Functional MRI Responses to Passive, Active, and Observed Touch in Somatosensory and Insular Cortices of the Macaque Monkey

Propensity to trust shapes perceptions of comforting touch between trustworthy human and robot partners

Touching a friend to comfort or be comforted is a common prosocial behaviour, firmly based in mutual trust. Emphasising the interactive nature of trust and touch, we suggest that vulnerability, reciprocity and individual differences shape trust and perceptions of touch. We further investigate whether these elements also apply to companion robots. Participants (n = 152) were exposed to four comics depicting human-human or human-robot exchanges. Across conditions, one character was sad, the other initiated touch to comfort them, and the touchee reciprocated the touch. Participants first rated trustworthiness of a certain character (human or robot in a vulnerable or comforting role), then evaluated the two touch phases (initiation and reciprocity) in terms of interaction realism, touch appropriateness and pleasantness, affective state (valence and arousal) attributed to the characters. Results support an interactive account of trust and touch, with humans being equally trustworthy when comforting or showing vulnerability, and reciprocity of touch buffering sadness. Although these phenomena seem unique to humans, propensity to trust technology reduces the gap between how humans and robots are perceived. Two distinct trust systems emerge: one for human interactions and another for social technologies, both necessitating trust as a fundamental prerequisite for meaningful physical contact.

Intrinsic functional clustering of the macaque insular cortex

The functional organization of the primate insula has been studied using a variety of techniques focussing on regional differences in either architecture, connectivity, or function. These complementary methods offered insights into the complex organization of the insula and proposed distinct parcellation schemes at varying levels of detail and complexity. The advent of imaging techniques that allow non-invasive assessment of structural and functional connectivity, has popularized data-driven connectivity-based parcellation methods to investigate the organization of the human insula. Yet, it remains unclear if the subdivisions derived from these data-driven clustering methods reflect meaningful descriptions of the functional specialization of the insula. In this study, we employed hierarchical clustering to examine the cluster parcellations of the macaque insula. As our aim was exploratory, we examined parcellations consisting of two up to ten clusters. Three different cluster validation methods (fingerprinting, silhouette, elbow) converged on a four-cluster solution as the most optimal representation of our data. Examining functional response properties of these clusters, in addition to their brain-wide functional connectivity suggested a functional specialization related to processing gustatory, somato-motor, vestibular and social visual cues. However, a more detailed functional differentiation aligning with previous functional investigations of insula subfields became evident at higher cluster numbers beyond the proposed optimal four clusters. Overall, our findings demonstrate that resting-state-based hierarchical clustering can provide a meaningful description of the insula's functional organization at some level of detail. Nonetheless, cluster parcellations derived from this method are best combined with data obtained through other modalities, to provide a more comprehensive and detailed account of the insula's complex functional organization.

No Evidence for Cross-Modal fMRI Adaptation in Macaque Parieto-Premotor Mirror Neuron Regions

To probe the presence of mirror neurons in the human brain, cross-modal fMRI adaptation has been suggested as a suitable technique. The rationale behind this suggestion is that this technique allows making more accurate inferences about neural response properties underlying fMRI voxel activations, beyond merely showing shared voxels that are active during both action observation and execution. However, the validity of using cross-modal fMRI adaptation to demonstrate the presence of mirror neurons in parietal and premotor brain regions has been questioned given the inconsistent and weak results obtained in human studies. A better understanding of cross-modal fMRI adaptation effects in the macaque brain is required as the rationale for using this approach is based on several assumptions related to macaque mirror neuron response properties that still need validation. Here, we conducted a cross-modal fMRI adaptation study in macaque monkeys, using the same action execution and action observation tasks that successfully yielded mirror neuron region cross-modal action decoding in a previous monkey MVPA study. We scanned two male rhesus monkeys while they first executed a sequence of either reach-and-grasp or reach-and-touch hand actions and then observed a video of a human actor performing these motor acts. Both whole-brain and region-of-interest analyses failed to demonstrate cross-modal fMRI adaptation effects in parietal and premotor mirror neuron regions. Our results, in line with previous findings in non-human primates, show that cross-modal motor-to-visual fMRI adaptation is not easily detected in monkey brain regions known to house mirror neurons. Thus, our results advocate caution in using cross-modal fMRI adaptation as a method to infer whether mirror neurons can be found in the primate brain.

Functional characterization of macaque insula using task-based and resting-state fMRI

Neurophysiological investigations over the past decades have demonstrated the involvement of the primate insula in a wide array of sensory, cognitive, affective and regulatory functions, yet the complex functional organization of the insula remains unclear. Here we examined to what extent non-invasive task-based and resting-state fMRI provides support for functional specialization and integration of sensory and motor information in the macaque insula. Task-based fMRI experiments suggested a functional specialization related to processing of ingestive/taste/distaste information in anterior insula, grasping-related sensorimotor responses in middle insula and vestibular information in posterior insula. Visual stimuli depicting social information involving conspecific`s lip-smacking gestures yielded responses in middle and anterior portions of dorsal and ventral insula, overlapping partially with the sensorimotor and ingestive/taste/distaste fields. Functional specialization/integration of the insula was further corroborated by seed-based whole brain resting-state analyses, showing distinct functional connectivity gradients across the anterio-posterior extent of both dorsal and ventral insula. Posterior insula showed functional correlations in particular with vestibular/optic flow network regions, mid-dorsal insula with vestibular/optic flow as well as parieto-frontal regions of the sensorimotor grasping network, mid-ventral insula with social/affiliative network regions in temporal, cingulate and prefrontal cortices and anterior insula with taste and mouth motor networks including premotor and frontal opercular regions.

S1 represents multisensory contexts and somatotopic locations within and outside the bounds of the cortical homunculus

Recent literature suggests that tactile events are represented in the primary somatosensory cortex (S1) beyond its long-established topography; in addition, the extent to which S1 is modulated by vision remains unclear. To better characterize S1, human electrophysiological data were recorded during touches to the forearm or finger. Conditions included visually observed physical touches, physical touches without vision, and visual touches without physical contact. Two major findings emerge from this dataset. First, vision strongly modulates S1 area 1, but only if there is a physical element to the touch, suggesting that passive touch observation is insufficient to elicit neural responses. Second, despite recording in a putative arm area of S1, neural activity represents both arm and finger stimuli during physical touches. Arm touches are encoded more strongly and specifically, supporting the idea that S1 encodes tactile events primarily through its topographic organization but also more generally, encompassing other areas of the body.

Categorization learning induced changes in action representations in the macaque STS

Neuroimaging and single cell recordings have demonstrated the presence of STS body category-selective regions (body patches) containing neurons responding to presentation of static bodies and body parts. To date, it remains unclear if these body patches and additional STS regions respond during observation of different categories of dynamic actions and to what extent categorization learning influences representations of observed actions in the STS. In the present study, we trained monkeys to discriminate videos depicting three different actions categories (grasping, touching and reaching) with a forced-choice action categorization task. Before and after categorization training, we performed fMRI recordings while monkeys passively observed the same action videos. At the behavioral level, after categorization training, monkeys generalized to untrained action exemplars, in particular for grasping actions. Before training, uni- and/or multivariate fMRI analyses suggest a broad representation of dynamic action categories in particular in posterior and middle STS. Univariate analysis further suggested action category specific training effects in middle and anterior body patches, face patch ML and posterior STS region MT and FST. Overall, our fMRI experiments suggest a widespread representation of observed dynamic bodily actions in the STS that can be modulated by visual learning, supporting its proposed role in action recognition.

Sensorimotor processing is dependent on observed speed during the observation of hand-hand and hand-object interactions

Observing a physical interaction between individuals (e.g., observing friends shaking hands) or between an object and an individual (e.g., observing a teammate striking or being struck with a ball) can lead to somatosensory activation in the observer. However, it is not known whether the speed of the observed interaction modulates such somatosensory activation (e.g., observing a teammate being struck with a slow vs. a fast-moving ball). In three experiments, participants observed a hand or object interact with another hand or object, all presented with a slow- or fast-moving effector. To probe sensorimotor processes during observation, participants were asked to react to an auditory beep (i.e., response time [RT] task) at the moment of observed contact. If observed contact led to increased somatosensory activation, RTs would decrease due to statistical and/ or intersensory facilitation. In all three experiments, RTs were lower when observing fast compared to slow motion stimuli, regardless of the moving (i.e., hand or ball) and target stimulus (i.e., hand or leaf). Further, when only an object (i.e., leaf) was the target, RTs did not differ between the moving hand and moving ball condition. In contrast, when an object (i.e., ball) was used as the moving stimulus, the magnitude of the speed effect (i.e., fast - slow RT difference) was significantly larger when the ball contacted a hand as compared to a leaf. Overall, these results provide novel evidence for a relationship between the observed kinematics of an object-human interaction and the sensorimotor processing in the observer.

Sensory attenuation from action observation

A central claim of many embodied approaches to cognition is that understanding others' actions is achieved by covertly simulating the observed actions and their consequences in one's own motor system. If such a simulation occurs, it may be accomplished through forward models, a component of the motor system already known to perform simulations of actions and their consequences in order to support sensory-monitoring of one's own actions. Forward-model simulations cause an attenuation of sensory intensity, so if the simulations hypothesized by embodied cognition are indeed provided by forward models, then action observation should trigger this sensory attenuation. To test this hypothesis, the experiments reported here measured the perceived intensity of a touch sensation on the finger when participants observed an active touch (a finger reaching to touch a ball) vs. a passive touch (a ball rolling to touch an unmoving finger). The touch sensation was perceived as less intense during observation of active touch in comparison with observation of passive touch, providing evidence that forward models are indeed engaged during action observation. The strength of this sensory attenuation is compared and contrasted with a well-established sensory-amplification effect caused by visual attention. This sensory-amplification effect has not generally been considered in studies related to sensory attenuation in action observation, which may explain conflicting results reported in the field.

Two-monkey fMRI setup for investigating multifaceted aspects of social cognition and behavior involving a real-live conspecific

While brain research over the past decades has shed light on the neural correlates of social cognition and behavior in human and non-human primates, most of this research has been performed in virtual settings requiring subjects to observe pictures or recorded videos instead of observing or interacting with another real-live individual. Here we present a two-monkey fMRI setup, allowing examining whole brain responses in macaque monkeys while they observe or interact face-to-face with another real-live conspecific. We tested this setup by comparing overall brain responses during observation of conspecific hand actions in a virtual (observation of recorded videos of actions) or live context (observation of a real-live conspecific performing actions). This dyadic monkey fMRI setup allows examining brain-wide responses in macaque monkeys during different aspects of social behavior, including observation of real-live actions and sensations, social facilitation, joint-attention and social interactions.

Modelling behaviors relevant to brain disorders in the nonhuman primate: Are we there yet?

Recent years have seen a profound resurgence of activity with nonhuman primates (NHPs) to model human brain disorders. From marmosets to macaques, the study of NHP species offers a unique window into the function of primate-specific neural circuits that are impossible to examine in other models. Examining how these circuits manifest into the complex behaviors of primates, such as advanced cognitive and social functions, has provided enormous insights to date into the mechanisms underlying symptoms of numerous neurological and neuropsychiatric illnesses. With the recent optimization of modern techniques to manipulate and measure neural activity in vivo, such as optogenetics and calcium imaging, NHP research is more well-equipped than ever to probe the neural mechanisms underlying pathological behavior. However, methods for behavioral experimentation and analysis in NHPs have noticeably failed to keep pace with these advances. As behavior ultimately lies at the junction between preclinical findings and its translation to clinical outcomes for brain disorders, approaches to improve the integrity, reproducibility, and translatability of behavioral experiments in NHPs requires critical evaluation. In this review, we provide a unifying account of existing brain disorder models using NHPs, and provide insights into the present and emerging contributions of behavioral studies to the field.

Chemogenetic sensory fMRI reveals behaviorally relevant bidirectional changes in primate somatosensory network

Concurrent genetic neuromodulation and functional magnetic resonance imaging (fMRI) in primates has provided a valuable opportunity to assess the modified brain-wide operation in the resting state. However, its application to link the network operation with behavior still remains challenging. Here, we combined chemogenetic silencing of the primary somatosensory cortex (SI) with tactile fMRI and related behaviors in macaques. Focal chemogenetic silencing of functionally identified SI hand region impaired grasping behavior. The same silencing also attenuated hand stimulation-evoked fMRI signal at both the local silencing site and the anatomically and/or functionally connected downstream grasping network, suggesting altered network operation underlying the induced behavioral impairment. Furthermore, the hand region silencing unexpectedly disinhibited foot representation with accompanying behavioral hypersensitization. These results demonstrate that focal chemogenetic silencing with sensory fMRI in macaques unveils bidirectional network changes to generate multifaceted behavioral impairments, thereby opening a pivotal window toward elucidating the causal network operation underpinning higher brain functions in primates.

Getting in touch: A neural model of comforting touch

Comforting touch involves contact distress-alleviating behaviors of an observer towards the suffering of a target. A growing number of studies have investigated the effects of touch on pain attenuation, focusing on the (toucher), the target (comforted) or both. Here we synthesize findings of brain mechanisms underlying comforting touch in the target and toucher to propose an integrative brain model for understanding how touch attenuates distress. Building on evidence from the pain and distress literatures, our model applies interchangeably to pain and distress regulation. We describe comforting touch as a feedback-loop that begins with distress experienced by the target, triggering an empathic response in the toucher which in turn reduces distress in the target. This cycle is mediated by interactions between the neural circuits associated with touch perception, shared distress, emotion regulation and reward as well as brain-to-brain coupling in the observation-execution system. We conclude that formulating a model of comforting touch offers a mechanistic framework for understanding the effects of touch as well as other social interactions involving social support.

Mirror neurons are modulated by grip force and reward expectation in the sensorimotor cortices (S1, M1, PMd, PMv)

Mirror Neurons (MNs) respond similarly when primates make or observe grasping movements. Recent work indicates that reward expectation influences rostral M1 (rM1) during manual, observational, and Brain Machine Interface (BMI) reaching movements. Previous work showed MNs are modulated by subjective value. Here we expand on the above work utilizing two non-human primates (NHPs), one male Macaca Radiata (NHP S) and one female Macaca Mulatta (NHP P), that were trained to perform a cued reward level isometric grip-force task, where the NHPs had to apply visually cued grip-force to move and transport a virtual object. We found a population of (S1 area 1–2, rM1, PMd, PMv) units that significantly represented grip-force during manual and observational trials. We found the neural representation of visually cued force was similar during observational trials and manual trials for the same units; however, the representation was weaker during observational trials. Comparing changes in neural time lags between manual and observational tasks indicated that a subpopulation fit the standard MN definition of observational neural activity lagging the visual information. Neural activity in (S1 areas 1–2, rM1, PMd, PMv) significantly represented force and reward expectation. In summary, we present results indicating that sensorimotor cortices have MNs for visually cued force and value.

Examining cross-modal fMRI adaptation for observed and executed actions in the monkey brain

While mirror neurons have been found in several monkey brain regions, their existence in the human brain is still largely inferred from indirect non-invasive measurements like functional MRI. It has been proposed that, beyond showing overlapping brain responses during action observation and execution tasks, candidate mirror neuron regions should demonstrate cross-modal action specificity, in line with a defining physiological characteristic of these neurons in the monkey brain. Although cross-modal fMRI adaptation has been put forward as a suited method to test this key feature of cross-modal action specificity in the human brain, so far, the overall usefulness of this technique to demonstrate mirror neuron activity remains unclear. To date, it has never been tested to what extent monkey brain regions known to house mirror neurons, would yield uni- and/or cross-modal fMRI adaptation effects. We therefore performed an fMRI adaptation experiment while male rhesus macaques either performed or observed two different goal-directed hand actions. Executing grasp/lift or touch/press actions in the dark, as well as observing videos of these monkey hand actions, yielded robust responses throughout the brain, including overlapping fMRI responses in parietal and premotor mirror neuron regions. Uni-modal adaptation effects were mostly restricted to the visual modality and the early visual cortices. Both frequentist and Bayesian statistical analyses however suggested no evidence for cross-modal fMRI adaptation effects in monkey parietal and premotor mirror neuron regions. Overall, these findings suggest monkey mirror neuron activity does not readily translate into cross-modal repetition suppression effects that can be detected by fMRI.

Motor resonance in monkey parietal and premotor cortex during action observation: Influence of viewing perspective and effector identity

Observing others performing motor acts like grasping has been shown to elicit neural responses in the observer`s parieto-frontal motor network, which typically becomes active when the observer would perform these actions him/herself. While some human studies suggested strongest motor resonance during observation of first person or egocentric perspectives compared to third person or allocentric perspectives, other research either report the opposite or did not find any viewpoint-related preferences in parieto-premotor cortices. Furthermore, it has been suggested that these motor resonance effects are lateralized in the parietal cortex depending on the viewpoint and identity of the observed effector (left vs right hand). Other studies, however, do not find such straightforward hand identity dependent motor resonance effects. In addition to these conflicting findings in human studies, to date, little is known about the modulatory role of viewing perspective and effector identity (left or right hand) on motor resonance effects in monkey parieto-premotor cortices. Here, we investigated the extent to which different viewpoints of observed conspecific hand actions yield motor resonance in rhesus monkeys using fMRI. Observing first person, lateral and third person viewpoints of conspecific hand actions yielded significant activations throughout the so-called action observation network, including STS, parietal and frontal cortices. Although region-of-interest analysis of parietal and premotor motor/mirror neuron regions AIP, PFG and F5, showed robust responses in these regions during action observation in general, a clear preference for egocentric or allocentric perspectives was not evident. Moreover, except for lateralized effects due to visual field biases, motor resonance in the monkey brain during grasping observation did not reflect hand identity dependent coding.

Action execution and action observation elicit mirror responses with the same temporal profile in human SII

The properties of the secondary somatosensory area (SII) have been described by many studies in monkeys and humans. Recent studies on monkeys, however, showed that beyond somatosensory stimuli, SII responds to a wider number of stimuli, a finding requiring a revision that human SII is purely sensorimotor. By recording cortical activity with stereotactic electroencephalography (stereo-EEG), we examined the properties of SI and SII in response to a motor task requiring reaching, grasping and manipulation, as well as the observation of the same actions. Furthermore, we functionally characterized this area with a set of clinical tests, including tactile, acoustical, and visual stimuli. The results showed that only SII activates both during execution and observation with a common temporal profile, whereas SI response were limited to execution. Together with their peculiar response to tactile stimuli, we conclude that the role of SII is pivotal also in the observation of actions involving haptic control.

Body map proto-organization in newborn macaques

Topographic sensory maps are a prominent feature of the adult primate brain. Here, we asked whether topographic representations of the body are present at birth. Using functional MRI (fMRI), we find that the newborn somatomotor system, spanning frontoparietal cortex and subcortex, comprises multiple topographic representations of the body. The organization of these large-scale body maps was indistinguishable from those in older monkeys. Finer-scale differentiation of individual fingers increased over the first 2 y, suggesting that topographic representations are refined during early development. Last, we found that somatomotor representations were unchanged in 2 visually impaired monkeys who relied on touch for interacting with their environment, demonstrating that massive shifts in early sensory experience in an otherwise anatomically intact brain are insufficient for driving cross-modal plasticity. We propose that a topographic scaffolding is present at birth that both directs and constrains experience-driven modifications throughout somatosensory and motor systems.

Functional specialization of macaque premotor F5 subfields with respect to hand and mouth movements: A comparison of task and resting-state fMRI

Based on architectonic, tract-tracing or functional criteria, the rostral portion of ventral premotor cortex in the macaque monkey, also termed area F5, has been divided into several subfields. Cytoarchitectonical investigations suggest the existence of three subfields, F5c (convexity), F5p (posterior) and F5a (anterior). Electrophysiological investigations have suggested a gradual dorso-ventral transition from hand- to mouth-dominated motor fields, with F5p and ventral F5c strictly related to hand movements and mouth movements, respectively. The involvement of F5a in this respect, however, has received much less attention. Recently, data-driven resting-state fMRI approaches have also been used to examine the presence of distinct functional fields in macaque ventral premotor cortex. Although these studies have suggested several functional clusters in/near macaque F5, so far the parcellation schemes derived from these clustering methods do not completely retrieve the same level of F5 specialization as suggested by aforementioned invasive techniques. Here, using seed-based resting-state fMRI analyses, we examined the functional connectivity of different F5 seeds with key regions of the hand and face/mouth parieto-frontal-insular motor networks. In addition, we trained monkeys to perform either hand grasping or ingestive mouth movements in the scanner in order to compare resting-state with task-derived functional hand and mouth motor networks. In line with previous single-cell investigations, task-fMRI suggests involvement of F5p, dorsal F5c and F5a in the execution of hand grasping movements, while non-communicative mouth movements yielded particularly pronounced responses in ventral F5c. Corroborating with anatomical tracing data of macaque F5 subfields, seed-based resting-state fMRI suggests a transition from predominant functional correlations with the hand-motor network in F5p to mostly mouth-motor network functional correlations in ventral F5c. Dorsal F5c yielded robust functional correlations with both hand- and mouth-motor networks. In addition, the deepest part of the fundus of the inferior arcuate, corresponding to area 44, displayed a strikingly different functional connectivity profile compared to neighboring F5a, suggesting a different functional specialization for these two neighboring regions.

Shared neural representations of tactile roughness intensities by somatosensation and touch observation using an associative learning method

Previous human fMRI studies have reported activation of somatosensory areas not only during actual touch, but also during touch observation. However, it has remained unclear how the brain encodes visually evoked tactile intensities. Using an associative learning method, we investigated neural representations of roughness intensities evoked by (a) tactile explorations and (b) visual observation of tactile explorations. Moreover, we explored (c) modality-independent neural representations of roughness intensities using a cross-modal classification method. Case (a) showed significant decoding performance in the anterior cingulate cortex (ACC) and the supramarginal gyrus (SMG), while in the case (b), the bilateral posterior parietal cortices, the inferior occipital gyrus, and the primary motor cortex were identified. Case (c) observed shared neural activity patterns in the bilateral insula, the SMG, and the ACC. Interestingly, the insular cortices were identified only from the cross-modal classification, suggesting their potential role in modality-independent tactile processing. We further examined correlations of confusion patterns between behavioral and neural similarity matrices for each region. Significant correlations were found solely in the SMG, reflecting a close relationship between neural activities of SMG and roughness intensity perception. The present findings may deepen our understanding of the brain mechanisms underlying intensity perception of tactile roughness.

Investigating common coding of observed and executed actions in the monkey brain using cross-modal multi-variate fMRI classification

Mirror neurons are generally described as a neural substrate hosting shared representations of actions, by simulating or 'mirroring' the actions of others onto the observer's own motor system. Since single neuron recordings are rarely feasible in humans, it has been argued that cross-modal multi-variate pattern analysis (MVPA) of non-invasive fMRI data is a suitable technique to investigate common coding of observed and executed actions, allowing researchers to infer the presence of mirror neurons in the human brain. In an effort to close the gap between monkey electrophysiology and human fMRI data with respect to the mirror neuron system, here we tested this proposal for the first time in the monkey. Rhesus monkeys either performed reach-and-grasp or reach-and-touch motor acts with their right hand in the dark or observed videos of human actors performing similar motor acts. Unimodal decoding showed that both executed or observed motor acts could be decoded from numerous brain regions. Specific portions of rostral parietal, premotor and motor cortices, previously shown to house mirror neurons, in addition to somatosensory regions, yielded significant asymmetric action-specific cross-modal decoding. These results validate the use of cross-modal multi-variate fMRI analyses to probe the representations of own and others' actions in the primate brain and support the proposed mapping of others' actions onto the observer's own motor cortices.