Mechanisms of tactile information transmission through whisker vibrations

Reliability and stability of tactile perception in the whisker somatosensory system

Rodents rely on their whiskers as vital sensory tools for tactile perception, enabling them to distinguish textures and shapes. Ensuring the reliability and constancy of tactile perception under varying stimulus conditions remains a fascinating and fundamental inquiry. This study explores the impact of stimulus configurations, including whisker movement velocity and object spatial proximity, on texture discrimination and stability in rats. To address this issue, we employed three distinct approaches for our investigation. Stimulus configurations notably affected tactile inputs, altering whisker vibration's kinetic and kinematic aspects with consistent effects across various textures. Through a texture discrimination task, rats exhibited consistent discrimination performance irrespective of changes in stimulus configuration. However, alterations in stimulus configuration significantly affected the rats' ability to maintain stability in texture perception. Additionally, we investigated the influence of stimulus configurations on cortical neuronal responses by manipulating them experimentally. Notably, cortical neurons demonstrated substantial and intricate changes in firing rates without compromising the ability to discriminate between textures. Nevertheless, these changes resulted in a reduction in texture neuronal response stability. Stimulating multiple whiskers led to improved neuronal texture discrimination and maintained coding stability. These findings emphasize the importance of considering numerous factors and their interactions when studying the impact of stimulus configuration on neuronal responses and behavior.

Global and local neuronal coding of tactile information in the barrel cortex

During tactile sensation in rodents, the whisker movements across surfaces give rise to intricate whisker motions that encompass discrete and transient stick-slip events, effectively conveying valuable information regarding surface properties. These surface characteristics are transformed into cortical neuronal responses. This study examined the coding strategies underlying these transformations in rat whiskers. We found that changes in surface coarseness modified the number and magnitude of stick-slip events, which in turn both modulated properties of neuronal responses. Global changes in the number of stick-slip events primarily affected neuronal discharge rates and the degree of neuronal synchronization. In contrast, local changes in the magnitude of stick-slip events affected the transformation of these kinematic and kinetic characteristics into neuronal discharges. Most cortical neurons exhibited surface coarseness selectivity through global and local stick-slip event properties. However, this selectivity varied across coding strategies in the same neurons, given that each coding strategy reflected different aspects of changes in whisker-surface interactions. The degree of spatial similarity in surface coarseness preference in adjacently recorded neurons differed among these coding strategies. Adjacently recorded neurons exhibited the same surface coarseness preference in their firing rates but not through other coding strategies. Through these results, we were able to show that local stick-slip event properties contribute to texture discrimination, complementing and surpassing global coding in this context. These findings suggest that the representation of surface coarseness in the cortex may rely on concurrent coding strategies that integrate tactile information across different spatiotemporal scales.

Pre-neuronal processing of haptic sensory cues via dispersive high-frequency vibrational modes

Sense of touch is one of the major perception channels. Neural coding of object textures conveyed by rodents' whiskers has been a model to study early stages of haptic information uptake. While high-precision spike timing has been observed during whisker sweeping across textured surfaces, the exact nature of whisker micromotions that spikes encode remains elusive. Here, we discovered that a single micro-collision of a whisker with surface features generates vibrational eigenmodes spanning frequencies up to 10 kHz. While propagating along the whisker, these high-frequency modes can carry up to 80% of shockwave energy, exhibit 100× smaller damping ratio, and arrive at the follicle 10× faster than low frequency components. The mechano-transduction of these energy bursts into time-sequenced population spike trains may generate temporally unique "bar code" with ultra-high information capacity. This hypothesis of pre-neuronal processing of haptic signals based on dispersive temporal separation of the vibrational modal frequencies can shed light on neural coding of haptic signals in many whisker-like sensory organs across the animal world as well as in texture perception in primate's glabrous skin.

Describing whisker morphology of the Carnivora

One of the largest ecological transitions in carnivoran evolution was the shift from terrestrial to aquatic lifestyles, which has driven morphological diversity in skulls and other skeletal structures. In this paper, we investigate the association between those lifestyles and whisker morphology. However, comparing whisker morphology over a range of species is challenging since the number of whiskers and their positions on the mystacial pads vary between species. Also, each whisker will be at a different stage of growth and may have incurred damage due to wear and tear. Identifying a way to easily capture whisker morphology in a small number of whisker samples would be beneficial. Here, we describe individual and species variation in whisker morphology from two-dimensional scans in red fox, European otter and grey seal. A comparison of long, caudal whiskers shows inter-species differences most clearly. We go on to describe global whisker shape in 24 species of carnivorans, using linear approximations of curvature and taper, as well as traditional morphometric methods. We also qualitatively examine surface texture, or the presence of scales, using scanning electron micrographs. We show that gross whisker shape is highly conserved, with whisker curvature and taper obeying simple linear relationships with length. However, measures of whisker base radius, length, and maybe even curvature, can vary between species and substrate preferences. Specifically, the aquatic species in our sample have thicker, shorter whiskers that are smoother, with less scales present than those of terrestrial species. We suggest that these thicker whiskers may be stiffer and able to maintain their shape and position during underwater sensing, but being stiffer may also increase wear.

Theory of hierarchically organized neuronal oscillator dynamics that mediate rodent rhythmic whisking

Rodents explore their environment through coordinated orofacial motor actions, including whisking. Whisking can free-run via an oscillator of inhibitory neurons in the medulla and can be paced by breathing. Yet, the mechanics of the whisking oscillator and its interaction with breathing remain to be understood. We formulate and solve a hierarchical model of the whisking circuit. The first whisk within a breathing cycle is generated by inhalation, which resets a vibrissa oscillator circuit, while subsequent whisks are derived from the oscillator circuit. Our model posits, consistent with experiment, that there are two subpopulations of oscillator neurons. Stronger connections between the subpopulations support rhythmicity, while connections within each subpopulation induce variable spike timing that enhances the dynamic range of rhythm generation. Calculated cycle-to-cycle changes in whisking are consistent with experiment. Our model provides a computational framework to support longstanding observations of concurrent autonomous and driven rhythmic motor actions that comprise behaviors.

Coexisting neuronal coding strategies in the barrel cortex

During tactile sensation by rodents, whisker movements across surfaces generate complex whisker motions, including discrete, transient stick-slip events, which carry information about surface properties. The characteristics of these events and how the brain encodes this tactile information remain enigmatic. We found that cortical neurons show a mixture of synchronized and nontemporally correlated spikes in their tactile responses. Synchronous spikes convey the magnitude of stick-slip events by numerous aspects of temporal coding. These spikes show preferential selectivity for kinetic and kinematic whisker motion. By contrast, asynchronous spikes in each neuron convey the magnitude of stick-slip events by their discharge rates, response probability, and interspike intervals. We further show that the differentiation between these two types of activity is highly dependent on the magnitude of stick-slip events and stimulus and response history. These results suggest that cortical neurons transmit multiple components of tactile information through numerous coding strategies.

Layer 6 ensembles can selectively regulate the behavioral impact and layer-specific representation of sensory deviants

Predictive models can enhance the salience of unanticipated input. Here, we tested a key potential node in neocortical model formation in this process, layer (L) 6, using behavioral, electrophysiological and imaging methods in mouse primary somatosensory neocortex. We found that deviant stimuli enhanced tactile detection and were encoded in L2/3 neural tuning. To test the contribution of L6, we applied weak optogenetic drive that changed which L6 neurons were sensory responsive, without affecting overall firing rates in L6 or L2/3. This stimulation selectively suppressed behavioral sensitivity to deviant stimuli, without impacting baseline performance. This stimulation also eliminated deviance encoding in L2/3 but did not impair basic stimulus responses across layers. In contrast, stronger L6 drive inhibited firing and suppressed overall sensory function. These findings indicate that, despite their sparse activity, specific ensembles of stimulus-driven L6 neurons are required to form neocortical predictions, and to realize their behavioral benefit.

Gradient of tactile properties in the rat whisker pad

The array of vibrissae on a rat's face is the first stage in a high-resolution tactile sensing system. Progressing from rostral to caudal in any vibrissae row results in an increase in whisker length and thickness. This may, in turn, provide a systematic map of separate tactile channels governed by the mechanical properties of the whiskers. To examine whether this map is expressed in a location-dependent transformation of tactile signals into whisker vibrations and neuronal responses, we monitored whiskers' movements across various surfaces and edges. We found a robust rostral-caudal (R-C) gradient of tactile information transmission in which rostral shorter vibrissae displayed a higher sensitivity and bigger differences in response to different textures, whereas longer caudal vibrissae were less sensitive. This gradient is evident in several dynamic properties of vibrissae trajectories. As rodents sample the environment with multiple vibrissae, we found that combining tactile signals from multiple vibrissae resulted in an increased sensitivity and bigger differences in response to the different textures. Nonetheless, we found that texture identity is not represented spatially across the whisker pad. Based on the responses of first-order sensory neurons, we found that they adhere to the tactile information conveyed by the vibrissae. That is, neurons innervating rostral vibrissae were better suited for texture discrimination, whereas neurons innervating caudal vibrissae were more suited for edge detection. These results suggest that the whisker array in rodents forms a sensory structure in which different facets of tactile information are transmitted through location-dependent gradient of vibrissae on the rat's face.

Neuronal Circuits in Barrel Cortex for Whisker Sensory Perception

The array of whiskers on the snout provides rodents with tactile sensory information relating to the size, shape and texture of objects in their immediate environment. Rodents can use their whiskers to detect stimuli, distinguish textures, locate objects and navigate. Important aspects of whisker sensation are thought to result from neuronal computations in the whisker somatosensory cortex (wS1). Each whisker is individually represented in the somatotopic map of wS1 by an anatomical unit named a 'barrel' (hence also called barrel cortex). This allows precise investigation of sensory processing in the context of a well-defined map. Here, we first review the signaling pathways from the whiskers to wS1, and then discuss current understanding of the various types of excitatory and inhibitory neurons present within wS1. Different classes of cells can be defined according to anatomical, electrophysiological and molecular features. The synaptic connectivity of neurons within local wS1 microcircuits, as well as their long-range interactions and the impact of neuromodulators, are beginning to be understood. Recent technological progress has allowed cell-type-specific connectivity to be related to cell-type-specific activity during whisker-related behaviors. An important goal for future research is to obtain a causal and mechanistic understanding of how selected aspects of tactile sensory information are processed by specific types of neurons in the synaptically connected neuronal networks of wS1 and signaled to downstream brain areas, thus contributing to sensory-guided decision-making.

Sensory Abnormalities in Autism Spectrum Disorders: A Focus on the Tactile Domain, From Genetic Mouse Models to the Clinic

Sensory abnormalities are commonly recognized as diagnostic criteria in autism spectrum disorder (ASD), as reported in the last edition of the Diagnostic and Statistical Manual of Mental Disorder (DSM-V). About 90% of ASD individuals have atypical sensory experiences, described as both hyper- and hypo-reactivity, with abnormal responses to tactile stimulation representing a very frequent finding. In this review, we will address the neurobiological bases of sensory processing in ASD, with a specific focus of tactile sensitivity. In the first part, we will review the most relevant sensory abnormalities detected in ASD, and then focus on tactile processing deficits through the discussion of recent clinical and experimental studies. In the search for the neurobiological bases of ASD, several mouse models have been generated with knockout and humanized knockin mutations in many ASD-associated genes. Here, we will therefore give a brief overview of the anatomical structure of the mouse somatosensory system, and describe the somatosensory abnormalities so far reported in different mouse models of ASD. Understanding the neurobiological bases of sensory processing in ASD mouse models may represent an opportunity for a better comprehension of the mechanisms underlying sensory abnormalities, and for the development of novel effective therapeutic strategies.

Whisker Vibrations and the Activity of Trigeminal Primary Afferents in Response to Airflow

Rodents are the most commonly studied model system in neuroscience, but surprisingly few studies investigate the natural sensory stimuli that rodent nervous systems evolved to interpret. Even fewer studies examine neural responses to these natural stimuli. Decades of research have investigated the rat vibrissal (whisker) system in the context of direct touch and tactile stimulation, but recent work has shown that rats also use their whiskers to help detect and localize airflow. The present study investigates the neural basis for this ability as dictated by the mechanical response of whiskers to airflow. Mechanical experiments show that a whisker's vibration magnitude depends on airspeed and the intrinsic shape of the whisker. Surprisingly, the direction of the whisker's vibration changes as a function of airflow speed: vibrations transition from parallel to perpendicular with respect to the airflow as airspeed increases. Recordings from primary sensory trigeminal ganglion neurons show that these neurons exhibit responses consistent with those that would be predicted from direct touch. Trigeminal neuron firing rate increases with airspeed, is modulated by the orientation of the whisker relative to the airflow, and is influenced by the whisker's resonant frequencies. We develop a simple model to describe how a population of neurons could leverage mechanical relationships to decode both airspeed and direction. These results open new avenues for studying vibrissotactile regions of the brain in the context of evolutionarily important airflow-sensing behaviors and olfactory search. Although this study used only female rats, all results are expected to generalize to male rats.SIGNIFICANCE STATEMENT The rodent vibrissal (whisker) system has been studied for decades in the context of direct tactile sensation, but recent work has indicated that rats also use whiskers to help localize airflow. Neural circuits in somatosensory regions of the rodent brain thus likely evolved in part to process airflow information. This study investigates the whiskers' mechanical response to airflow and the associated neural response. Airspeed affects the magnitude of whisker vibration and the response magnitude of whisker-sensitive primary sensory neurons in the trigeminal ganglion. Surprisingly, the direction of vibration and the associated directionally dependent neural response changes with airspeed. These findings suggest a population code for airflow speed and direction and open new avenues for studying vibrissotactile regions of the brain.

Rats Generate Vibrissal Sensory Evidence until Boundary Crossing Triggers a Decision

Behaviors in which primates collect externally generated streams of sensory evidence, such as judgment of random dot motion direction, are explained by a bounded integration decision model. Does this model extend to rodents, and does it account for behavior in which the motor system generates evidence through interactions with the environment? In this study, rats palpated surfaces to identify the texture before them, showing marked trial-to-trial variability in the number of touches prior to expressing their choice. By high-speed video, we tracked whisker kinematic features and characterized how they encoded the contacted texture. Next, we quantified the evidence for each candidate texture transmitted on each touch by the specified whisker kinematic features. The instant of choice was well fit by modeling the brain as an integrator that gives the greatest weight to vibrissal evidence on first touch and exponentially less weight to evidence on successive touches; according to this model, the rat makes a decision when the accumulated quantity of evidence for one texture reaches a boundary. In summary, evidence appears to be accumulated within the brain until sufficient to support a well-grounded choice. These findings extend the framework of bounded sensory integration from primates to rodents and from passively received evidence to evidence that is actively generated by the sensorimotor system.

Dynamic cues for whisker-based object localization: An analytical solution to vibration during active whisker touch

Vibrations are important cues for tactile perception across species. Whisker-based sensation in mice is a powerful model system for investigating mechanisms of tactile perception. However, the role vibration plays in whisker-based sensation remains unsettled, in part due to difficulties in modeling the vibration of whiskers. Here, we develop an analytical approach to calculate the vibrations of whiskers striking objects. We use this approach to quantify vibration forces during active whisker touch at a range of locations along the whisker. The frequency and amplitude of vibrations evoked by contact are strongly dependent on the position of contact along the whisker. The magnitude of vibrational shear force and bending moment is comparable to quasi-static forces. The fundamental vibration frequencies are in a detectable range for mechanoreceptor properties and below the maximum spike rates of primary sensory afferents. These results suggest two dynamic cues exist that rodents can use for object localization: vibration frequency and comparison of vibrational to quasi-static force magnitude. These complement the use of quasi-static force angle as a distance cue, particularly for touches close to the follicle, where whiskers are stiff and force angles hardly change during touch. Our approach also provides a general solution to calculation of whisker vibrations in other sensing tasks.

Vibrations play an important role in the sense of touch in many species, but exactly how they influence touch perception remains mysterious. An important reason for this mystery is the difficulty in measuring vibrations during touch. Mice are a powerful model system for investigating touch perception because they actively sweep their whiskers into objects and the resulting bending from touch can be video recorded. However, vibrations of the whiskers during touch are usually too small and fast to be seen. To overcome this limitation, we develop a new mathematical approach to calculating whisker vibrations from the speed at impact, maximum whisker bending during touch, and location of contact along a whisker, which is more easily observed. We find that vibration frequency and amplitude is strongly dependent on the location of contact along the whisker, which mice may use to deduce the distance between their face and touched objects. We confirm our calculations with high-speed imaging of whisker vibration during touch.

Millisecond precision temporal encoding of stimulus features during cortically generated gamma oscillations in the rat somatosensory cortex

KEY POINTS

Rodents explore their immediate environment using their whiskers. Such exploration leads to micromotions, which contain many high-frequency (50-200 Hz) components. High-frequency whisker motion is represented faithfully in the temporal structure of the spike trains of trigeminal neurons. However, the representation of high-frequency sensory inputs in cortex is not fully understood. By combining extracellular and intracellular recordings in the rat somatosensory cortex and thalamus, we show that high-frequency sensory inputs, either sinusoidal or white noise, elicit internally generated gamma (20-60 Hz) band oscillations in cortical networks. Gamma oscillations modulate cortical spike probability while preserving sub-millisecond phase relations with high-frequency sensory inputs. Consequently, our results indicate that millisecond precision stimulus-locked spiking activity and sensory-induced gamma oscillation can constitute independent multiplexed coding schemes at the single-cell level.

ABSTRACT

In the natural environment, tactile exploration often leads to high-frequency vibrations at the level of the sensory organs. Single-unit recordings of cortical neurons have pointed towards either a rate or a temporal code for representing high-frequency tactile signals. In cortical networks, sensory processing results from the interaction between feedforward inputs relayed from the thalamus and internally generated activity. However, how the emergent activity represents high-frequency sensory input is not fully understood. Using multisite single-unit, local field potential and intracellular recordings in the somatosensory cortex and thalamus of lightly sedated male rats, we measured neuronal responses evoked by sinusoidal and band-pass white noise whisker stimulation at frequencies that encompass those observed during texture exploration (50-200 Hz). We found that high-frequency sensory inputs relayed from the thalamus elicit both sub-millisecond stimulus-locked responses and internally generated gamma (20-60 Hz) band oscillations in cortical networks. Gamma oscillations modulate spike probability while preserving sub-millisecond phase relations with sensory inputs. Therefore, precise stimulus-locked spiking activity and sensory-induced gamma oscillations can constitute independent multiplexed coding schemes at the single-cell level.

Laminar-specific encoding of texture elements in rat barrel cortex

KEY POINTS

For rats texture discrimination is signalled by the large face whiskers by stick-slip events. Neural encoding of repetitive stick-slip events will be influenced by intrinsic properties of adaptation. We show that texture coding in the barrel cortex is laminar specific and follows a power function. Our results also show layer 2 codes for novel feature elements via robust firing rates and temporal fidelity. We conclude that texture coding relies on a subtle neural ensemble to provide important object information.

ABSTRACT

Texture discrimination by rats is exquisitely guided by fine-grain mechanical stick-slip motions of the face whiskers as they encounter, stick to and slip past successive texture-defining surface features such as bumps and grooves. Neural encoding of successive stick-slip texture events will be shaped by adaptation, common to all sensory systems, whereby receptor and neural responses to a stimulus are affected by responses to preceding stimuli, allowing resetting to signal novel information. Additionally, when a whisker is actively moved to contact and brush over surfaces, that motion itself generates neural responses that could cause adaptation of responses to subsequent stick-slip events. Nothing is known about encoding in the rat whisker system of stick-slip events defining textures of different grain or the influence of adaptation from whisker protraction or successive texture-defining stick-slip events. Here we recorded responses from halothane-anaesthetized rats in response to texture-defining stimuli applied to passive whiskers. We demonstrate that: across the columnar network of the whisker-recipient barrel cortex, adaptation in response to repetitive stick-slip events is strongest in uppermost layers and equally lower thereafter; neither whisker protraction speed nor stick-slip frequency impede encoding of stick-slip events at rates up to 34.08 Hz; and layer 2 normalizes responses to whisker protraction to resist effects on texture signalling. Thus, within laminar-specific response patterns, barrel cortex reliably encodes texture-defining elements even to high frequencies.

Organization of sensory feature selectivity in the whisker system

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Neurons in the whisker system are selective to spatial and dynamical properties – features – of sensory stimuli.

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At each stage of the pathway, different neurons encode distinct features, generating a rich population representation.

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Whisker touch is robustly represented; neurons respond to touch-driven fast fluctuations in forces at the whisker base.

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Cortical neurons have more complex and context-dependent selectivity than subcortical, e.g., to collective whisker motion.

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Understanding how these signals are integrated to construct whisker-mediated percepts requires further research.

Our sensory receptors are faced with an onslaught of different environmental inputs. Each sensory event or encounter with an object involves a distinct combination of physical energy sources impinging upon receptors. In the rodent whisker system, each primary afferent neuron located in the trigeminal ganglion innervates and responds to a single whisker and encodes a distinct set of physical stimulus properties – features – corresponding to changes in whisker angle and shape and the consequent forces acting on the whisker follicle. Here we review the nature of the features encoded by successive stages of processing along the whisker pathway. At each stage different neurons respond to distinct features, such that the population as a whole represents diverse properties. Different neuronal types also have distinct feature selectivity. Thus, neurons at the same stage of processing and responding to the same whisker nevertheless play different roles in representing objects contacted by the whisker. This diversity, combined with the precise timing and high reliability of responses, enables populations at each stage to represent a wide range of stimuli. Cortical neurons respond to more complex stimulus properties – such as correlated motion across whiskers – than those at early subcortical stages. Temporal integration along the pathway is comparatively weak: neurons up to barrel cortex (BC) are sensitive mainly to fast (tens of milliseconds) fluctuations in whisker motion. The topographic organization of whisker sensitivity is paralleled by systematic organization of neuronal selectivity to certain other physical features, but selectivity to touch and to dynamic stimulus properties is distributed in “salt-and-pepper” fashion.

Representation of tactile scenes in the rodent barrel cortex

After half a century of research, the sensory features coded by neurons of the rodent barrel cortex remain poorly understood. Still, views of the sensory representation of whisker information are increasingly shifting from a labeled line representation of single-whisker deflections to a selectivity for specific elements of the complex statistics of the multi-whisker deflection patterns that take place during spontaneous rodent behavior - so called natural tactile scenes. Here we review the current knowledge regarding the coding of patterns of whisker stimuli by barrel cortex neurons, from responses to single-whisker deflections to the representation of complex tactile scenes. A number of multi-whisker tunings have already been identified, including center-surround feature extraction, angular tuning during edge-like multi-whisker deflections, and even tuning to specific statistical properties of the tactile scene such as the level of correlation across whiskers. However, a more general model of the representation of multi-whisker information in the barrel cortex is still missing. This is in part because of the lack of a human intuition regarding the perception emerging from a whisker system, but also because in contrast to other primary sensory cortices such as the visual cortex, the spatial feature selectivity of barrel cortex neurons rests on highly nonlinear interactions that remained hidden to classical receptive field approaches.

Kinematic response in limb and body posture to sensory feedback from carpal sinus hairs in the rat (Rattus norvegicus)

One of the most challenging adaptations within the therians has been to ensure dynamic stability of the trunk during rapid locomotion in highly structured environments. A reorganization of limb mechanics and development of new sensors has taken place within their stem lineage. Rats, which have a similar lifestyle to the first therians, possess sinus hairs specialized for tactile sensing. It is supposed that carpal sinus hairs have a role in sensing substrate properties and can thus induce adjustments in limb kinematics and body posture according to the different surface diameters and structures detected. This implies a shared sensorimotor control loop of sinus hairs and body posture. To investigate the role of the carpal sinus hairs during locomotion and to explore a possible interaction between limb and spine motion, spatiotemporal and kinematic parameters as well as the contact mechanics of the hairs with regard to the surface were quantified. Locomotion on a treadmill with continuous and discontinuous substrates was compared in the presence/absence of the carpal sinus hairs across a speed range from 0.2m/s to 0.6m/s. Recordings were taken synchronously using x-ray fluoroscopy and normal-light high-speed cameras. Our investigation revealed that the three tactile hairs made a triangle-like contact with the ground approximately 30ms before touchdown of the forelimb. Within that time, it is likely that both the body posture and its oscillation are adjusted according to the different surface textures. The sensory input of the carpal sinus hairs induces a stabilization of the trajectory of the center of mass and, therefore, improves the dynamic stability of the trunk; conversely, the absence of the sensors results in a more crouched frontal body posture, similar to that seen in rats when they are moving in an unknown terrain. The carpal sinus hairs also sense the animal's speed during surface contact. This implicates an adjustment of the limb and spine kinematics, by increasing the speed-dependent effect or by increasing the distance between the trunk and the ground when the rat is walking faster.

Whisker Contact Detection of Rodents Based on Slow and Fast Mechanical Inputs

Rodents use their whiskers to locate nearby objects with an extreme precision. To perform such tasks, they need to detect whisker/object contacts with a high temporal accuracy. This contact detection is conveyed by classes of mechanoreceptors whose neural activity is sensitive to either slow or fast time varying mechanical stresses acting at the base of the whiskers. We developed a biomimetic approach to separate and characterize slow quasi-static and fast vibrational stress signals acting on a whisker base in realistic exploratory phases, using experiments on both real and artificial whiskers. Both slow and fast mechanical inputs are successfully captured using a mechanical model of the whisker. We present and discuss consequences of the whisking process in purely mechanical terms and hypothesize that free whisking in air sets a mechanical threshold for contact detection. The time resolution and robustness of the contact detection strategies based on either slow or fast stress signals are determined. Contact detection based on the vibrational signal is faster and more robust to exploratory conditions than the slow quasi-static component, although both slow/fast components allow localizing the object.

Feedforward motor information enhances somatosensory responses and sharpens angular tuning of rat S1 barrel cortex neurons

The primary vibrissae motor cortex (vM1) is responsible for generating whisking movements. In parallel, vM1 also sends information directly to the sensory barrel cortex (vS1). In this study, we investigated the effects of vM1 activation on processing of vibrissae sensory information in vS1 of the rat. To dissociate the vibrissae sensory-motor loop, we optogenetically activated vM1 and independently passively stimulated principal vibrissae. Optogenetic activation of vM1 supra-linearly amplified the response of vS1 neurons to passive vibrissa stimulation in all cortical layers measured. Maximal amplification occurred when onset of vM1 optogenetic activation preceded vibrissa stimulation by 20 ms. In addition to amplification, vM1 activation also sharpened angular tuning of vS1 neurons in all cortical layers measured. Our findings indicated that in addition to output motor signals, vM1 also sends preparatory signals to vS1 that serve to amplify and sharpen the response of neurons in the barrel cortex to incoming sensory input signals.

DOI:http://dx.doi.org/10.7554/eLife.21843.001

High-velocity stimulation evokes "dense" population response in layer 2/3 vibrissal cortex

Supragranular layers of sensory cortex are known to exhibit sparse firing. In rodent vibrissal cortex, a small fraction of neurons in layer 2 and 3 (L2/3) respond to whisker stimulation. In this study, we combined whole cell recording and two-photon imaging in anesthetized mice and quantified the synaptic response and spiking profile of L2/3 neurons. Previous literature has shown that neurons across layers of vibrissal cortex are tuned to the velocity of whisker movement. We therefore used a broad range of stimuli that included the standard range of velocities (0-1.2 deg/ms) and extended to a "sharp" high-velocity deflection (3.8 deg/ms). Consistent with previous literature, whole cell recording revealed a sparse response to the standard range of velocities: although all recorded cells showed tuning to velocity in their postsynaptic potentials, only a small fraction produced stimulus-evoked spikes. In contrast, the sharp stimulus evoked reliable spiking in the majority of neurons. The action potential threshold of spikes evoked by the sharp stimulus was significantly lower than that of the spontaneous spikes. Juxtacellular recordings confirmed that application of sharp stimulus to single or multiple whiskers produced temporally precise spiking with minimal trial-to-trial spike count variability (Fano factors equal or close to the theoretical minimum). Two-photon imaging further confirmed that most neurons that were not responsive to the standard deflections responded to the sharp stimulus. Altogether, our results indicate that sparseness in L2/3 cortex depends on the choice of stimulus: strong single- or multiwhisker stimulation can induce the transition from sparse to "dense" population response.NEW & NOTEWORTHY In superficial layers of sensory cortex, only a small fraction of neurons fire most of the spontaneous and sensory evoked spikes. However, the functional relevance of such "sparse" activity remains unknown. We found that a "dense" population response is evoked by high-velocity micromotions applied to whiskers. Our results suggest that flashes of precisely timed population response on an almost silent background can provide a high capacity for coding of ecologically salient stimuli.

Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system

Tactile information available to the rat vibrissal system begins as external forces that cause whisker deformations, which in turn excite mechanoreceptors in the follicle. Despite the fundamental mechanical origin of tactile information, primary sensory neurons in the trigeminal ganglion (Vg) have often been described as encoding the kinematics (geometry) of object contact. Here we aimed to determine the extent to which Vg neurons encode the kinematics vs. mechanics of contact. We used models of whisker bending to quantify mechanical signals (forces and moments) at the whisker base while simultaneously monitoring whisker kinematics and recording single Vg units in both anesthetized rats and awake, body restrained rats. We employed a novel manual stimulation technique to deflect whiskers in a way that decouples kinematics from mechanics, and used Generalized Linear Models (GLMs) to show that Vg neurons more directly encode mechanical signals when the whisker is deflected in this decoupled stimulus space.

DOI:http://dx.doi.org/10.7554/eLife.13969.001

Animals must gather sensory information from the world around them and act on that information. Specialized sensory cells convert physical information from the environment into electrical signals that the brain can interpret. In the case of hearing, this physical information consists of changes in air pressure, and for vision, it is patterns of light bouncing off of objects.

Rodents rely heavily on touch information from their whiskers to explore their world. When a whisker touches an object, it deforms and bends. The first neurons to respond to whisker touch – so called primary sensory neurons – represent contact between the whisker and the object in the form of electrical signals, but exactly how they do this is unclear.

One possibility is that primary sensory neurons encode the movement of the whisker itself. Whenever a whisker touches an object, the whisker is deflected in a particular direction by a particular amount and at a particular speed. These movement-related features are referred to as the “kinematic” properties of whisker-object contact. Alternatively, these whisker sensory neurons might be more concerned with the forces at the base of the whisker caused by object contact. These forces are the “mechanical” properties of whisker-object contact.

Bush, Schroeder et al. set out to determine whether the electrical response of these whisker sensory neurons mainly encode kinematic or mechanical information. However, these two types of information are often closely related to each other: put simply, small whisker movements tend to accompany small forces and vice versa. Bush, Schroeder et al. therefore devised a method to deliver touch stimuli to the whiskers in a way that separates kinematic from mechanical information. Mathematical models were then developed to compare how well the neurons represent each type of information. The models showed that whisker sensory neurons generally encode mechanical signals more directly than kinematic ones.

This information adds to our understanding of how animals learn about the world through their senses. However, the analysis of Bush, Schroeder et al. relies on the long-standing simplification that whisker motion is two-dimensional, whereas in reality whiskers move in three dimensions. Therefore, a future challenge is to examine how sensory neurons represent information about touch, such as the location or shape of an object, during three-dimensional whisker-object contact.

DOI:http://dx.doi.org/10.7554/eLife.13969.002

Spatiotemporal Patterns of Contact Across the Rat Vibrissal Array During Exploratory Behavior

The rat vibrissal system is an important model for the study of somatosensation, but the small size and rapid speed of the vibrissae have precluded measuring precise vibrissal-object contact sequences during behavior. We used a laser light sheet to quantify, with 1 ms resolution, the spatiotemporal structure of whisker-surface contact as five naïve rats freely explored a flat, vertical glass wall. Consistent with previous work, we show that the whisk cycle cannot be uniquely defined because different whiskers often move asynchronously, but that quasi-periodic (~8 Hz) variations in head velocity represent a distinct temporal feature on which to lock analysis. Around times of minimum head velocity, whiskers protract to make contact with the surface, and then sustain contact with the surface for extended durations (~25-60 ms) before detaching. This behavior results in discrete temporal windows in which large numbers of whiskers are in contact with the surface. These "sustained collective contact intervals" (SCCIs) were observed on 100% of whisks for all five rats. The overall spatiotemporal structure of the SCCIs can be qualitatively predicted based on information about head pose and the average whisk cycle. In contrast, precise sequences of whisker-surface contact depend on detailed head and whisker kinematics. Sequences of vibrissal contact were highly variable, equally likely to propagate in all directions across the array. Somewhat more structure was found when sequences of contacts were examined on a row-wise basis. In striking contrast to the high variability associated with contact sequences, a consistent feature of each SCCI was that the contact locations of the whiskers on the glass converged and moved more slowly on the sheet. Together, these findings lead us to propose that the rat uses a strategy of "windowed sampling" to extract an object's spatial features: specifically, the rat spatially integrates quasi-static mechanical signals across whiskers during the period of sustained contact, resembling an "enclosing" haptic procedure.

Wideband phase locking to modulated whisker vibration point to a temporal code for texture in the rat's barrel cortex

Rats probe objects with their whiskers and make decisions about sizes, shapes, textures and distances within a few tens of milliseconds. This perceptual analysis requires the processing of tactile high-frequency object components reflecting surface roughness. We have shown that neurons in the barrel cortex of rats encode high-frequency sinusoidal vibrations of whiskers for sustained periods when presented with constant amplitudes and frequencies. In a natural situation, however, stimulus parameters change rapidly when whiskers are brushing across objects. In this study, we therefore analysed cortical responses to vibratory movements of single whiskers with rapidly changing amplitudes and frequencies. The results show that different neural codes are employed for a processing of stimulus parameters. The frequency of whisker vibration is encoded by the temporal pattern of spike discharges, i.e., the phase-locked responses of barrel cortex neurons. In addition, oscillatory gamma band activity was induced during high-frequency stimulation. The pivotal descriptor of the amplitude of whisker displacement, the velocity, is reflected in the rate of spike discharges. While phase-locked discharges occurred over the entire range of frequencies tested (10-600 Hz), the discharge rate increased with stimulus velocity only up to about 60 µm/ms, saturating at a mean rate of ~117 spikes/s. In addition, the results show that whisker movements of more than 500 Hz bandwidth may be encoded by phase-locked responses of small groups of cortical neurons. Thus, even single whiskers may transmit information about wide ranges of textural components owing to their set of different types of hair follicle mechanoreceptors.

Sparse, reliable, and long-term stable representation of periodic whisker deflections in the mouse barrel cortex

The rodent whisker system is a preferred model for studying plasticity in the somatosensory cortex (barrel cortex). Contrarily, only a small amount of research has been conducted to characterize the stability of neuronal population activity in the barrel cortex. We used the mouse whisker system to address the neuronal basis of stable perception in the somatosensory cortex. Cortical representation of periodic whisker deflections was studied in populations of neurons in supragranular layers over extended time periods (up to 3 months) with long-term two-photon Ca(2+) imaging in anesthetized mice. We found that in most of the neurons (87%), Ca(2+) responses increased sublinearly with increasing number of contralateral whisker deflections. The imaged population of neurons was activated in a stereotypic way over days and for different deflection rates (pulse frequencies). Thus, pulse frequencies are coded by response strength rather than by distinct neuronal sub-populations. A small population of highly responsive neurons (~3%) was sufficient to decode the whisker stimulus. This conserved functional map, led by a small set of highly responsive neurons, might form the foundation of stable sensory percepts.

Parallel coding schemes of whisker velocity in the rat's somatosensory system

The function of rodents' whisker somatosensory system is to transform tactile cues, in the form of vibrissa vibrations, into neuronal responses. It is well established that rodents can detect numerous tactile stimuli and tell them apart. However, the transformation of tactile stimuli obtained through whisker movements to neuronal responses is not well-understood. Here we examine the role of whisker velocity in tactile information transmission and its coding mechanisms. We show that in anaesthetized rats, whisker velocity is related to the radial distance of the object contacted and its own velocity. Whisker velocity is accurately and reliably coded in first-order neurons in parallel, by both the relative time interval between velocity-independent first spike latency of rapidly adapting neurons and velocity-dependent first spike latency of slowly adapting neurons. At the same time, whisker velocity is also coded, although less robustly, by the firing rates of slowly adapting neurons. Comparing first- and second-order neurons, we find similar decoding efficiencies for whisker velocity using either temporal or rate-based methods. Both coding schemes are sufficiently robust and hardly affected by neuronal noise. Our results suggest that whisker kinematic variables are coded by two parallel coding schemes and are disseminated in a similar way through various brain stem nuclei to multiple brain areas.

Texture coarseness responsive neurons and their mapping in layer 2-3 of the rat barrel cortex in vivo

Texture discrimination is a fundamental function of somatosensory systems, yet the manner by which texture is coded and spatially represented in the barrel cortex are largely unknown. Using in vivo two-photon calcium imaging in the rat barrel cortex during artificial whisking against different surface coarseness or controlled passive whisker vibrations simulating different coarseness, we show that layer 2-3 neurons within barrel boundaries differentially respond to specific texture coarsenesses, while only a minority of neurons responded monotonically with increased or decreased surface coarseness. Neurons with similar preferred texture coarseness were spatially clustered. Multi-contact single unit recordings showed a vertical columnar organization of texture coarseness preference in layer 2-3. These findings indicate that layer 2-3 neurons perform high hierarchical processing of tactile information, with surface coarseness embodied by distinct neuronal subpopulations that are spatially mapped onto the barrel cortex.

Diverse thalamocortical short-term plasticity elicited by ongoing stimulation

To produce sensation, neuronal pathways must transmit and process stimulus patterns that unfold over time. This behavior is determined by short-term synaptic plasticity (STP), which shapes the temporal filtering properties of synapses in a pathway. We explored STP variability across thalamocortical (TC) synapses, measuring whole-cell responses to stimulation of TC fibers in layer 4 neurons of mouse barrel cortex in vitro. As expected, STP during stimulation from rest was dominated by depression. However, STP during ongoing stimulation was strikingly diverse across TC connections. Diversity took the form of variable tuning to the latest interstimulus interval: some connections responded weakly to shorter intervals, while other connections were facilitated. These behaviors did not cluster into categories but formed a continuum. Diverse tuning did not require disynaptic inhibition. Hence, monosynaptic excitatory lemniscal TC connections onto layer 4 do not behave uniformly during ongoing stimulation. Each connection responds differentially to particular stimulation intervals, enriching the ability of the pathway to convey complex, temporally fluctuating information.

Algorithms of whisker-mediated touch perception

Comparison of the functional organization of sensory modalities can reveal the specialized mechanisms unique to each modality as well as processing algorithms that are common across modalities. Here we examine the rodent whisker system. The whisker's mechanical properties shape the forces transmitted to specialized receptors. The sensory and motor systems are intimately interconnected, giving rise to two forms of sensation: generative and receptive. The sensory pathway is a test bed for fundamental concepts in computation and coding: hierarchical feature detection, sparseness, adaptive representations, and population coding. The central processing of signals can be considered a sequence of filters. At the level of cortex, neurons represent object features by a coordinated population code which encompasses cells with heterogeneous properties.

Coding of object location in the vibrissal thalamocortical system

In whisking rodents, object location is encoded at the receptor level by a combination of motor and sensory related signals. Recoding of the encoded signals can result in various forms of internal representations. Here, we examined the coding schemes occurring at the first forebrain level that receives inputs necessary for generating such internal representations--the thalamocortical network. Single units were recorded in 8 thalamic and cortical stations in artificially whisking anesthetized rats. Neuronal representations of object location generated across these stations and expressed in response latency and magnitude were classified based on graded and binary coding schemes. Both graded and binary coding schemes occurred across the entire thalamocortical network, with a general tendency of graded-to-binary transformation from thalamus to cortex. Overall, 63% of the neurons of the thalamocortical network coded object position in their firing. Thalamocortical responses exhibited a slow dynamics during which the amount of coded information increased across 4-5 whisking cycles and then stabilized. Taken together, the results indicate that the thalamocortical network contains dynamic mechanisms that can converge over time on multiple coding schemes of object location, schemes which essentially transform temporal coding to rate coding and gradual to labeled-line coding.

Millisecond, micron precision multi-whisker detector

The neural mechanisms of somatosensory information processing in the rodent vibrissae system are a topic of intense debate and research. Certain hypotheses emphasize the importance of stick-slip whisker motion, high-frequency resonant vibrations, and/or the ability to decode complex textures. Other hypotheses focus on the importance of integrating information from multiple whiskers. Tests of the former require measurements of whisker motion that achieve high spatiotemporal accuracy without altering the mechanical properties of whiskers. Tests of the latter require the ability to monitor the motion of multiple whiskers simultaneously. Here we present a device that achieves both these requirements for two-dimensional whisker motion in the plane perpendicular to the whiskers. Moreover, the system we present is significantly less expensive (<$2.5 k) and simpler to build than alternative devices which achieve similar detection capabilities. Our system is based on two laser diodes and two linear cameras. It attains millisecond temporal precision and micron spatial resolution. We developed automated algorithms for processing the data collected by our device and benchmarked their performance against manual detection by human visual inspection. By this measure, our detection was successful with less than 10 µm deviation between the automated and manual detection, on average. Here, we demonstrate its utility in anesthetized rats by measuring the motion of multiple whiskers in response to an air puff.

Coordinated population activity underlying texture discrimination in rat barrel cortex

Rodents can robustly distinguish fine differences in texture using their whiskers, a capacity that depends on neuronal activity in primary somatosensory "barrel" cortex. Here we explore how texture was collectively encoded by populations of three to seven neuronal clusters simultaneously recorded from barrel cortex while a rat performed a discrimination task. Each cluster corresponded to the single-unit or multiunit activity recorded at an individual electrode. To learn how the firing of different clusters combines to represent texture, we computed population activity vectors across moving time windows and extracted the signal available in the optimal linear combination of clusters. We quantified this signal using receiver operating characteristic analysis and compared it to that available in single clusters. Texture encoding was heterogeneous across neuronal clusters, and only a minority of clusters carried signals strong enough to support stimulus discrimination on their own. However, jointly recorded groups of clusters were always able to support texture discrimination at a statistically significant level, even in sessions where no individual cluster represented the stimulus. The discriminative capacity of neuronal activity was degraded when error trials were included in the data, compared to only correct trials, suggesting a link between the neuronal activity and the animal's performance. These analyses indicate that small groups of barrel cortex neurons can robustly represent texture identity through synergistic interactions, and suggest that neurons downstream to barrel cortex could extract texture identity on single trials through simple linear combination of barrel cortex responses.

Whisker encoding of mechanical events during active tactile exploration

Rats use their whiskers to extract a wealth of information about their immediate environment, such as the shape, position or texture of an object. The information is conveyed to mechanoreceptors located within the whisker follicle in the form of a sequence of whisker deflections induced by the whisker/object contact interaction. How the whiskers filter and shape the mechanical information and effectively participate in the coding of tactile features remains an open question to date. In the present article, a biomechanical model was developed that provides predictions of the whisker dynamics during active tactile exploration, amenable to quantitative experimental comparison. This model is based on a decomposition of the whisker profile into a slow, quasi-static sequence and rapid resonant small-scale vibrations. It was applied to the typical situation of a rat actively whisking across a solid object. Having derived the quasi-static sequence of whisker deformation, the resonant properties of the whisker were analyzed, taking into account the boundary conditions imposed by the whisker/surface contact. We then focused on two elementary mechanical events that are expected to trigger significant neural responses, namely (1) the whisker/object first contact and (2) the whisker detachment from the object. Both events were found to trigger a deflection wave propagating upward to the mystacial pad at constant velocity of ≈3–5 m/s. This yielded a characteristic mechanical signature at the whisker base, in the form of a large peak of negative curvature occurring ≈4 ms after the event has been triggered. The dependence in amplitude and lag of this mechanical signal with the main contextual parameters (such as radial or angular distance) was investigated. The model was validated experimentally by comparing its predictions to high-speed video recordings of shock-induced whisker deflections performed on anesthetized rats. The consequences of these results on possible tactile encoding schemes are briefly discussed.

Surround suppression and sparse coding in visual and barrel cortices

During natural vision the entire retina is stimulated. Likewise, during natural tactile behaviors, spatially extensive regions of the somatosensory surface are co-activated. The large spatial extent of naturalistic stimulation means that surround suppression, a phenomenon whose neural mechanisms remain a matter of debate, must arise during natural behavior. To identify common neural motifs that might instantiate surround suppression across modalities, we review models of surround suppression and compare the evidence supporting the competing ideas that surround suppression has either cortical or sub-cortical origins in visual and barrel cortex. In the visual system there is general agreement lateral inhibitory mechanisms contribute to surround suppression, but little direct experimental evidence that intracortical inhibition plays a major role. Two intracellular recording studies of V1, one using naturalistic stimuli (Haider et al., 2010), the other sinusoidal gratings (Ozeki et al., 2009), sought to identify the causes of reduced activity in V1 with increasing stimulus size, a hallmark of surround suppression. The former attributed this effect to increased inhibition, the latter to largely balanced withdrawal of excitation and inhibition. In rodent primary somatosensory barrel cortex, multi-whisker responses are generally weaker than single whisker responses, suggesting multi-whisker stimulation engages similar surround suppressive mechanisms. The origins of suppression in S1 remain elusive: studies have implicated brainstem lateral/internuclear interactions and both thalamic and cortical inhibition. Although the anatomical organization and instantiation of surround suppression in the visual and somatosensory systems differ, we consider the idea that one common function of surround suppression, in both modalities, is to remove the statistical redundancies associated with natural stimuli by increasing the sparseness or selectivity of sensory responses.

Radial distance determination in the rat vibrissal system and the effects of Weber's law

Rats rhythmically tap and brush their vibrissae (whiskers) against objects to tactually explore the environment. To extract a complex feature such as the contour of an object, the rat must at least implicitly estimate radial object distance, that is, the distance from the base of the vibrissa to the point of object contact. Radial object distance cannot be directly measured, however, because there are no mechanoreceptors along the vibrissa. Instead, the mechanical signals generated by the vibrissa's interaction with the environment must be transmitted to mechanoreceptors near the vibrissa base. The first part of this paper surveys the different mechanical methods by which the rat could determine radial object distance. Two novel methods are highlighted: one based on measurement of bending moment and axial force at the vibrissa base, and a second based on measurement of how far the vibrissa rotates beyond initial contact. The second part of the paper discusses the application of Weber's law to two methods for radial distance determination. In both cases, Weber's law predicts that the rat will have greatest sensing resolution close to the vibrissa tip. These predictions could be tested with behavioural experiments that measure the perceptual acuity of the rat.

Whisking and whisker kinematics during a texture classification task

Rats explore objects by rhythmically whisking with their vibrissae. The goal of the present study is to learn more about the motor output used by rats to acquire texture information as well as the whisker motion evoked by texture contact. We trained four rats to discriminate between different grooved textures and used high-speed video to characterize whisker motion during the task. The variance in whisking parameters among subjects was notable. After whisker trimming, the animals changed their behaviour in ways that appear consistent with an optimization of whisker movement to compensate for lost information. These results lead to the intriguing notion that the rats use an information-seeking 'cognitive' motor strategy, instead of a rigid motor programme. Distinct stick/slip events occurred during texture palpation and their frequency increased in relation to the spatial frequency of the grooves. The results allow a preliminary assessment of three candidate texture-coding mechanisms-the number of grooves encountered during each touch, the temporal difference between groove contacts and the spatial pattern of groove contacts across the whiskers.

Mechanical signals at the base of a rat vibrissa: the effect of intrinsic vibrissa curvature and implications for tactile exploration

Rats actively tap and sweep their large mystacial vibrissae (whiskers) against objects to tactually explore their surroundings. When a vibrissa makes contact with an object, it bends, and this bending generates forces and bending moments at the vibrissa base. Researchers have only recently begun to quantify these mechanical variables. The present study quantifies the forces and bending moments at the vibrissa base with a quasi-static model of vibrissa deflection. The model was validated with experiments on real vibrissae. Initial simulations demonstrated that almost all vibrissa-object collisions during natural behavior will occur with the concave side of the vibrissa facing the object, and we therefore paid particular attention to the role of the vibrissa's intrinsic curvature in shaping the forces at the base. Both simulations and experiments showed that vibrissae with larger intrinsic curvatures will generate larger axial forces. Simulations also demonstrated that the range of forces and moments at the vibrissal base vary over approximately three orders of magnitude, depending on the location along the vibrissa at which object contact is made. Both simulations and experiments demonstrated that collisions in which the concave side of the vibrissa faces the object generate longer-duration contacts and larger net forces than collisions with the convex side. These results suggest that the orientation of the vibrissa's intrinsic curvature on the mystacial pad may increase forces during object contact and provide increased sensitivity to detailed surface features.

Behavioral study of whisker-mediated vibration sensation in rats

Rats use their vibrissal sensory system to collect information about the nearby environment. They can accurately and rapidly identify object location, shape, and surface texture. Which features of whisker motion does the sensory system extract to construct sensations? We addressed this question by training rats to make discriminations between sinusoidal vibrations simultaneously presented to the left and right whiskers. One set of rats learned to reliably identify which of two vibrations had higher frequency (f(1) vs. f(2)) when amplitudes were equal. Another set of rats learned to reliably identify which of two vibrations had higher amplitude (A(1) vs. A(2)) when frequencies were equal. Although these results indicate that both elemental features contribute to the rats' sensation, a further test found that the capacity to discriminate A and f was reduced to chance when the difference in one feature was counterbalanced by the difference in the other feature: Rats could not discriminate amplitude or frequency whenever A(1)f(1) = A(2)f(2). Thus, vibrations were sensed as the product Af rather than as separable elemental features, A and f. The product Af is proportional to a physical entity, the mean speed. Analysis of performance revealed that rats extracted more information about differences in Af than predicted by the sum of the information in elemental differences. These behavioral experiments support the predictions of earlier physiological studies by demonstrating that rats are "blind" to the elemental features present in a sinusoidal whisker vibration; instead, they perceive a composite feature, the speed of whisker motion.

A unifying framework underlying mechanotransduction in the somatosensory system

Rodents use their whiskers to sense their surroundings. As most of the information available to the somatosensory system originates in whiskers' primary afferents, it is essential to understand the transformation of whisker motion into neuronal activity. Here, we combined in vivo recordings in anesthetized rats with mathematical modeling to ascertain the mechanical and electrical characteristics of mechanotransduction. We found that only two synergistic processes, which reflect the dynamic interactions between (1) receptor and whisker and (2) receptor and surrounding tissue, are needed to describe mechanotransduction during passive whiskers deflection. Interactions between these processes may account for stimulus-dependent changes in the magnitude and temporal pattern of tactile responses on multiple scales. Thus, we are able to explain complex electromechanical processes underlying sensory transduction using a simple model, which captures the responses of a wide range of mechanoreceptor types to diverse sensory stimuli. This compact and precise model allows for a ubiquitous description of how mechanoreceptors encode tactile stimulus.

Hippocampal representation of touch-guided behavior in rats: persistent and independent traces of stimulus and reward location

Understanding the mechanisms by which sensory experiences are stored remains a compelling challenge for neuroscience. Previous work has described how the activity of neurons in the sensory cortex allows rats to discriminate the physical features of an object contacted with their whiskers. But to date there is no evidence about how neurons represent the behavioural significance of tactile stimuli, or how they are encoded in memory. To investigate these issues, we recorded single-unit firing and local field potentials from the CA1 region of hippocampus while rats performed a task in which tactile stimuli specified reward location. On each trial the rat touched a textured plate with its whiskers, and then turned towards the Left or Right water spout. Two textures were associated with each reward location. To determine the influence of the rat's position on sensory coding, we placed it on a second platform in the same room where it performed the identical texture discrimination task. Over 25 percent of the sampled neurons encoded texture identity – their firing differed for two stimuli associated with the same reward location – and over 50 percent of neurons encoded the reward location with which the stimuli were associated. The neuronal population carried texture and reward location signals continuously, from the moment of stimulus contact until the end of reward collection. The set of neurons discriminating between one texture pair was found to be independent of, and partially overlapping, the set of neurons encoding the discrimination between a different texture pair. In a given neuron, the presence of a tactile signal was uncorrelated with the presence, magnitude, or timing of reward location signals. These experiments indicate that neurons in CA1 form a texture representation independently of the action the stimulus is associated with and retain the stimulus representation through reward collection.

A comparison of neuronal and behavioral detection and discrimination performances in rat whisker system

We used the rat whisker touch as a model system to investigate the correlation between the response function of cortical neurons and the behavior of rats in a sensory detection versus discrimination task. The rat whisker-barrel system is structurally well characterized and represents one of the main channels through which rodents collect information about the environment. In experiment 1, we recorded neuronal activity (n = 235) in the whisker area of the rat somatosensory cortex in anesthetized rats while applying vibrotactile stimuli of varying amplitudes to the whiskers. Neurons showed a characteristic sigmoidal input-output function, with an accelerating nonlinearity at low stimulus amplitudes and a compressive nonlinearity at high stimulus amplitudes. We further quantified the performance of individual neurons for stimulus detection and for discrimination across different stimulus pairs with identical amplitude differences. For near-threshold stimuli, the neuronal discrimination performance surpassed the detection performance despite the fact that detection and discrimination represented identical amplitude differences. This is consistent with the accelerating nonlinearity observed at low stimulus intensities. In the second stage of the experiment, four rats were trained to select the higher-amplitude stimulus between two vibrations applied to their whiskers. Similar to neuronal results, the rats' performance was better for the discrimination task compared with the detection task. The behavioral performance followed the same trend as that of the population of individual neurons. Both behavioral and neuronal data are consistent with the "pedestal effect" previously reported in human psychophysics.

Phasic and tonic patterns of locus coeruleus output differentially modulate sensory network function in the awake rat

Neurons of the nucleus locus coeruleus (LC) discharge with phasic bursts of activity superimposed on highly regular tonic discharge rates. Phasic bursts are elicited by bottom-up input mechanisms involving novel/salient sensory stimuli and top-down decision making processes; whereas tonic rates largely fluctuate according to arousal levels and behavioral states. Although it is generally believed that these two modes of activity differentially modulate information processing in LC targets, the unique role of phasic versus tonic LC output on signal processing in cells, circuits, and neural networks of waking animals is not well understood. In the current study, simultaneous recordings of individual neurons within ventral posterior medial thalamus and barrel field cortex of conscious rats provided evidence that each mode of LC output produces a unique modulatory impact on single neuron responsiveness to sensory-driven synaptic input and representations of sensory information across ensembles of simultaneously recorded cells. Each mode of LC activation specifically modulated the relationship between sensory-stimulus intensity and the subsequent responses of individual neurons and neural ensembles. Overall these results indicate that phasic versus tonic modes of LC discharge exert fundamentally different modulatory effects on target neuronal circuits within the rodent trigeminal somatosensory system. As such, each mode of LC output may differentially influence signal processing as a means of optimizing behaviorally relevant neural computations within this sensory network. Likely the ability of the LC system to differentially regulate neural responses and local circuit operations according to behavioral demands extends to other brain regions including those involved in higher cognitive functions.

Passive vs. active touch-induced activity in the developing whisker pathway

The mouse trigeminal (V) system undergoes significant postnatal structural and functional developmental changes. Histological modules (barrelettes, barreloids and barrels) in the brainstem, thalamus and cortex related to actively moved (whisking) tactile hairs (vibrissae) on the face allow detailed studies of development. High-resolution [(3) H]2-deoxyglucose (2DG) emulsion autoradiography with cytochrome oxidase histochemistry was used to analyze neuronal activity changes related to specific whisker modules in the developing and mature mouse V system provoked by passive (experimenter-induced) and active (animal-induced) displacements of a single whisker (D4). We tested the hypothesis that neuronal activity patterns change in relation to the onset of active touch (whisking) on postnatal day (P)14. Quantitative image analyses revealed: (i) on P7, when whisker-like patterns of modules are clear, heightened 2DG activity in all appropriate modules in the brainstem, thalamus and cortex; (ii) on P14, a transitory activity pattern coincident with the emergence of whisking behavior that presages (iii) strong labeling of the spinal V subnucleus interpolaris and barrel cortex produced by single-whisker-mediated active touch in adults and (iv) at all above-listed ages and structures, significant suppression of baseline activity in some modules surrounding those representing the stimulated whisker. Differences in activity patterns before and after the onset of whisking behavior may be caused by neuronal activity induced by whisking, and by strengthening of modulatory projections that alter the activity of subcortical inputs produced by whisking behavior during active touch.

Sensory input drives multiple intracellular information streams in somatosensory cortex

Stable perception arises from the interaction between sensory inputs and internal activity fluctuations in cortex. Here we analyzed how different types of activity contribute to cortical sensory processing at the cellular scale. We performed whole-cell recordings in the barrel cortex of anesthetized rats while applying ongoing whisker stimulation and measured the information conveyed about the time-varying stimulus by different types of input (membrane potential) and output (spiking) signals. We found that substantial, comparable amounts of incoming information are carried by two types of membrane potential signal: slow, large (up-down state) fluctuations, and faster (>20 Hz), smaller-amplitude synaptic activity. Both types of activity fluctuation are therefore significantly driven by the stimulus on an ongoing basis. Each stream conveys essentially independent information. Output (spiking) information is contained in spike timing not just relative to the stimulus but also relative to membrane potential fluctuations. Information transfer is favored in up states relative to down states. Thus, slow, ongoing activity fluctuations and finer-scale synaptic activity generate multiple channels for incoming and outgoing information within barrel cortex neurons during ongoing stimulation.

Texture sensation through the fingertips and the whiskers

Texture sensation in primates, through the fingertips, and in rats, through the whiskers, is rapid and accurate. Recent work has provided enough knowledge to allow comparison of the mechanisms. In primates, coarse textures are sensed through a spatial signal - increasing roughness leads to greater contrast in firing among neurons with nearby receptive fields. Fine textures are sensed by a motion signal - when the fingertip translates across the surface, excitation of rapidly adapting receptors varies according to texture. In rats, passage of a whisker over a surface leads to a motion signal that varies according to roughness. Motion is converted to neuronal spike trains, with progressively rougher surfaces leading to progressively greater firing rates. The extraction of texture by the whiskers shares basic features with the motion-based mechanism in primates. Spatial relationships among whiskers may serve purposes other than texture.

The Matrix: a new tool for probing the whisker-to-barrel system with natural stimuli

The whisker to barrel system in rodents has become one of the major models for the study of sensory processing. Several tens of whiskers (or vibrissae) are distributed in a regular manner on both sides of the snout. Many tactile discrimination tasks using this system need multiple contacts with more than one whisker to be solved. With the aim of mimicking those multi-whisker stimuli during electrophysiological recordings, we developed a novel mechanical stimulator composed of 24 independent multi-directional piezoelectric benders adapted to the five rows and the five caudal arcs of the rat whisker pad. The most widely used technology for producing mechanical deflections of the whiskers is based on piezoelectric benders that display a non-linear behavior when driven with high frequency input commands and, if not compensated, show high unwanted ringing at particular resonance frequencies. If not corrected, this non-linear behavior precludes the application of high frequency deflections and the study of cortical responses to behaviorally relevant stimuli. To cope with the ringing problem, a mechanical and a software based solutions have been developed. With these corrections, the upper bound of the linear range of the bender is increased to 1 kHz. This new device allows the controlled delivery of large scale natural patterns of whisker deflections characterized by rapid high frequency vibrations of multiple whiskers.

Texture coding in the whisker system

The whisker somatosensory system in awake, behaving rodents is a powerful model for studying neurobiology of sensation, from molecules to circuits to behavior. Recent studies reveal how key tactile features are detected in awake animals and encoded by spike trains in somatosensory cortex (S1). Here we summarize progress on detection of surface texture (roughness). Texture appears to be inferred from the statistics of complex, irregular whisker micromotion on surfaces, specifically by mean speed or by patterns of discrete, high-velocity whisker slips. These are encoded in S1 by mean firing rate and by sparse, synchronous, slip-evoked spike volleys, respectively. An alternative model of place coding for texture based on differential whisker resonance is less well supported, but is not ruled out.