Independent development of the Reach and the Grasp in spontaneous self-touching by human infants in the first 6 months

Self-recognition: From touching the body to knowing the self

Recognizing oneself in a mirror is a classic test of self-concept. A new study has revealed the perceptual-motor foundations of conceptual self-knowledge: infants' success in the mirror test was accelerated after touching a tactile stimulus while viewing themselves in a mirror.

Protracted development of motor cortex constrains rich interpretations of infant cognition

Cognition in preverbal human infants must be inferred from overt motor behaviors such as gaze shifts, head turns, or reaching for objects. However, infant mammals - including human infants - show protracted postnatal development of cortical motor outflow. Cortical control of eye, face, head, and limb movements is absent at birth and slowly emerges over the first postnatal year and beyond. Accordingly, the neonatal cortex in humans cannot generate the motor behaviors routinely used to support inferences about infants' cognitive abilities, and thus claims of developmental continuity between infant and adult cognition are suspect. Recognition of the protracted development of motor cortex should temper rich interpretations of infant cognition and motivate more serious consideration of the role of subcortical mechanisms in early cognitive development.

Tactile training facilitates infants' ability to reach to targets on the body

This longitudinal study investigated the effect of experience with tactile stimulation on infants' ability to reach to targets on the body, an important adaptive skill. Infants were provided weekly tactile stimulation on eight body locations from 4 to 8 months of age (N = 11), comparing their ability to reach to the body to infants in a control group who did not receive stimulation (N = 10). Infants who received stimulation were more likely to successfully reach targets on the body than controls by 7 months of age. These findings indicate that tactile stimulation facilitates the development of reaching to the body by allowing infants to explore the sensorimotor correlations emerging from the stimulation.

Learning limb-specific contingencies in early infancy

Most research with the mobile paradigm has the underlying assumption that young infants can selectively move the limb causing the contingent feedback from the mobile while avoiding irrelevant motor responses. Contrary to this long-held belief, others have argued that such differentiation ability is not fully developed early in life. In the current study, we revisited the traditional mobile paradigm with a contemporary research approach (using high-precision motion capture techniques, a yoked-control design, and a large sample size) to investigate whether response differentiation ability emerges before 5 months of age. The data collected from 76 infants (aged between 115 and 159 days) revealed that infants can learn sensorimotor contingencies by increasing the movement of the connected leg relative to their baseline level. However, they did not differentially increase the movement of the leg causing an effect in the environment compared with that of other limbs. Our results illustrate that response differentiation ability emerges later than previously suggested.

The possibility of an impetus heuristic

Evidence consistent with a belief in impetus is drawn from studies of naïve physics, perception of causality, perception of force, and representational momentum, and the possibility of an impetus heuristic is discussed. An impetus heuristic suggests the motion path of an object that was previously constrained or influenced by an external source (e.g., object, force) appears to exhibit the same constraint or influence even after that constraint or influence is removed. Impetus is not a valid physical principle, but use of an impetus heuristic can in some circumstances provide approximately correct predictions regarding future object motion, and such predictions require less cognitive effort and resources than would predictions based upon objective physical principles. The relationship of an impetus heuristic to naïve impetus theory and to objective physical principles is discussed, and use of an impetus heuristic significantly challenges claims that causality or force can be visually perceived. Alternatives to an impetus heuristic are considered, and potential boundary conditions and falsification of the impetus notion are discussed. Overall, use of an impetus heuristic offers a parsimonious explanation for findings across a wide range of perceptual domains and could potentially be extended to more metaphorical types of motion.

A model for using developmental science to create effective early intervention programs and technologies to improve children's developmental outcomes

Children born with a variety of environmental or medical risk factors may exhibit delays in global development. Very often, such delays are identified at preschool or school age, when children are severely overdue for effective early interventions that can alleviate the delays. This chapter proposes a conceptual model of child development to inform the creation of interventions and rehabilitative technologies that can be provided very early in development, throughout the first year of life, to optimize children's future developmental outcomes. The model suggests that early sensorimotor skills are antecedent and foundational for future motor, cognitive, language, and social development. As an example, this chapter describes how children's early postural control and exploratory movements facilitate the development of future object exploration behaviors that provide enhanced opportunities for learning and advance children's motor, cognitive, language, and social development. An understanding of the developmental pathways in the model can enable the design of effective intervention programs and rehabilitative technologies that target sensorimotor skills in the first year of life with the goal of minimizing or ameliorating the delays that are typically identified at preschool or school age. Specific examples of early interventions and rehabilitative technologies that have effectively advanced children's motor and cognitive development by targeting early sensorimotor skills and behaviors are provided.

From Hemispheric Asymmetry through Sensorimotor Experiences to Cognitive Outcomes in Children with Cerebral Palsy

Recent neuroimaging studies allowed us to explore abnormal brain structures and interhemispheric connectivity in children with cerebral palsy (CP). Behavioral researchers have long reported that children with CP exhibit suboptimal performance in different cognitive domains (e.g., receptive and expressive language skills, reading, mental imagery, spatial processing, subitizing, math, and executive functions). However, there has been very limited cross-domain research involving these two areas of scientific inquiry. To stimulate such research, this perspective paper proposes some possible neurological mechanisms involved in the cognitive delays and impairments in children with CP. Additionally, the paper examines the ways motor and sensorimotor experience during the development of these neural substrates could enable more optimal development for children with CP. Understanding these developmental mechanisms could guide more effective interventions to promote the development of both sensorimotor and cognitive skills in children with CP.

Early exploration of one's own body, exploration of objects, and motor, language, and cognitive development relate dynamically across the first two years of life

Early exploratory behaviors have been proposed to facilitate children's learning, impacting motor, cognitive, language, and social development. This study related the performance of behaviors used to explore oneself to behaviors used to explore objects, and then related both types of exploratory behaviors to motor, language, and cognitive measures longitudinally from 3 through 24 months of age via secondary analysis of an existing dataset. Participants were 52 children (23 full-term, 29 preterm). Previously published results from this dataset documented delays for preterm relative to full-term infants in each assessment. The current results related performance among the assessments throughout the first 2 years of life. They showed that the developmental trajectories of behaviors children used for self-exploration closely related to the trajectories of behaviors they employed to explore objects. The trajectories of both self and object exploration behaviors significantly related to trajectories of children's motor, language, and cognitive development. Specifically, significant relations to global development were observed for self-exploratory head lifting, midline head and hand positioning, hand opening, and behavioral variability, as well as for object-oriented bimanual holding, mouthing, looking, banging, manipulating, transferring of objects, and behavioral intensity and variability. These results demonstrate continuity among the early exploratory behaviors infants perform with their bodies alone, exploratory behaviors with portable objects, and global development. The findings identify specific self- and object-exploration behaviors that may serve as early indicators of developmental delay and could be targeted by interventions to advance motor, language, and cognitive outcomes for infants at risk for delay. (PsycInfo Database Record (c) 2022 APA, all rights reserved).

Sensorimotor Representation Learning for an “Active Self” in Robots: A Model Survey

Safe human-robot interactions require robots to be able to learn how to behave appropriately in spaces populated by people and thus to cope with the challenges posed by our dynamic and unstructured environment, rather than being provided a rigid set of rules for operations. In humans, these capabilities are thought to be related to our ability to perceive our body in space, sensing the location of our limbs during movement, being aware of other objects and agents, and controlling our body parts to interact with them intentionally. Toward the next generation of robots with bio-inspired capacities, in this paper, we first review the developmental processes of underlying mechanisms of these abilities: The sensory representations of body schema, peripersonal space, and the active self in humans. Second, we provide a survey of robotics models of these sensory representations and robotics models of the self; and we compare these models with the human counterparts. Finally, we analyze what is missing from these robotics models and propose a theoretical computational framework, which aims to allow the emergence of the sense of self in artificial agents by developing sensory representations through self-exploration.

Making the World Behave: A New Embodied Account on Mobile Paradigm

In this review article, we describe the mobile paradigm, a method used for more than 50 years to assess how infants learn and remember sensorimotor contingencies. The literature on the mobile paradigm demonstrates that infants below 6 months of age can remember the learning environment weeks after when reminded periodically and integrate temporally distributed information across modalities. The latter ability is only possible if events occur within a temporal window of a few days, and the width of this required window changes as a function of age. A major critique of these conclusions is that the majority of this literature has neglected the embodied experience, such that motor behavior was considered an equivalent developmental substitute for verbal behavior. Over recent years, simulation and empirical work have highlighted the sensorimotor aspect and opened up a discussion for possible learning mechanisms and variability in motor preferences of young infants. In line with this recent direction, we present a new embodied account on the mobile paradigm which argues that learning sensorimotor contingencies is a core feature of development forming the basis for active exploration of the world and body. In addition to better explaining recent findings, this new framework aims to replace the dis-embodied approach to the mobile paradigm with a new understanding that focuses on variance and representations grounded in sensorimotor experience. Finally, we discuss a potential role for the dorsal stream which might be responsible for guiding action according to visual information, while infants learn sensorimotor contingencies in the mobile paradigm.

Neural time course of pain observation in infancy

Perception of pain in others is of great evolutionary significance for the development of human empathy. However, infants' sensitivity to others' painful experiences has not been investigated so far. Here, we explored the neural time course of infants' processing of others' pain by measuring event-related brain potentials (ERPs) while 6-month-old infants observed a painful tactile stimulation directed towards the eye and a neutral tactile stimulation on the eyebrow. We analyzed both the Negative Central (Nc) and the later Late Positive Potential (LPP) ERP components, indexing respectively attention allocation and cognitive evaluation of perceptual stimuli. Results showed that observing painful touch elicits a mid-latency Nc (300-500 ms) over the right fronto-central site, which is greater in amplitude as compared to neutral touch. A divergent activity was also visible in the centro-parietal early (550-750 ms) and late (800-1000 ms) LPP, showing increased amplitudes in response to neutral compared to painful touch. The cognitive evaluation of painful stimuli, reflected by the LPP, might thus not be fully developed at 6 months of age, as adults typically show a larger LPP in response to painful as compared to neutral stimuli. Overall, infants show early attentional attuning to others' pain. This early sensitivity to others' painful tactile experiences might form a prerequisite for the development of human empathy.

Integration of haptics and vision in human multisensory grasping

Grasping actions are directed not only toward objects we see but also toward objects we both see and touch (multisensory grasping). In this latter case, the integration of visual and haptic inputs improves movement performance compared to each sense alone. This performance advantage could be due to the integration of all the redundant positional and size cues or to the integration of only a subset of these cues. Here we selectively provided specific cues to tease apart how these different sensory sources contribute to visuo-haptic multisensory grasping. We demonstrate that the availability of the haptic positional cue together with the visual cues is sufficient to achieve the same grasping performance as when all cues are available. These findings provide strong evidence that the human sensorimotor system relies on non-visual sensory inputs and open new perspectives on their role in supporting vision during both development and adulthood.

Mouse Arm and hand movements in grooming are reaching movements: Evolution of reaching, handedness, and the thumbnail

Grooming in the mouse features hand licking and symmetric and asymmetric arm and hand "strokes" over the face and body to maintain pelage. Grooming is syntactically organized but the structure of individualized movements of the arm, hand, and tongue have not been examined. Here spontaneous and water-induced grooming was video recorded in free-moving and head-fixed mice and subject to frame-by-frame video inspection and kinematic analysis using Physics Tracker. All groom arm and hand movements had a structure similar to that described for reach-to-eat movements. The movement included the hand lifting from the floor to supinate with the digits flexing and closed to a collect position, an aim position directed to a groom target, an advance to the target during which the fingers extend and open and the hand pronates, a grasp of a target on the snout, nose, or vibrissae, and a withdraw to the mouth where licking occurs, or a return to the starting position. This structure was present in individual unilateral forelimb groom strokes, in bilateral symmetric, or asymmetric groom strokes, and comprised the individuated components of a sequence of groom movements. Reach-to-groom movements could feature an ulnar adduction that positions the ulnar portion of the hand including and the thumb across the eye and nose, a movement that aids Hardarian fluid spreading. It is proposed that the mouse thumb nail is an anatomical feature that minimizes damage to the eye or nose that might be incurred by a claw. This analysis of the reach-to-groom movement provides insights into the flexibility of hand use in adaptive behavior, the evolution of skilled reaching movements, the neural control of reaching movements and the presence of the thumb nail in the mouse.

A perspective on the development of hemispheric specialization, infant handedness, and cerebral palsy

Cerebral Palsy (CP), a common form of neurological pediatric disability, results from pre- or perinatal brain injury. Although there is growing evidence of the efficacy of motor learning-based therapies, several factors interact to produce variability in impairment and limit the effectiveness of these therapies. The variability of hand function present in children with CP indicates that a range of developmental pathways must contribute to the manifestation of individually unique characteristics of impairment. Despite two decades of progress using therapies derived from understanding the mechanisms controlling hand function, very little is known about the sensorimotor experiences occurring during development that likely shape later functional problems for children with CP. In this "perspective" paper, we propose that the study of the development of motor skills in typically developing infants may reveal experiential factors potentially important for creating remedial therapies for children with CP. Specifically, we use the development of infant handedness, a model of hemispheric specialization of function, as an example of how self-generated experiences and sensorimotor feedback can shape the development of limb control and hemispheric specialization. We illustrate how early sensorimotor asymmetries concatenate into pronounced differences in skill between the two hands. We suggest that this model of infant handedness provides a framework for studying the individual differences manifested in children with CP. These differences likely arise from aberrant sensorimotor experiences created by sensorimotor circuits disrupted by the early brain injury. We conclude that knowledge of the developmental events, including subtle motor behaviors, that shape sensorimotor pathways, can improve treatment options for children with CP.

Increasing task precision demands reveals that the reach and grasp remain subject to different perception-action constraints in 12-month-old human infants

The reach and grasp follow different developmental trajectories, but are often considered to have achieved nearly adult-like precision and integration by 12 months of age. This study used frame-by-frame video analysis to investigate whether increasing precision demands, by placing small reaching targets on a narrow pedestal rather than on a flat table, would influence the reach and grasp movements of 12-month-old infants in a complementary or differential fashion. The results reveal that placing the target atop a pedestal impaired the infants's ability to direct an appropriate digit towards the small target, but did not produce a corresponding decrease in the frequency with which they used an index-thumb pincer grip to grasp the target. This was due to the fact that, although infants were more likely to contact the target with a suboptimal part of the hand in the pedestal condition, a greater proportion of these suboptimal contacts ultimately transitioned to a successful index-thumb pincer grip. Thus, increasing task precision demands impaired reach accuracy, but facilitated index-thumb grip formation, in 12-month-old infants. The differential response of the reach and grasp to the increased precision demands of the pedestal condition suggests that the two movements are not fully integrated and, when precision demands are great, remain sensitive to different perception-action constraints in 12-month-old infants.

Learning and Acting in Peripersonal Space: Moving, Reaching, and Grasping

The young infant explores its body, its sensorimotor system, and the immediately accessible parts of its environment, over the course of a few months creating a model of peripersonal space useful for reaching and grasping objects around it. Drawing on constraints from the empirical literature on infant behavior, we present a preliminary computational model of this learning process, implemented and evaluated on a physical robot. The learning agent explores the relationship between the configuration space of the arm, sensing joint angles through proprioception, and its visual perceptions of the hand and grippers. The resulting knowledge is represented as the peripersonal space (PPS) graph, where nodes represent states of the arm, edges represent safe movements, and paths represent safe trajectories from one pose to another. In our model, the learning process is driven by a form of intrinsic motivation. When repeatedly performing an action, the agent learns the typical result, but also detects unusual outcomes, and is motivated to learn how to make those unusual results reliable. Arm motions typically leave the static background unchanged, but occasionally bump an object, changing its static position. The reach action is learned as a reliable way to bump and move a specified object in the environment. Similarly, once a reliable reach action is learned, it typically makes a quasi-static change in the environment, bumping an object from one static position to another. The unusual outcome is that the object is accidentally grasped (thanks to the innate Palmar reflex), and thereafter moves dynamically with the hand. Learning to make grasping reliable is more complex than for reaching, but we demonstrate significant progress. Our current results are steps toward autonomous sensorimotor learning of motion, reaching, and grasping in peripersonal space, based on unguided exploration and intrinsic motivation.

Prehensile kinematics of the marmoset monkey: Implications for the evolution of visually-guided behaviors

Throughout the primate lineage, there is a wide diversity of prehensile capacity that is thought to stem from individual species foraging patterns. While many studies have explored primates with precise hand grips, such as higher apes, few have considered primates that lack opposition movements. The New World marmoset monkey occupies an intriguing niche, displaying adept control of their hand movements yet their absence of opposable digits results in relatively imprecise grasping actions when compared with those observed in Old World monkeys, apes, and humans. The marmoset monkey offers a unique composition of ancestral primate corticospinal organization combined with skilled hand use to explore the evolution and development of visually-guided actions. In this study, four adult marmosets were trained to perform a series of visually-guided tasks, designed to assess their control over locating and retrieving objects of differing dimensions. Two of these animals received a neonatal lesion of the inferior pulvinar (unilateral), a thalamic nucleus previously demonstrated to be involved in visuomotor development. The kinematics of their reaching and grasping patterns were recorded for offline analysis. Predictive modeling revealed that maximum grip aperture, time to reach peak velocity and hand use were reliable predictors of distinguishing between cohorts. A consistent feature observed across all tasks was that they do not precisely scale their grip according to the dimensions of the target object which may be attributed to their lack of independent digit control. Therefore, the marmoset monkey represents a previously understudied position in the evolution of primate reach and grasp behavior.

Development of Infant Reaching Strategies to Tactile Targets on the Face

Infant development of reaching to tactile targets on the skin has been studied little, despite its daily use during adaptive behaviors such as removing foreign stimuli or scratching an itch. We longitudinally examined the development of infant reaching strategies (from just under 2 to 11 months) approximately every other week with a vibrotactile stimulus applied to eight different locations on the face (left/right/center temple, left/right ear, left/right mouth corners, and chin). Successful reaching for the stimulus uses tactile input and proprioception to localize the target and move the hand to it. We studied the developmental progression of reaching and grasping strategies. As infants became older the likelihood of using the hand to reach to the target – versus touching the target with another body part or surface such as the upper arm or chair – increased. For trials where infants reached to the target with the hand, infants also refined their hand postures with age. As infants became older, they made fewer contacts with a closed fist or the dorsal part of the hand and more touches/grasps with the fingers or palm. Results suggest that during the first year infants become able to act more precisely on tactile targets on the face.

A Naturalistic Observation of Spontaneous Touches to the Body and Environment in the First 2 Months of Life

Self-generated touches to the body or supporting surface are considered important contributors to the emergence of an early sense of the body and self in infancy. Both are critical for the formation of later goal-directed actions. Very few studies have examined in detail the development of these early spontaneous touches during the first months of life. In this study, we followed weekly four infants in two naturalistic 5-min sessions (baseline and toys-in-view) as they laid alert in supine from the age of 3 weeks until they acquired head control. We found that throughout the 2 months of observation, infants engaged in a high rate of touch and spent about 50% of the time moving their hands from one touch location to the next. On most sessions, they produced up to 200 body/surface contacts and touched as many as 18 different areas (mainly upper body and floor) both hands combined. When we did not consider the specific areas touched, the rates of touches were higher to the body than to the floor, but the duration of contacts and the most touched areas were higher for the supporting surface than for the body. Until the age of 9 weeks, we found no consistent differences in the rate of touch between head and trunk. Infants also did not display significant differences in their rate of touch between right and left hand or between conditions. However, we discovered that in the earlier weeks, infants engaged more often in what we called “complex touches.” Complex touches were touches performed across several body/floor areas in one continuous bout while the hand maintained contact with the body or floor. Single touches, in contrast, corresponded to one touch to one single body or floor area at a time. We suggest that infants are active explorers of their own body and peripersonal space from day 1 and that these early self-generated and deeply embodied sensorimotor experiences form the critical foundation from which future behaviors develop.

Know Your Body Through Intrinsic Goals

The first “object” that newborn children play with is their own body. This activity allows them to autonomously form a sensorimotor map of their own body and a repertoire of actions supporting future cognitive and motor development. Here we propose the theoretical hypothesis, operationalized as a computational model, that this acquisition of body knowledge is not guided by random motor-babbling, but rather by autonomously generated goals formed on the basis of intrinsic motivations. Motor exploration leads the agent to discover and form representations of the possible sensory events it can cause with its own actions. When the agent realizes the possibility of improving the competence to re-activate those representations, it is intrinsically motivated to select and pursue them as goals. The model is based on four components: (1) a self-organizing neural network, modulated by competence-based intrinsic motivations, that acquires abstract representations of experienced sensory (touch) changes; (2) a selector that selects the goal to pursue, and the motor resources to train to pursue it, on the basis of competence improvement; (3) an echo-state neural network that controls and learns, through goal-accomplishment and competence, the agent's motor skills; (4) a predictor of the accomplishment of the selected goals generating the competence-based intrinsic motivation signals. The model is tested as the controller of a simulated simple planar robot composed of a torso and two kinematic 3-DoF 2D arms. The robot explores its body covered by touch sensors by moving its arms. The results, which might be used to guide future empirical experiments, show how the system converges to goals and motor skills allowing it to touch the different parts of own body and how the morphology of the body affects the formed goals. The convergence is strongly dependent on competence-based intrinsic motivations affecting not only skill learning and the selection of formed goals, but also the formation of the goal representations themselves.

Touch the table before the target: contact with an underlying surface may assist the development of precise visually controlled reach and grasp movements in human infants

Multiple motor channel theory posits that skilled hand movements arise from the coordinated activation of separable neural circuits in parietofrontal cortex, each of which produces a distinct movement and responds to different sensory inputs. Prehension, the act of reaching to grasp an object, consists of at least two movements: a reach movement that transports the hand to a target location and a grasp movement that shapes and closes the hand for target acquisition. During early development, discrete pre-reach and pre-grasp movements are refined based on proprioceptive and tactile feedback, but are gradually coordinated together into a singular hand preshaping movement under feedforward visual control. The neural and behavioural factors that enable this transition are currently unknown. In an attempt to identify such factors, the present descriptive study used frame-by-frame video analysis to examine 9-, 12-, and 15-month-old infants, along with sighted and unsighted adults, as they reached to grasp small ring-shaped pieces of cereal (Cheerios) resting on a table. Compared to sighted adults, infants and unsighted adults were more likely to make initial contact with the underlying table before they contacted the target. The way in which they did so was also similar in that they generally contacted the table with the tip of the thumb and/or pinky finger, a relatively open hand, and poor reach accuracy. Despite this, infants were similar to sighted adults in that they tended to use a pincer digit, defined as the tip of the thumb or index finger, to subsequently contact the target. Only in infants was this ability related to their having made prior contact with the underlying table. The results are discussed in relation to the idea that initial contact with an underlying table or surface may assist infants in learning to use feedforward visual control to direct their digits towards a precise visual target.

Fetal Origin of Sensorimotor Behavior

The aim of this article is to track the fetal origin of infants' sensorimotor behavior. We consider development as the self-organizing emergence of complex forms from spontaneously generated activity, governed by the innate capacity to detect and memorize the consequences of spontaneous activity (contingencies), and constrained by the sensory and motor maturation of the body. In support of this view, we show how observations on fetuses and also several fetal experiments suggest that the fetus's first motor activity allows it to feel the space around it and to feel its body and the consequences of its movements on its body. This primitive motor babbling gives way progressively to sensorimotor behavior which already possesses most of the characteristics of infants' later behavior: repetition of actions leading to sensations, intentionality, some motor control and oriented reactions to sensory stimulation. In this way the fetus can start developing a body map and acquiring knowledge of its limited physical and social environment.

The Embodied Origins of Infant Reaching: Implications for the Emergence of Eye-Hand Coordination

This article reviews the literature on infant reaching, from past to present, to recount how our understanding of the emergence and development of this early goal-directed behavior has changed over the decades. We show that the still widely-accepted view, which considers the emergence and development of infant reaching as occurring primarily under the control of vision, is no longer sustainable. Increasing evidence suggests that the developmental origins of infant reaching is embodied. We discuss the implications of this alternative view for the development of eye-hand coordination and we propose a new scenario stressing the importance of the infant body-centered sensorimotor experiences in the months prior to the emergence of reaching as a possible critical step for the formation of eye-hand coordination.

Which limb is it? Responses to vibrotactile stimulation in early infancy

This study focuses on how the body schema develops during the first months of life, by investigating infants’ motor responses to localized vibrotactile stimulation on their limbs. Vibrotactile stimulation was provided by small buzzers that were attached to the infants’ four limbs one at a time. Four age groups were compared cross‐sectionally (3‐, 4‐, 5‐, and 6‐month‐olds). We show that before they actually reach for the buzzer, which, according to previous studies, occurs around 7–8 months of age, infants demonstrate emerging knowledge about their body's configuration by producing specific movement patterns associated with the stimulated body area. At 3 months, infants responded with an increase in general activity when the buzzer was placed on the body, independently of the vibrator's location. Differentiated topographical awareness of the body seemed to appear around 5 months, with specific responses resulting from stimulation of the hands emerging first, followed by the differentiation of movement patterns associated with the stimulation of the feet. Qualitative analyses revealed specific movement types reliably associated with each stimulated location by 6 months of age, possibly preparing infants’ ability to actually reach for the vibrating target. We discuss this result in relation to newborns’ ability to learn specific movement patterns through intersensory contingency.

Peripersonal Space and Margin of Safety around the Body: Learning Visuo-Tactile Associations in a Humanoid Robot with Artificial Skin

This paper investigates a biologically motivated model of peripersonal space through its implementation on a humanoid robot. Guided by the present understanding of the neurophysiology of the fronto-parietal system, we developed a computational model inspired by the receptive fields of polymodal neurons identified, for example, in brain areas F4 and VIP. The experiments on the iCub humanoid robot show that the peripersonal space representation i) can be learned efficiently and in real-time via a simple interaction with the robot, ii) can lead to the generation of behaviors like avoidance and reaching, and iii) can contribute to the understanding the biological principle of motor equivalence. More specifically, with respect to i) the present model contributes to hypothesizing a learning mechanisms for peripersonal space. In relation to point ii) we show how a relatively simple controller can exploit the learned receptive fields to generate either avoidance or reaching of an incoming stimulus and for iii) we show how the robot can select arbitrary body parts as the controlled end-point of an avoidance or reaching movement.