular class of inhibitory neurons of the brainstem, the omnipause neurons, could play a central role in pursuit stopping. Furthermore, the role of supplementary eye fields of the frontal cortex in smooth pursuit stopping is also discussed.This article is part of the themed issue 'Movement suppression: brain mechanisms for stopping and stillness'.

Target position relative to the head is essential for predicting head movement during head-free gaze pursuit

Gaze pursuit is the coordinated movement of the eyes and head that allows humans and other foveate animals to track moving objects. The control of smooth pursuit eye movements when the head is restrained is relatively well understood, but how the eyes coordinate with concurrent head movements when the head is free remains unresolved. In this study, we describe behavioral tasks that dissociate head and gaze velocity during head-free pursuit in monkeys. Existing models of gaze pursuit propose that both eye and head movements are driven only by the perceived velocity of the visual target and are therefore unable to account for these data. We show that in addition to target velocity, the positions of the eyes in the orbits and the retinal position of the target are important factors for predicting head movement during pursuit. When the eyes are already near their limits, further pursuit in that direction will be accompanied by more head movement than when the eyes are centered in the orbits, even when target velocity is the same. The step-ramp paradigm, often used in pursuit tasks, produces larger or smaller head movements, depending on the direction of the position step, while gaze pursuit velocity is insensitive to this manipulation. Using these tasks, we can reliably evoke head movements with peak velocities much faster than the target's velocity. Under these circumstances, the compensatory eye movements, which are often called counterproductive since they rotate the eyes in the opposite direction, are essential to maintaining accurate gaze velocity.

Reading from a Head-Fixed Display during Walking: Adverse Effects of Gaze Stabilization Mechanisms

Reading performance during standing and walking was assessed for information presented on earth-fixed and head-fixed displays by determining the minimal duration during which a numerical time stimulus needed to be presented for 50% correct naming answers. Reading from the earth-fixed display was comparable during standing and walking, with optimal performance being attained for visual character sizes in the range of 0.2° to 1°. Reading from the head-fixed display was impaired for small (0.2-0.3°) and large (5°) visual character sizes, especially during walking. Analysis of head and eye movements demonstrated that retinal slip was larger during walking than during standing, but remained within the functional acuity range when reading from the earth-fixed display. The detrimental effects on performance of reading from the head-fixed display during walking could be attributed to loss of acuity resulting from large retinal slip. Because walking activated the angular vestibulo-ocular reflex, the resulting compensatory eye movements acted to stabilize gaze on the information presented on the earth-fixed display but destabilized gaze from the information presented on the head-fixed display. We conclude that the gaze stabilization mechanisms that normally allow visual performance to be maintained during physical activity adversely affect reading performance when the information is presented on a display attached to the head.

Extraction of visual motion information for the control of eye and head movement during head-free pursuit

We investigated how effectively briefly presented visual motion could be assimilated and used to track future target motion with head and eyes during target disappearance. Without vision, continuation of eye and head movement is controlled by internal (extra-retinal) mechanisms, but head movement stimulates compensatory vestibulo-ocular reflex (VOR) responses that must be countermanded for gaze to remain in the direction of target motion. We used target exposures of 50–200 ms at the start of randomised step-ramp stimuli, followed by >400 ms of target disappearance, to investigate the ability to sample target velocity and subsequently generate internally controlled responses. Subjects could appropriately grade gaze velocity to different target velocities without visual feedback, but responses were fully developed only when exposure was >100 ms. Gaze velocities were sustained or even increased during target disappearance, especially when there was expectation of target reappearance, but they were always less than for controls, where the target was continuously visible. Gaze velocity remained in the direction of target motion throughout target extinction, implying that compensatory (VOR) responses were suppressed by internal drive mechanisms. Regression analysis revealed that the underlying compensatory response remained active, but with gain slightly less than unity (0.85), resulting in head-free gaze responses that were very similar to, but slightly greater than, head-fixed. The sampled velocity information was also used to grade head velocity, but in contrast to gaze, head velocity was similar whether the target was briefly or continuously presented, suggesting that head motion was controlled by internal mechanisms alone, without direct influence of visual feedback.

Multi-input GNL-HybELS: an automated tool for the analysis of oculomotor dynamics during visual-vestibular interactions

The eyes play a major role in our everyday activities. Eye movements are controlled by the oculomotor system, which enables us to stay focused on visual targets, switch visual attention, and compensate for external perturbations. This system's response to isolated visual or vestibular stimuli has been studied for decades, but what seems to be more critical is to know how it would respond to a combination of these stimuli, because in most natural situations, multiple stimuli are present. It is now believed that sensory fusion does not affect the dynamics of oculomotor modalities, despite studies suggesting otherwise. However, these interactions have not been studied in mathematical detail due to the lack of proper analysis tools and poor stimulus conditions. Here we propose an automated tool to analyze oculomotor responses without a-priori classification of nystagmus segments, where visual and vestibular stimuli are uncorrelated. Our method simultaneously classifies and identifies the responses of a multi-input multi-mode system. We validated our method on simulations, estimating sensory delays, semicircular canal time constant, and dynamics in both slow and fast phases of the response. Using this method, we can now investigate the effect of sensory fusion on the dynamics of oculomotor subsystems. With the analysis power of our new method, clinical protocols can now be improved to test these subsystems more efficiently and objectively.

Effects of earth-fixed vs head-fixed targets on static ocular counterroll

OBJECTIVE

To investigate whether static ocular counterroll (OCR) gain is reduced during viewing of an earth-fixed vs a head-fixed target.

METHODS

Twelve healthy individuals were recruited. The target consisted of a red fixation cross against a grid pattern at a viewing distance of 33 cm. The target was mounted on a wall (earth fixed) or was coupled to the head (head fixed). Changes in mean torsional eye position were plotted as a function of head position steps (0 degrees +/- 25 degrees in 5 degrees steps), and sigmoidal fits were performed. Mean static OCR gain was calculated by taking the derivative of the fitted functions.

RESULTS

Mean static OCR gain was 40% lower with a head-fixed target (-0.084) than with an earth-fixed target (-0.141) (P < .001).

CONCLUSION

The reduction in static OCR gain during viewing of a head-fixed target indicates that static OCR is partially negated when a target moves with the head.

Simultaneous identification of oculomotor subsystems using a hybrid system approach: introducing hybrid extended least squares

The oculomotor system plays an essential role in our daily activities. It keeps the images of the world steady on the retina and enables us to track visual targets, or switch between targets. The modeling and identification of this system is key in the diagnosis and treatment of various diseases and lesions. Today, clinical protocols incorporate mathematical techniques to test the functionality of patients' oculomotor modalities through the analysis of the patients' responses to various stimuli. We have developed a new tool for simultaneous identification of the two modes of oculomotor responses, using hybrid extended least squares (HybELS), a novel identification method tailored for hybrid autoregressive moving average with exogenous input models. Previously, modified extended least squares (MELS) was proposed for the identification of vestibular nystagmus dynamics, one mode at a time. It involved searching for segment initial conditions (ICs) to avoid biased results. HybELS identifies both modes simultaneously, and does not require estimation of ICs. Results on experimental vestibuloocular reflex (VOR) data show that HybELS proves to be more robust than MELS with respect to identification of complex models. Furthermore, it is notably less computationally expensive than MELS. In the multi-input case, HybELS outperforms other tested methods, including MELS, both in parameter estimation and prediction error.

Effect of vergence on human ocular following response (OFR)

The human ocular following response (OFR) is a preattentive, short-latency visual-field-holding mechanism, which is enhanced if the moving stimulus is applied in the wake of a saccade. Since most natural gaze shifts incorporate both saccadic and vergence components, we asked whether the OFR was also enhanced during vergence. Ten subjects viewed vertically moving sine-wave gratings on a video monitor at 45 cm that had a temporal frequency of 16.7 Hz, contrast of 32%, and spatial frequency of 0.17, 0.27, or 0.44 cycle/deg. In Fixation/OFR experiments, subjects fixed on a white central dot on the video monitor, which disappeared at the beginning of each trial, just as the sinusoidal grating started moving up or down. We measured the change in eye position in the 70- to 150-ms open-loop interval following stimulus onset. Group mean downward responses were larger (0.14 degrees) and made at shorter latency (85 ms) than upward responses (0.10 degrees and 96 ms). The direction of eye drifts during control trials, when gratings remained stationary, was unrelated to the prior response. During vergence/OFR experiments, subjects switched their fixation point between the white dot at 45 cm and a red spot at 15 cm, cued by the disappearance of one target and appearance of the other. When horizontal vergence velocity exceeded 15 degrees/s, motion of sinusoidal gratings commenced and elicited the vertical OFR. Subjects showed significantly (P<0.001) larger OFR when the moving stimulus was presented during convergence (group mean increase of 46%) or divergence (group mean increase of 36%) compared with following fixation. Since gaze shifts between near and far are common during natural activities, we postulate that the increase of OFR during vergence movements reflects enhancement of early cortical motion processing, which serves to stabilize the visual field as the eyes approach their new fixation point.

A reinterpretation of the purpose of the translational vestibulo-ocular reflex in human subjects

In a prior study we reported that the human translational vestibulo-ocular reflex (tVOR) in response to vertical (bob) 2 Hz oscillations generated eye rotations of only 60% of those required to keep the eyes pointed at a stationary visual target, whether located at near (approximately 17 cm) or far (2 m). Best responses occurred in ambient illumination and we concluded that relative image motion between the target and background was an important determinant of tVOR behaviour. To investigate further how visual conditions influenced tVOR, we measured responses as subjects binocularly viewed the bridge of their own nose in a mirror at approximately 8.5 cm, a visual condition that required similar convergence to viewing the near target, but cancellation of tVOR. Median tVOR cancellation gain [(near-viewing response-mirror viewing response)/near-viewing response] was 0.81 (range 0.55-0.97), which was substantially greater than the gain of smooth visual tracking of a large visual display moving at 2 Hz (median gain 0.27, range 0.09-0.42). Thus, visual inputs other than smooth tracking must contribute to tVOR cancellation. We then compared tVOR response to 2 Hz bob as subjects fixed upon a visual target at 17 cm and viewed a large textured background at 1.5 m that was either stationary or moving at 2.1 Hz. Vertical eye rotations waxed and waned as a function of the difference between platform and background oscillations. These findings support our hypothesis that tVOR evolved not to stabilize the image of the target on the fovea, but rather to minimize retinal image motion between objects lying in different planes, in order to optimize motion parallax information. A geometrically based optimization function is proposed to account for tVOR responses at different target distances.

Vestibulo-ocular responses to vertical translation in normal human subjects

Prior studies of the human translational vestibulo-ocular reflex (tVOR) report that eye rotations amount to less than 60% of those required to keep the eyes pointed at a stationary visual target, unlike the angular VOR (aVOR) which is optimized to maintain stable gaze. Our first goal was to determine if the performance of the tVOR improves when head translations are combined with head rotations in ambient lighting. A second goal was to measure tVOR during vertical head translations (bob), which has not received systematic study. We measured tVOR alone and in combination with the aVOR in 20 normal human subjects, aged 25-72 years, as they sat on a moving platform that bobbed at 2.0 Hz while rotating horizontally (yaw) at 1.0 Hz. When subjects viewed a visual target at 2 m, median "compensation gain" (eye rotational velocity/required eye rotational velocity to maintain foveal target fixation) was 0.52 during pure bob and 0.59 during combined bob-yaw; during viewing of a near target at approximately 17 cm, compensation gain was 0.58 for pure bob and 0.60 for combined bob-yaw. Mean phase lag of eye-in-head velocity for the tVOR was approximately 19 degrees with respect to the ideal compensatory response, irrespective of whether translation was accompanied by rotation. Thus, the tVOR changed only slightly during translation-rotation versus pure translation, and our subjects' ocular rotations remained at about 60% of those required to point the eyes at the target. Comparison of response during binocular or monocular viewing, and ambient or reduced illumination, indicated that relative image motion between the target and background was an important determinant of tVOR behavior. We postulate that tVOR evolved not to stabilize the image of the target on the fovea, but rather to minimize retinal image motion between objects lying in different planes, in order to optimize motion parallax information.

Physiology and pathology of eye–head coordination

Human head movement control can be considered as part of the oculomotor system since the control of gaze involves coordination of the eyes and head. Humans show a remarkable degree of flexibility in eye-head coordination strategies, nonetheless an individual will often demonstrate stereotypical patterns of eye-head behaviour for a given visual task. This review examines eye-head coordination in laboratory-based visual tasks, such as saccadic gaze shifts and combined eye-head pursuit, and in common tasks in daily life, such as reading. The effect of the aging process on eye-head coordination is then reviewed from infancy through to senescence. Consideration is also given to how pathology can affect eye-head coordination from the lowest through to the highest levels of oculomotor control, comparing conditions as diverse as eye movement restrictions and schizophrenia. Given the adaptability of the eye-head system we postulate that this flexible system is under the control of the frontal cortical regions, which assist in planning, coordinating and executing behaviour. We provide evidence for this based on changes in eye-head coordination dependant on the context and expectation of presented visual stimuli, as well as from changes in eye-head coordination caused by frontal lobe dysfunction.

Asymmetric short-term adaptation of the vertical vestibulo-ocular reflex in humans

Anatomical and electrophysiological studies have demonstrated up-down asymmetries in vertical ocular motor pathways. We investigated whether these asymmetries extend to the capacity for short-term adaptation of the vertical vestibulo-ocular reflex (VVOR) in humans. Specifically, we asked whether smooth pursuit signals are sufficient to asymmetrically adapt the VVOR. Healthy human subjects (N=8), positioned 90 degrees left-ear-down and fixating with their eyes upon a small laser dot (diameter: 0.1 degrees) projected on a sphere (distance: 1.4 m) were trained toward low VVOR gain for 30 min with symmetric and asymmetric visual VVOR cancellation paradigms, while being oscillated (0.2 Hz, +/-20 degrees) on a motorized turntable about the interaural earth-vertical axis. During asymmetric VVOR cancellation, the target was head-fixed in either the pitch-up or pitch-down half-cycles of oscillation (= trained direction) and space-fixed during the other half-cycles (= untrained direction). During symmetric VVOR cancellation, the target was head-fixed throughout the oscillations. Before and after adaptation, the pitch-up and pitch-down VOR gains were assessed during turntable oscillation in complete darkness. Before adaptation, average gains of pitch-up (0.75+/-0.15 SD) and pitch-down (0.79+/-0.19 SD) VOR were not significantly different (paired t test: P>0.05). On an average, relative gain reductions induced by selective pitch-up (pitch-up VOR: 32%; pitch-down VOR: 21%) and pitch-down (pitch-up VOR: 18%; pitch-down VOR: 30%) VOR cancellation were significantly (P<0.05) larger in the trained than in the untrained direction. Symmetric visual VVOR cancellation led to a significantly (P<0.01) larger relative gain reduction of the pitch-down (41%) than the pitch-up (33%) VOR. None of the paradigms led to significant changes of phase or offset. We conclude that, in human subjects, the smooth pursuit system is capable to asymmetrically decrease the gain of the VVOR equally well in both the upward and downward direction. The unexpected asymmetric decrease of the VVOR gain after symmetric visual cancellation may be related to the directional preferences of vertical gaze-velocity sensitive Purkinje cells in the flocculus for the downward direction.

Oculomotor responses to gradual changes in target direction

Smooth pursuit tracking of targets moving linearly (in one dimension) is well characterized by a model where retinal image motion drives eye acceleration. However, previous findings suggest that this model cannot be simply extended to two-dimensional (2D) tracking. To examine 2D pursuit, in the present study, human subjects tracked a target that moved linearly and then followed the arc of a circle. The subjects' gaze angular velocity accurately matched target angular velocity, but the direction of smooth pursuit always lagged behind the current target direction. Pursuit speed slowly declined after the onset of the curve (for about 500 ms), even though the target speed was constant. In a second experiment, brief perturbations were presented immediately prior to the beginning of the change in direction. The subjects' responses to these perturbations consisted of two components: (1) a response specific to the parameters of the perturbation and (2) a nonspecific response that always consisted of a transient decrease in gaze velocity. With the exception of this nonspecific response, pursuit behavior in response to the gradual changes in direction and to the perturbations could be explained by using retinal slip (image velocity) as the input signal. The retinal slip was parallel and perpendicular to the instantaneous direction of pursuit ultimately resulted in changes in gaze velocity (via gaze acceleration). Perhaps due to the subjects' expectations that the target will curve, the sensitivity to the image motion in the direction of pursuit was not as strong as the sensitivity to image motion perpendicular to gaze velocity.

Interaural Translational VOR: Suppression, Enhancement, and Cognitive Control

We investigated the influence of cognitive factors on the early response of the interaural translational vestibuloocular reflex (tVOR) in six normal subjects. Variables were prior knowledge of direction of head motion and the position of the fixation target relative to the head [head-fixed (HF) or space-fixed (SF)]. A manually driven device provided a step-like head translation (∼35 mm distance, peak acceleration, 0.6–1.3 g). Subjects looked at the SF or HF target located 15 cm in front of their heads in otherwise complete darkness. The testing paradigms were: random interleaving of SF and HF targets with unknown direction of head movement, known target location with random head direction (SFR or HFR), and known target location with known head direction (SFP or HFP). Timing was always unpredictable. A “gain” of the slow phase was calculated with respect to ideal performance (maintained fixation of the SF target, recorded/ideal eye velocity computed at time of peak head velocity). At such times, there were no significant differences in gain between HF and SF trials in the random condition; the average gain was ∼36% of ideal. On the other hand, responses in the SFR and HFR conditions differed as early as 20 ms after the head began moving. Average gain was higher (0.43 ± 0.11 vs. 0.34 ± 0.14; means ± SD, P < 0.05) for each subject in the SFR than the HFR condition. For SFP and HFP, the responses differed from the onset of head motion. Average slow-phase gain was higher (0.49 ± 0.12 vs. 0.31 ± 0.12, P < 0.02) for each subject in SFP than in HFP. The timing of corrective saccades during the tVOR was also influenced by cognitive factors. Visual error signals seemed to be more important for triggering saccades in HF trials, whereas preprogramming, probably based on labyrinthine information, seemed to be more important in SF trials. Simulations showed that the changes in slow-phase gain with cognition could be reproduced with simple parametric adjustments of the gain of activity from otolith afferents and suggest that higher-level cognitive control of the VOR could occur as early as the synapse of peripheral afferents on neurons in the vestibular nuclei, either directly from higher level centers or via the cerebellum. In sum, the tVOR—both in its slow-phase response and the saccadic corrections—is subject to “higher-level” cognitive influences including knowledge of where the line of sight must point during head motion and the impending direction of head motion.

Vestibular and non-vestibular contributions to eye movements that compensate for head rotations during viewing of near targets

Geometry dictates that when subjects view a near target during head rotation the eyes must rotate more than the head. The relative contribution to this compensatory response by adjustment of the vestibulo-ocular reflex gain (Gvor), visual tracking mechanisms including prediction, and convergence is debated. We studied horizontal eye movements induced by sinusoidal 0.2-2.8 Hz, en-bloc yaw rotation as ten normal humans viewed a near target that was either earth-fixed (EFT) or head-fixed (HFT). For EFT, group median gain was 1.49 at 0.2 Hz declining to 1.08 at 2.8 Hz. For HFT, group median gain was 0.03 at 0.2 Hz increasing to 0.71 at 2.8 Hz. By applying transient head perturbations (peak acceleration >1,000 degrees s(-2)) during sinusoidal rotation, we determined that Gvor was similar during either EFT or HFT conditions, and contributed only approximately 75% to the compensatory response. We confirmed that retinal image slip contributed to the compensatory response by demonstrating reduced gain during EFT viewing under strobe illumination. Gain also declined during sum-of-sines head rotations, confirming the contribution of predictive mechanisms. The gain of compensatory eye movements was similar during monocular or binocular viewing, although vergence angle was greater during binocular viewing. Comparison with previous studies indicates that mechanisms for generation of eye rotations during near viewing depend on head stimulus type (rotation or translation), waveform (transient or sinusoidal), and the species being tested.

Anticipatory VOR Suppression Induced by Visual and Nonvisual Stimuli in Humans

We compared the predictive behavior of smooth pursuit (SP) and suppression of the vestibuloocular reflex (VOR) in humans by examining anticipatory smooth eye movements, a phenomenon that arises after repeated presentations of sudden target movement preceded by an auditory warning cue. We investigated whether anticipatory smooth eye movements also occur prior to cued head motion, particularly when subjects expect interaction between the VOR and either real or imagined head-fixed targets. Subjects were presented with horizontal motion stimuli consisting of a visual target alone (SP), head motion in darkness (VOR), or head motion in the presence of a real or imagined head-fixed target (HFT and IHFT, respectively). Stimulus sequences were delivered as single cycles of a velocity sinusoid (frequency: 0.5 or 1.0 Hz) that were either cued (a sound cue 400 ms earlier) or noncued. For SP, anticipatory smooth eye movements developed over repeated trials in the cued, but not the noncued, condition. In the VOR condition, no such anticipatory eye movements were observed even when cued. In contrast, anticipatory responses were observed under cued, but not noncued, HFT and IHFT conditions, as for SP. Anticipatory HFT responses increased in proportion to the velocity of preceding stimuli. In general, anticipatory gaze responses were similar in cued SP, HFT, and IHFT conditions and were appropriate for expected target motion in space. Anticipatory responses may represent the output of a central mechanism for smooth-eye-movement generation that operates during predictive SP as well as VOR modulations that are linked with SP even in the absence of real visual targets.

Smooth pursuit tracking of an abrupt change in target direction: vector superposition of discrete responses

The directional control of smooth pursuit eye movements was studied by presenting human subjects with targets that moved in a straight line at a constant speed and then changed direction abruptly and unpredictably. To minimize the probability of saccadic responses in the interval following the target's change in direction, target position was offset so as to eliminate position error after the reaction time. Smooth pursuit speed declined at a latency of 90 ms, whereas the direction of smooth pursuit began to change later (130 ms). The amplitude of the offset in target position did not affect the subsequent smooth pursuit response. In other experiments, the target's speed or acceleration was changed abruptly at the time of the change in direction. Step changes in speed elicited short-latency responses in smooth pursuit tracking but step changes in acceleration did not. In all instances, the earliest component of the response did not depend on the parameters of the stimulus. The data were fit with a model in which smooth pursuit resulted from the vector addition of two components, one representing a response to the arrest of the initial target motion and the other the response to the onset of target motion in the new direction. This model gave an excellent fit but further analysis revealed nonlinear interactions between the two vector components. These interactions represented directional anisotropies both in terms of the initial tracking direction (which was either vertical or 45 degrees ) and in terms of the cardinal directions (vertical and horizontal).

Evidence for object permanence in the smooth-pursuit eye movements of monkeys

We recorded the smooth-pursuit eye movements of monkeys in response to targets that were extinguished (blinked) for 200 ms in mid-trajectory. Eye velocity declined considerably during the target blinks, even when the blinks were completely predictable in time and space. Eye velocity declined whether blinks were presented during steady-state pursuit of a constant-velocity target, during initiation of pursuit before target velocity was reached, or during eye accelerations induced by a change in target velocity. When a physical occluder covered the trajectory of the target during blinks, creating the impression that the target moved behind it, the decline in eye velocity was reduced or abolished. If the target was occluded once the eye had reached target velocity, pursuit was only slightly poorer than normal, uninterrupted pursuit. In contrast, if the target was occluded during the initiation of pursuit, while the eye was accelerating toward target velocity, pursuit during occlusion was very different from normal pursuit. Eye velocity remained relatively stable during target occlusion, showing much less acceleration than normal pursuit and much less of a decline than was produced by a target blink. Anticipatory or predictive eye acceleration was typically observed just prior to the reappearance of the target. Computer simulations show that these results are best understood by assuming that a mechanism of eye-velocity memory remains engaged during target occlusion but is disengaged during target blinks.

Asymmetric integration recorded from vestibular-only cells in response to position transients

Angular and translational accelerations excite the semicircular canals and otolith organs, respectively. While canal afferents approximately encode head angular velocity due to the biomechanical integration performed by the canals, otolith signals have been found to approximate head translational acceleration. Because central vestibular pathways require velocity and position signals for their operation, the question has been raised as to how the integration of the otolith signals is accomplished. We recorded responses from 62 vestibular-only neurons in the vestibular nucleus of two monkeys to position transients in the naso-occipital and interaural orientations and varying directions in between. Responses to the transients were directionally asymmetric; one direction elicited a response that approximated the integral of the acceleration of the stimulus. In the opposite direction, the cells simply encoded the acceleration of the motion. We present a model that suggests that a neural integrator is not needed. Instead a neuron with a long membrane time constant and an excitatory postsynaptic potential duration that increases with the firing rate of the presynaptic cell can emulate the observed behavior.

Experimental and computational analysis of monkey smooth pursuit eye movements

Smooth pursuit eye movements are guided by visual feedback and are surprisingly accurate despite the time delay between visual input and motor output. Previous models have reproduced the accuracy of pursuit either by using elaborate visual signals or by adding sources of motor feedback. Our goal was to constrain what types of signals drive pursuit by obtaining data that would discriminate between these two modeling approaches, represented by the "image motion model" and the "tachometer feedback" model. Our first set of experiments probed the visual properties of pursuit with brief square-pulse and sine-wave perturbations of target velocity. Responses to pulse perturbations increased almost linearly with pulse amplitude, while responses to sine wave perturbations showed strong saturation with increasing stimulus amplitude. The response to sine wave perturbations was strongly dependent on the baseline image velocity at the time of the perturbation. Responses were much smaller if baseline image velocity was naturally large, or was artificially increased by superimposing sine waves on pulse perturbations. The image motion model, but not the tachometer feedback model, could reproduce these features of pursuit. We used a revision of the image motion model that was, like the original, sensitive to both image velocity and image acceleration. Due to a saturating nonlinearity, the sensitivity to image acceleration declined with increasing image velocity. Inclusion of this nonlinearity was motivated by our experimental results, was critical in accounting for the responses to perturbations, and provided an explanation for the unexpected stability of pursuit in the presence of perturbations near the resonant frequency. As an emergent property, the revised image motion model was able to reproduce the frequency and damping of oscillations recorded during artificial feedback delays. Our second set of experiments replicated prior recordings of pursuit responses to multiple-cycle sine wave perturbations, presented over a range of frequencies. The image motion model was able to reproduce the responses to sine wave perturbations across all frequencies, while the tachometer feedback model failed at high frequencies. These failures resulted from the absence of image acceleration signals in the tachometer model. We conclude that visual signals related to image acceleration are important in driving pursuit eye movements and that the nonlinearity of these signals provides stability. Smooth pursuit thus illustrates that a plausible neural strategy for combating natural delays in sensory feedback is to employ information about the derivative of the sensory input.

The role of target position in smooth pursuit deceleration and termination

Subjects smoothly pursued a target moving horizontally at 15 deg/s. After pursuit for 1 s, the target jumped 3 deg ahead of the fovea. At the moment of the jump, target velocity became 0 and 'effective visual feedback' assumed a value of either 0 (target retinally stabilized), -0.2, -0.4, or -1.0 (target fixed in space). With 0 visual feedback the eye continued to move smoothly at a moderate velocity, an apparent response to target position relative to the fovea. When negative visual feedback was present eye velocity decreased. With -0.2 and -0.4 feedback, this decrease was not a simple exponential, but often consisted of an initial fast decrease followed by slower decrease. With -1.0 feedback, eye velocity quickly decreased in an approximately exponential manner, and stopped. We were able to simulate these pursuit responses using a simple model of the pursuit system. Key features of the model are: (a) a target-velocity channel whose output decreases with target offset from the fovea, and whose gain switches from high to low as pursuit velocity approaches zero; (b) a target-position channel with a saturation non-linearity at 1-3 deg; and (c) a positive feedback loop with gain of less than 1.0. All of these features are essential to simulate the pursuit responses, especially with visual feedback values of -0.2 and -0.4. Our results and model suggest that target position serves as an important stimulus in guiding smooth pursuit as pursuit velocity decreases, and especially during pursuit termination.

Enhancement of the vestibulo-ocular reflex by prior eye movements

We investigated the effect of visually mediated eye movements made before velocity-step horizontal head rotations in eleven normal human subjects. When subjects viewed a stationary target before and during head rotation, gaze velocity was initially perturbed by approximately 20% of head velocity; gaze velocity subsequently declined to zero within approximately 300 ms of the stimulus onset. We used a curve-fitting procedure to estimate the dynamic course of the gain throughout the compensatory response to head rotation. This analysis indicated that the median initial gain of compensatory eye movements (mainly because of the vestibulo-ocular reflex, VOR) was 0. 8 and subsequently increased to 1.0 after a median interval of 320 ms. When subjects attempted to fixate the remembered location of the target in darkness, the initial perturbation of gaze was similar to during fixation of a visible target (median initial VOR gain 0.8); however, the period during which the gain increased toward 1.0 was >10 times longer than that during visual fixation. When subjects performed horizontal smooth-pursuit eye movements that ended (i.e., 0 gaze velocity) just before the head rotation, the gaze velocity perturbation at the onset of head rotation was absent or small. The initial gain of the VOR had been significantly increased by the prior pursuit movements for all subjects (P < 0.05; mean increase of 11%). In four subjects, we determined that horizontal saccades and smooth tracking of a head-fixed target (VOR cancellation with eye stationary in the orbit) also increased the initial VOR gain (by a mean of 13%) during subsequent head rotations. However, after vertical saccades or smooth pursuit, the initial gaze perturbation caused by a horizontal head rotation was similar to that which occurred after fixation of a stationary target. We conclude that the initial gain of the VOR during a sudden horizontal head rotation is increased by prior horizontal, but not vertical, visually mediated gaze shifts. We postulate that this "priming" effect of a prior gaze shift on the gain of the VOR occurs at the level of the velocity inputs to the neural integrator subserving horizontal eye movements, where gaze-shifting commands and vestibular signals converge.

Human vestibuloocular reflex and its interactions with vision and fixation distance during linear and angular head movement

Human vestibuloocular reflex and its interactions with vision and fixation distance during linear and angular head movement. J. Neurophysiol. 80: 2391-2404, 1998. The vestibuloocular reflex (VOR) maintains visual image stability by generating eye movements that compensate for both angular (AVOR) and linear (LVOR) head movements, typically in concert with visual following mechanisms. The VORs are generally modulated by the "context" in which head movements are made. Three contextual influences on VOR performance were studied during passive head translations and rotations over a range of frequencies (0.5-4 Hz) that emphasized shifting dynamics in the VORs and visual following, primarily smooth pursuit. First, the dynamic characteristics of head movements themselves ("stimulus context") influence the VORs. Both the AVOR and LVOR operate with high-pass characteristics relative to a head velocity input, although the cutoff frequency of the AVOR (<0.1 Hz) is far below that of the LVOR ( approximately 1 Hz), and both perform well at high frequencies that exceed, but complement, the capabilities of smooth pursuit. Second, the LVOR and AVOR are modulated by fixation distance, implemented with a signal related to binocular vergence angle ("fixation context"). The effect was quantified by analyzing the response during each trial as a linear relationship between LVOR sensitivity (in deg/cm), or AVOR gain, and vergence (in m-1) to yield a slope (vergence influence) and an intercept (response at 0 vergence). Fixation distance (vergence) was modulated by presenting targets at different distances. The response slope rises with increasing frequency, but much more so for the LVOR than the AVOR, and reflects a positive relationship for all but the lowest stimulus frequencies in the AVOR. A third influence is the context of real and imagined targets on the VORs ("visual context"). This was studied in two ways-when targets were either earth-fixed to allow visual enhancement of the VOR or head-fixed to permit visual suppression. The VORs were assessed by extinguishing targets for brief periods while subjects continued to "fixate" them in darkness. The influences of real and imagined targets were most robust at lower frequencies, declining as stimulus frequency increased. The effects were nearly gone at 4 Hz. These properties were equivalent for the LVOR and AVOR and imply that the influences of real and imagined targets on the VORs generally follow low-pass and pursuit-like dynamics. The influence of imagined targets accounts for roughly one-third of the influence of real targets on the VORs at 0.5 Hz.

Offset dynamics of human smooth pursuit eye movements: effects of target presence and subject attention

Subjects made smooth pursuit eye movements with a target moving horizontally at 15 deg/sec. At a specified location the target either: (1) suddenly vanished; or (2) jumped to the fovea with target retinal velocity and feedback becoming 0 (target stabilized at the fovea). In each type of trial, the subjects either: "looked" at the target, "pushed" the target, or "passively" gazed. When the target vanished, eye velocity decreased exponentially with a short time-constant (tau approximately 0.10 sec), regardless of whether the subjects were "looking," "pushing" or "passively" gazing. However, some subjects while "pushing" (using an imaginary target) did generate low velocity smooth movement (1-2.5 deg/sec) late in the offset. When the target was stabilized at the fovea, eye velocity also decreased, but with a relatively long time-constant (tau = 0.4-0.8 sec). The time-constant was the same with both "looking," and "pushing", but was shorter for some subjects with "passive" gazing (tau = 0.1-0.5 sec). These findings show that smooth pursuit offset is influenced by the presence of a target, but is relatively independent of attentional mode. All of the pursuit offset responses can be simulated using a model of the pursuit system with target velocity and position inputs, and an internal positive feedback loop enabled by target presence.

Gaze stabilization by optokinetic reflex (OKR) and vestibulo-ocular reflex (VOR) during active head rotation in man

Vestibulo-ocular reflex (VOR)-optokinetic reflex (OKR) interaction was studied in normal human subjects during active sine-like head movements in the horizontal plane for a variety of vestibular-optokinetic stimulus combinations (frequency range, 0.05-1.6 Hz). At low to mid frequencies (< 0.2 Hz) the eyes tended to be stabilized on the optokinetic pattern, independently of whether the head, the pattern, or both were rotated. At higher frequencies, the OKR gain was attenuated and, in each of the differing stimulus combinations, the eyes became increasingly stabilized in space. Qualitatively similar results were obtained when, for the same visual-vestibular combinations, the head was passively rotated at 0.05 and 0.8 Hz. The data could be simulated by a model which assumes a linear interaction of vestibular and optokinetic signals. It considers the OKR with its negative feedback loop of primordial importance for image stabilization on the retina and the VOR only as a useful addition which compensates for the limited bandwidth of the OKR during high frequency/velocity head rotations in a stationary visual environment.

A 'tachometer' feedback model of smooth pursuit eye movements

A new model of smooth pursuit eye movements is presented. We begin by formally analyzing the stability of the proportional-derivative (PD) model of smooth pursuit eye movements using Pontryagin's theory. The PD model is the linearized version of the nonlinear Krauzlis-Lisberger (KL) model. We show that the PD model fails to account for the experimentally observed dependence of the eye velocity damping ratio and the oscillation period on the total delay in the feedback loop. To explain the data, a new 'tachometer' feedback model, based on an efference copy signal of eye acceleration, is proposed and analyzed by computer simulation. The model predicts some salient features of monkey pursuit data and suggests a functional role for the extraretinal input to the medial superior temporal area (MST).

A model of visually-guided smooth pursuit eye movements based on behavioral observations

We report a model that reproduces many of the behavioral properties of smooth pursuit eye movements. The model is a negative-feedback system that uses three parallel visual motion pathways to drive pursuit. The three visual pathways process image motion, defined as target motion with respect to the moving eye, and provide signals related to image velocity, image acceleration, and a transient that occurs at the onset of target motion. The three visual motion signals are summed and integrated to produce the eye velocity output of the model. The model reproduces the average eye velocity evoked by steps of target velocity in monkeys and humans and accounts for the variation among individual responses and subjects. When its motor pathways are expanded to include positive feedback of eye velocity and a "switch", the model reproduces the exponential decay in eye velocity observed when a moving target stops. Manipulation of this expanded model can mimic the effects of stimulation and lesions in the arcuate pursuit area, the middle temporal visual area (MT), and the medial superior temporal visual area (MST).

An investigation of horizontal combined eye-head tracking in patients with abnormal vestibular and smooth pursuit eye movements

We investigated the interaction of smooth ocular pursuit (SP) and the vestibulo-ocular reflex (VOR) during horizontal, combined eye-head tracking (CEHT) in patients with abnormalities of either the VOR or SP movements. Our strategy was to apply transient stimuli that capitalized on the different latencies to onset of SP and the VOR. During CEHT of a target moving at 15 deg/sec, normal subjects and patients with VOR deficits all tracked the target with a gain close to 1.0. When the heads of normal subjects were suddenly and unexpectedly braked to a halt during CEHT, the eye promptly began to move in the orbit to track the target, but eye-in-orbit velocity transiently fell to about 60-70% of target velocity. In patients with deficient labyrinthine function, following the onset of the head brake, eye movements to track the target were absent, and SP movements were not generated until about 100 msec later. In patients with deficient SP, CEHT was superior to SP tracking with the head stationary; after the onset of the head brake, tracking eye movements were initiated promptly, but eye velocity was less than 50% of target velocity and increased only slightly thereafter. These results indicate that at least two mechanisms operate to overcome the VOR and allow gaze to track the target during CEHT: (1) the SP system provides a signal to cancel a normally-operating VOR (this cancellation signal is not needed by labyrinthine-deficient patients who have no VOR to cancel), and (2) a reduction of the gain of the VOR is achieved, an ability that is preserved even in patients with cerebral lesions that impair SP.