From Parametric Representation to Dynamical System: Shifting Views of the Motor Cortex in Motor Control

A Heterogeneous Attractor Model for Neural Dynamical Mechanism of Movement Preparation

Preparatory activity is crucial for voluntary motor control, reducing reaction time and enhancing precision. To understand the neurodynamic mechanisms behind this, we construct a dynamical model within the motor cortex, which comprises coupled heterogeneous attractors to simulate delayed reaching tasks. This model replicates the neural activity patterns observed in the macaque motor cortex, within distinct attractor spaces for preparatory and executive activities. It can capture the transition from preparation to execution through shifts in an orthogonal subspace combined with a thresholding mechanism. Results show that the preparation duration modulates behavioral accuracy, with optimal preparation intervals enhancing performance. External inputs primarily shape the preparatory activity, while synaptic connections dominate execution. Our analysis of the network's multi-stable dynamics reveals that external inputs reshape the stable points of the heterogeneous attractor modules both before and after preparation, while synaptic strength affects dynamical stability and input sensitivity, allowing rapid and precise actions. Additionally, sensitivity to external perturbations decreases as preparatory time increases, emphasizing the importance of external inputs during preparation. Overall, this study provides insights into the neurodynamic mechanisms underlying the transition from motor preparation to execution and underscores the significance of preparatory activity for accurate motor control.

Neural geometry from mixed sensorimotor selectivity for predictive sensorimotor control

Although recent studies suggest that activity in the motor cortex, in addition to generating motor outputs, receives substantial information regarding sensory inputs, it is still unclear how sensory context adjusts the motor commands. Here, we recorded population neural activity in the motor cortex via microelectrode arrays while monkeys performed flexible manual interceptions of moving targets. During this task, which requires predictive sensorimotor control, the activity of most neurons in the motor cortex encoding upcoming movements was influenced by ongoing target motion. Single-trial neural states at the movement onset formed staggered orbital geometries, suggesting that target motion modulates peri-movement activity in an orthogonal manner. This neural geometry was further evaluated with a representational model and recurrent neural networks (RNNs) with task-specific input-output mapping. We propose that the sensorimotor dynamics can be derived from neuronal mixed sensorimotor selectivity and dynamic interaction between modulations.

Continuous sensorimotor transformation enhances robustness of neural dynamics to perturbation in macaque motor cortex

Neural activity in the motor cortex evolves dynamically to prepare and generate movement. Here, we investigate how motor cortical dynamics adapt to dynamic environments and whether these adaptations influence robustness against disruptions. We apply intracortical microstimulation (ICMS) in the motor cortex of monkeys performing delayed center-out reaches to either a static target (static) or a rotating target (moving) that required interception. While ICMS prolongs reaction times (RTs) in the static condition, it does not increase RTs in the moving condition, correlating with faster recovery of neural population activity post-perturbation. Neural dynamics suggests that the moving condition involves ongoing sensorimotor transformations during the delay period, whereas motor planning in the static condition is completed shortly. A neural network model shows that continuous feedback input rapidly corrects perturbation-induced errors in the moving condition. We conclude that continuous sensorimotor transformations enhance the motor cortex's resilience to perturbations, facilitating timely movement execution.

Time Varying Encoding of Grasping Type and Force in the Primate Motor Cortex

The primary motor cortex (M1) is strongly engaged by movement planning and execution. However, the role of M1 activity in voluntary grasping is still not completely understood. Here we analyze recordings of M1 neurons during the execution of a delayed reach-to-grasp task, where monkeys had to actively grasp an object with either a side or a precision grip, and then pull it with a low or high amount of force. Single cell and neural populations analyses showed that grip type was robustly and specifically encoded by a large population of neurons, while force level was weakly and transiently encoded within mixed-selective neurons that also encoded grip type. Notably, the grip type was stably decoded from motor cortical populations during the preparation and execution epochs of the task. Our results are consistent with the idea that planning and performing specific grasping movements are high-level skills that strongly engage M1 neurons, while the execution of pulling force might be prominently encoded at lower stages of the motor system.

Facial gestures are enacted via a cortical hierarchy of dynamic and stable codes

Successful communication requires the generation and perception of a shared set of signals. Facial gestures are one fundamental set of communicative behaviors in primates, generated through the dynamic arrangement of dozens of fine muscles. While much progress has been made uncovering the neural mechanisms of face perception, little is known about those controlling facial gesture production. Commensurate with the importance of facial gestures in daily social life, anatomical work has shown that facial muscles are under direct control from multiple cortical regions, including primary and premotor in lateral frontal cortex, and cingulate in medial frontal cortex. Furthermore, neuropsychological evidence from focal lesion patients has suggested that lateral cortex controls voluntary movements, and medial emotional expressions. Here we show that lateral and medial cortical face motor regions encode both types of gestures. They do so through unique temporal activity patterns, distinguishable well-prior to movement onset. During gesture production, cortical regions encoded facial kinematics in a context-dependent manner. Our results show how cortical regions projecting in parallel downstream, but each situated at a different level of a posterior-anterior hierarchy form a continuum of gesture coding from dynamic to temporally stable, in order to produce context-related, coherent motor outputs during social communication.

Brain Activation Pattern Caused by Soft Rehabilitation Glove and Virtual Reality Scenes: A Pilot fNIRS Study

Clinical studies have proved significant improvements in hand motor function in stroke patients when assisted by robotic devices. However, there were few studies on neural activity changes in the brain during execution. This study aimed to investigate the brain activation pattern caused by soft rehabilitation glove and virtual reality scenes. Twenty healthy subjects and twenty stroke patients were recruited to complete three controlled trials: grasping passively with robotic glove assistance (RA), watching grasping movement video in virtual reality (VR), and the joint use of robotic glove and virtual reality (VRA). Neural activity in the prefrontal cortex, motor cortex and occipital lobe was synchronously collected by the functional near-infrared spectroscopy (fNIRS) device. Activation level and functional connectivity of these brain regions were subsequently calculated and statistically analyzed. For both groups, the VR and VRA tasks induced activation of larger cortical areas. Stroke group had higher average cortical activation in all three tasks compared to healthy group, especially in the prefrontal cortex ( [Formula: see text]). Functional connectivity was weaker in the stroke group than in the healthy group across most regions, but was significantly stronger across some regions of the right hemisphere. These findings suggest significant differences in activation patterns across three tasks. In addition, multi-sensory stimulation can promote functional communication between more brain regions in patients. It has potential for neuromodulation in rehabilitation training by setting up different sensory stimulation modalities.

Creativity and consciousness in motion: The roundtrip of "mindful" and "mindless" processes in embodied creativity

In this opinion paper, we make a journey across different accounts of creativity that emphasize either the mindful, conscious and cognitive expression of creativity, or its mindless, unconscious and sensorimotor expression. We try to go beyond dichotomy, putting creativity in motion and outlining its embodied and enactive features. Based on the assumption that no creative act is purely conscious or purely unconscious, our discussion on creativity relies on the distinction of three types of creativity that complementarily contribute to the creative process through shifts in the activation of their substrates in the brain: the deliberate, spontaneous and flow types of creativity. The latter is a hybrid and embodied type, in which movement and physical activity meet creativity. We then focus on the most fascinating contribution of unconscious processes and mind wandering to spontaneous and flow modes of creativity, exploring what happens when the individual apparently takes a break from a deliberate and effortful search for solutions and the creative process progresses through an incubation phase. This phase and the overall creative process can be facilitated by physical activity which, depending on its features and context, can disengage the cognitive control network and free the mind from filters that constrain cognitive processes or, conversely, can engage attentional control on sensorimotor and cognitive task components in a mindful way. Lastly, we focus on the unique features of the outer natural environment of physical activity and of the inner environment during mindful movements that can restore capacities and boost creativity.

East Asian perspective of responsible research and innovation in neurotechnology

After more than half a century of research and development (R&D), Brain-computer interface (BCI)-based Neurotechnology continues to progress as one of the leading technologies of the 2020 s worldwide. Various reports and academic literature in Europe and the United States (U.S.) have outlined the trends in the R&D of neurotechnology and the consideration of ethical issues, and the importance of the formulation of ethical principles, guidance and industrial standards as well as the development of relevant human resources has been discussed. However, limited number studies have focused on neurotechnology R&D, the dissemination of neuroethics related to the academic foundation advancing the discussion on ethical principles, guidance and standards or human resource development in the Asian region. This study fills in this gap in understanding of Eastern Asian (China, Korea and Japan) situation based on the participation in activities to develop ethical principles, guidance, and industrial standards for appropriate use of neurotechnology, in addition to literature survey and clinical registries' search investigation reflecting the trends in neurotechnology R&D as well as its social implication in Asian region. The current study compared the results with the situation in Europa and the U.S. and discussed issues that need to be addressed in the future and discussed the significance and potential of corporate consortium initiatives in Japan and examples of ethics and governance activities in Asian Countries.

Preparatory activity and the expansive null-space

The study of the cortical control of movement experienced a conceptual shift over recent decades, as the basic currency of understanding shifted from single-neuron tuning towards population-level factors and their dynamics. This transition was informed by a maturing understanding of recurrent networks, where mechanism is often characterized in terms of population-level factors. By estimating factors from data, experimenters could test network-inspired hypotheses. Central to such hypotheses are 'output-null' factors that do not directly drive motor outputs yet are essential to the overall computation. In this Review, we highlight how the hypothesis of output-null factors was motivated by the venerable observation that motor-cortex neurons are active during movement preparation, well before movement begins. We discuss how output-null factors then became similarly central to understanding neural activity during movement. We discuss how this conceptual framework provided key analysis tools, making it possible for experimenters to address long-standing questions regarding motor control. We highlight an intriguing trend: as experimental and theoretical discoveries accumulate, the range of computational roles hypothesized to be subserved by output-null factors continues to expand.

Neuronal travelling waves explain rotational dynamics in experimental datasets and modelling

Spatiotemporal properties of neuronal population activity in cortical motor areas have been subjects of experimental and theoretical investigations, generating numerous interpretations regarding mechanisms for preparing and executing limb movements. Two competing models, representational and dynamical, strive to explain the relationship between movement parameters and neuronal activity. A dynamical model uses the jPCA method that holistically characterizes oscillatory activity in neuron populations by maximizing the data rotational dynamics. Different rotational dynamics interpretations revealed by the jPCA approach have been proposed. Yet, the nature of such dynamics remains poorly understood. We comprehensively analyzed several neuronal-population datasets and found rotational dynamics consistently accounted for by a traveling wave pattern. For quantifying rotation strength, we developed a complex-valued measure, the gyration number. Additionally, we identified parameters influencing rotation extent in the data. Our findings suggest that rotational dynamics and traveling waves are typically the same phenomena, so reevaluation of the previous interpretations where they were considered separate entities is needed.

Visuo-vestibular heading perception: a model system to study multi-sensory decision making

Integrating noisy signals across time as well as sensory modalities, a process named multi-sensory decision making (MSDM), is an essential strategy for making more accurate and sensitive decisions in complex environments. Although this field is just emerging, recent extraordinary works from different perspectives, including computational theory, psychophysical behaviour and neurophysiology, begin to shed new light onto MSDM. In the current review, we focus on MSDM by using a model system of visuo-vestibular heading. Combining well-controlled behavioural paradigms on virtual-reality systems, single-unit recordings, causal manipulations and computational theory based on spiking activity, recent progress reveals that vestibular signals contain complex temporal dynamics in many brain regions, including unisensory, multi-sensory and sensory-motor association areas. This challenges the brain for cue integration across time and sensory modality such as optic flow which mainly contains a motion velocity signal. In addition, new evidence from the higher-level decision-related areas, mostly in the posterior and frontal/prefrontal regions, helps revise our conventional thought on how signals from different sensory modalities may be processed, converged, and moment-by-moment accumulated through neural circuits for forming a unified, optimal perceptual decision. This article is part of the theme issue 'Decision and control processes in multisensory perception'.

Temporal and spatial properties of vestibular signals for perception of self-motion

It is well recognized that the vestibular system is involved in numerous important cognitive functions, including self-motion perception, spatial orientation, locomotion, and vector-based navigation, in addition to basic reflexes, such as oculomotor or body postural control. Consistent with this rationale, vestibular signals exist broadly in the brain, including several regions of the cerebral cortex, potentially allowing tight coordination with other sensory systems to improve the accuracy and precision of perception or action during self-motion. Recent neurophysiological studies in animal models based on single-cell resolution indicate that vestibular signals exhibit complex spatiotemporal dynamics, producing challenges in identifying their exact functions and how they are integrated with other modality signals. For example, vestibular and optic flow could provide congruent and incongruent signals regarding spatial tuning functions, reference frames, and temporal dynamics. Comprehensive studies, including behavioral tasks, neural recording across sensory and sensory-motor association areas, and causal link manipulations, have provided some insights into the neural mechanisms underlying multisensory self-motion perception.

Flexible multichannel electrodes for acute recording in nonhuman primates

Flexible electrodes have demonstrated better biocompatibility than rigid electrodes in relieving tissue encapsulation and long-term recording. Nonhuman primates are closer to humans in their brains' structural and functional properties, thus making them more suitable than rodents as animal models for potential clinical usage. However, the application of flexible electrodes on nonhuman primates has rarely been reported. In the present study, a flexible multichannel electrode array for nonhuman primates was developed and implemented for extracellular recording in behaving monkeys. To minimize the window of durotomy for reducing possible risks, a guide-tube-compatible implantation solution was designed to deliver the flexible electrodes through the dura into the cortex. The proposed structure for inserting flexible electrodes was characterized ex vivo and validated in vivo. Furthermore, acute recording of multichannel flexible electrodes for the primates was performed. The results showed that the flexible electrodes and implantation method used in this study meet the needs of extracellular recording in nonhuman primates. Task-related neuronal activities with a high signal-to-noise ratio of spikes demonstrated that our whole device is currently a minimally invasive and clinically viable approach for extracellular recording.

Transcranial direct current stimulation to facilitate neurofunctional rehabilitation in children with autism spectrum disorder: a protocol for a randomized, sham-controlled, double-blind clinical trial

Background

Anodal transcranial direct current stimulation (tDCS) over the primary motor cortex and cerebellum is gaining prominence in the literature due to its potential to favor learning and motor performance. If administered during motor training, tDCS is capable of increasing the effect of training. Considering the motor impairment presented by children with Autism Spectrum Disorders (ASD), atDCS applied during motor training may contribute to the rehabilitation of these children. However, it is necessary to examine and compare the effects of atDCS over the motor cortex and the cerebellum on the motor skills of children with ASD. This information may benefit future clinical indications of tDCS for rehabilitation of children with ASD. The aim of the proposed study is to determine whether anodal tDCS over the primary motor cortex and cerebellum can enhance the effects of gait training and postural control on motor skills, mobility, functional balance, cortical excitability, cognitive aspects and behavioral aspects in children with ASD. Our hypothesis is the active tDCS combined with motor training will enhance the performance of the participants in comparison to sham tDCS.

Methods and design

A randomized, sham-controlled, double-blind clinical trial will be conducted involving 30 children with ASD that will be recruited to receive ten sessions of sham or ten sessions of active anodal tDCS (1 mA, 20 min) over the primary motor cortex or cerebellun combined with motor training. The participants will be assessed before as well as one, four and eight weeks after the interventions. The primary outcome will be gross and fine motor skills. The secondary outcomes will be mobility, functional balance, motor cortical excitability, cognitive aspects and behavioral aspects.

Discussion

Although abnormalities in gait and balance are not primary characteristics of ASD, such abnormalities compromise independence and global functioning during the execution of routine activities of childhood. If demonstrated that anodal tDCS administered over areas of the brain involved in motor control, such as the primary motor cortex and cerebellum, can enhance the effects of gait and balance training in only ten sessions in two consecutive weeks, the clinical applicability of this stimulation modality will be expanded as well as more scientifically founded.Clinical trial registration February 16, 2023 (https://ensaiosclinicos.gov.br/rg/RBR-3bskhwf).

Linking cortex and contraction-Integrating models along the corticomuscular pathway

Computational models of the neuromusculoskeletal system provide a deterministic approach to investigate input-output relationships in the human motor system. Neuromusculoskeletal models are typically used to estimate muscle activations and forces that are consistent with observed motion under healthy and pathological conditions. However, many movement pathologies originate in the brain, including stroke, cerebral palsy, and Parkinson's disease, while most neuromusculoskeletal models deal exclusively with the peripheral nervous system and do not incorporate models of the motor cortex, cerebellum, or spinal cord. An integrated understanding of motor control is necessary to reveal underlying neural-input and motor-output relationships. To facilitate the development of integrated corticomuscular motor pathway models, we provide an overview of the neuromusculoskeletal modelling landscape with a focus on integrating computational models of the motor cortex, spinal cord circuitry, α-motoneurons  and skeletal muscle in regard to their role in generating voluntary muscle contraction. Further, we highlight the challenges and opportunities associated with an integrated corticomuscular pathway model, such as challenges in defining neuron connectivities, modelling standardisation, and opportunities in applying models to study emergent behaviour. Integrated corticomuscular pathway models have applications in brain-machine-interaction, education, and our understanding of neurological disease.