Central control of grasp: Manipulation of objects with complex and simple dynamics

Object-oriented hand dexterity and grasping abilities, from the animal quarters to the neurosurgical OR: a systematic review of the underlying neural correlates in non-human, human primate and recent findings in awake brain surgery

Introduction

The sensorimotor integrations subserving object-oriented manipulative actions have been extensively investigated in non-human primates via direct approaches, as intracortical micro-stimulation (ICMS), cytoarchitectonic analysis and anatomical tracers. However, the understanding of the mechanisms underlying complex motor behaviors is yet to be fully integrated in brain mapping paradigms and the consistency of these findings with intraoperative data obtained during awake neurosurgical procedures for brain tumor removal is still largely unexplored. Accordingly, there is a paucity of systematic studies reviewing the cross-species analogies in neural activities during object-oriented hand motor tasks in primates and investigating the concordance with intraoperative findings during brain mapping. The current systematic review was designed to summarize the cortical and subcortical neural correlates of object-oriented fine hand actions, as revealed by fMRI and PET studies, in non-human and human primates and how those were translated into neurosurgical studies testing dexterous hand-movements during intraoperative brain mapping.

Methods

A systematic literature review was conducted following the PRISMA guidelines. PubMed, EMBASE and Web of Science databases were searched. Original articles were included if they: (1) investigated cortical activation sites on fMRI and/or PET during grasping task; (2) included humans or non-human primates. A second query was designed on the databases above to collect studies reporting motor, hand manipulation and dexterity tasks for intraoperative brain mapping in patients undergoing awake brain surgery for any condition. Due to the heterogeneity in neurosurgical applications, a qualitative synthesis was deemed more appropriate.

Results

We provided an updated overview of the current state of the art in translational neuroscience about the extended frontoparietal grasping-praxis network with a specific focus on the comparative functioning in non-human primates, healthy humans and how the latter knowledge has been implemented in the neurosurgical operating room during brain tumor resection.

Discussion

The anatomical and functional correlates we reviewed confirmed the evolutionary continuum from monkeys to humans, allowing a cautious but practical adoption of such evidence in intraoperative brain mapping protocols. Integrating the previous results in the surgical practice helps preserve complex motor abilities, prevent long-term disability and poor quality of life and allow the maximal safe resection of intrinsic brain tumors.

Spatial Visual Imagery (SVI)-Based Electroencephalograph Discrimination for Natural CAD Manipulation

With the increasing demand for natural interactions, people have realized that an intuitive Computer-Aided Design (CAD) interaction mode can reduce the complexity of CAD operation and improve the design experience. Although interaction modes like gaze and gesture are compatible with some complex CAD manipulations, they still require people to express their design intentions physically. The brain contains design intentions implicitly and controls the corresponding body parts that execute the task. Therefore, building an end-to-end channel between the brain and computer as an auxiliary mode for CAD manipulation will allow people to send design intentions mentally and make their interaction more intuitive. This work focuses on the 1-D translation scene and studies a spatial visual imagery (SVI) paradigm to provide theoretical support for building an electroencephalograph (EEG)-based brain-computer interface (BCI) for CAD manipulation. Based on the analysis of three spatial EEG features related to SVI (e.g., common spatial patterns, cross-correlation, and coherence), a multi-feature fusion-based discrimination model was built for SVI. The average accuracy of the intent discrimination of 10 subjects was 86%, and the highest accuracy was 93%. The method proposed was verified to be feasible for discriminating the intentions of CAD object translation with good classification performance. This work further proves the potential of BCI in natural CAD manipulation.

Towards Unsupervised Rehabilitation: Development of a Portable Compliant Device for Sensorimotor Hand Rehabilitation

Sensorimotor impairments of the hand after stroke can drastically reduce the ability to perform activities of daily living. Recently, there has been an increased interest in minimally supervised and unsupervised rehabilitation to increase therapy dosage and to complement conventional therapy. Several devices have been developed that are simple to use and portable. Yet, they do not incorporate diversified somatosensory feedback, which has been suggested to promote sensorimotor recovery. Here we present the prototype of a portable one-degree-of-freedom hand trainer based on a novel compliant shell mechanism. Our solution is safe, intuitive, and can be used for various hand sizes. Importantly, it also provides rich sensory feedback through haptic rendering. We complement our device with a rehabilitation game, where we leverage interactive tangible game elements with diverse haptic characteristics to provide somatosensory training and foster recovery.

Towards functional robotic training: motor learning of dynamic tasks is enhanced by haptic rendering but hampered by arm weight support

Background

Current robot-aided training allows for high-intensity training but might hamper the transfer of learned skills to real daily tasks. Many of these tasks, e.g., carrying a cup of coffee, require manipulating objects with complex dynamics. Thus, the absence of somatosensory information regarding the interaction with virtual objects during robot-aided training might be limiting the potential benefits of robotic training on motor (re)learning. We hypothesize that providing somatosensory information through the haptic rendering of virtual environments might enhance motor learning and skill transfer. Furthermore, the inclusion of haptic rendering might increase the task realism, enhancing participants’ agency and motivation. Providing arm weight support during training might also enhance learning by limiting participants’ fatigue.

Methods

We conducted a study with 40 healthy participants to evaluate how haptic rendering and arm weight support affect motor learning and skill transfer of a dynamic task. The task consisted of inverting a virtual pendulum whose dynamics were haptically rendered on an exoskeleton robot designed for upper limb neurorehabilitation. Participants trained with or without haptic rendering and with or without weight support. Participants’ task performance, movement strategy, effort, motivation, and agency were evaluated during baseline, short- and long-term retention. We also evaluated if the skills acquired during training transferred to a similar task with a shorter pendulum.

Results

We found that haptic rendering significantly increases participants’ movement variability during training and the ability to synchronize their movements with the pendulum, which is correlated with better performance. Weight support also enhances participants’ movement variability during training and reduces participants’ physical effort. Importantly, we found that training with haptic rendering enhances motor learning and skill transfer, while training with weight support hampers learning compared to training without weight support. We did not observe any significant differences between training modalities regarding agency and motivation during training and retention tests.

Conclusion

Haptic rendering is a promising tool to boost robot-aided motor learning and skill transfer to tasks with similar dynamics. However, further work is needed to find how to simultaneously provide robotic assistance and haptic rendering without hampering motor learning, especially in brain-injured patients.

Trial registrationhttps://clinicaltrials.gov/show/NCT04759976

Supplementary Information

The online version contains supplementary material available at 10.1186/s12984-022-00993-w.

Dual-Hemisphere Transcranial Direct Current Stimulation on Parietal Operculum Does Not Affect the Programming of Intra-limb Anticipatory Postural Adjustments

Evidence shows that the postural and focal components within the voluntary motor command are functionally unique. In 2015, we reported that the supplementary motor area (SMA) processes Anticipatory Postural Adjustments (APAs) separately from the command to focal muscles, so we are still searching for a hierarchically higher area able to process both components. Among these, the parietal operculum (PO) seemed to be a good candidate, as it is a hub integrating both sensory and motor streams. However, in 2019, we reported that transcranial Direct Current Stimulation (tDCS), applied with an active electrode on the PO contralateral to the moving segment vs. a larger reference electrode on the opposite forehead, did not affect intra-limb APAs associated to brisk flexions of the index-finger. Nevertheless, literature reports that two active electrodes of opposite polarities, one on each PO (dual-hemisphere, dh-tDCS), elicit stronger effects than the "active vs. reference" arrangement. Thus, in the present study, the same intra-limb APAs were recorded before, during and after dh-tDCS on PO. Twenty right-handed subjects were tested, 10 for each polarity: anode on the left vs. cathode on the right, and vice versa. Again, dh-tDCS was ineffective on APA amplitude and timing, as well as on prime mover recruitment and index-finger kinematics. These results confirm the conclusion that PO does not take part in intra-limb APA control. Therefore, our search for an area in which the motor command to prime mover and postural muscles are still processed together will have to address other structures.

Neural Substrates of Muscle Co-contraction during Dynamic Motor Adaptation

As we learn to perform a motor task with novel dynamics, the central nervous system must adapt motor commands and modify sensorimotor transformations. The objective of the current research is to identify the neural mechanisms underlying the adaptive process. It has been shown previously that an increase in muscle co-contraction is frequently associated with the initial phase of adaptation and that co-contraction is gradually reduced as performance improves. Our investigation focused on the neural substrates of muscle co-contraction during the course of motor adaptation using a resting-state fMRI approach in healthy human subjects of both genders. We analyzed the functional connectivity in resting-state networks during three phases of adaptation, corresponding to different muscle co-contraction levels and found that change in the strength of functional connectivity in one brain network was correlated with a metric of co-contraction, and in another with a metric of motor learning. We identified the cerebellum as the key component for regulating muscle co-contraction, especially its connection to the inferior parietal lobule, which was particularly prominent in early stage adaptation. A neural link between cerebellum, superior frontal gyrus and motor cortical regions was associated with reduction of co-contraction during later stages of adaptation. We also found reliable changes in the functional connectivity of a network involving primary motor cortex, superior parietal lobule and cerebellum that were specifically related to the motor learning.SIGNIFICANCE STATEMENT It is well known that co-contracting muscles is an effective strategy for providing postural stability by modulating mechanical impedance and thereby allowing the central nervous system to compensate for unfamiliar or unexpected physical conditions until motor commands can be appropriately adapted. The present study elucidates the neural substrates underlying the ability to modulate the mechanical impedance of a limb as we learn during motor adaptation. Using resting-state fMRI analysis we demonstrate that a distributed cerebellar-parietal-frontal network functions to regulate muscle co-contraction with the cerebellum as its key component.

Promoting Motor Variability During Robotic Assistance Enhances Motor Learning of Dynamic Tasks

Despite recent advances in robot-assisted training, the benefits of haptic guidance on motor (re)learning are still limited. While haptic guidance may increase task performance during training, it may also decrease participants' effort and interfere with the perception of the environment dynamics, hindering somatosensory information crucial for motor learning. Importantly, haptic guidance limits motor variability, a factor considered essential for learning. We propose that Model Predictive Controllers (MPC) might be good alternatives to haptic guidance since they minimize the assisting forces and promote motor variability during training. We conducted a study with 40 healthy participants to investigate the effectiveness of MPCs on learning a dynamic task. The task consisted of swinging a virtual pendulum to hit incoming targets with the pendulum ball. The environment was haptically rendered using a Delta robot. We designed two MPCs: the first MPC-end-effector MPC-applied the optimal assisting forces on the end-effector. A second MPC-ball MPC-applied its forces on the virtual pendulum ball to further reduce the assisting forces. The participants' performance during training and learning at short- and long-term retention tests were compared to a control group who trained without assistance, and a group that trained with conventional haptic guidance. We hypothesized that the end-effector MPC would promote motor variability and minimize the assisting forces during training, and thus, promote learning. Moreover, we hypothesized that the ball MPC would enhance the performance and motivation during training but limit the motor variability and sense of agency (i.e., the feeling of having control over their movements), and therefore, limit learning. We found that the MPCs reduce the assisting forces compared to haptic guidance. Training with the end-effector MPC increases the movement variability and does not hinder the pendulum swing variability during training, ultimately enhancing the learning of the task dynamics compared to the other groups. Finally, we observed that increases in the sense of agency seemed to be associated with learning when training with the end-effector MPC. In conclusion, training with MPCs enhances motor learning of tasks with complex dynamics and are promising strategies to improve robotic training outcomes in neurological patients.

Grasping and Manipulation: Neural Bases and Anatomical Circuitry in Humans

Neurophysiological and neuroimaging evidence suggests a significant contribution of several brain areas, including subdivisions of the parietal and the premotor cortex, during the processing of different components of hand and arm movements. Many investigations improved our knowledge about the neural processes underlying the execution of reaching and grasping actions, while few studies have directly investigated object manipulation. Most studies on the latter topic concern the use of tools to achieve specific goals. Yet, there are very few studies on pure manipulation performed in order to explore and recognize objects, as well as on manipulation performed with a high level of manual dexterity. Another dimension that is quite neglected by the available studies on grasping and manipulation is, on the one hand, the contribution of the subcortical nodes, first of all the basal ganglia and cerebellum, to these functions, and, on the other hand, recurrent connections of these structures with cortical areas. In the first part, we have reviewed the parieto-premotor and subcortical circuits underlying reaching and grasping in humans, with a focus on functional neuroimaging data. Then, we have described the main structures recruited during object manipulation. We have also reported the contribution of recent structural connectivity techniques whereby the cortico-cortical and cortico-subcortical connections of grasping-related and manipulation-related areas in the human brain can be determined. Based on our review, we have concluded that studies on cortical and subcortical circuits involved in grasping and manipulation might be promising to provide new insights about motor learning and brain plasticity in patients with motor disorders.

Deep learning and deep knowledge representation in Spiking Neural Networks for Brain-Computer Interfaces

OBJECTIVE

This paper argues that Brain-Inspired Spiking Neural Network (BI-SNN) architectures can learn and reveal deep in time-space functional and structural patterns from spatio-temporal data. These patterns can be represented as deep knowledge, in a partial case in the form of deep spatio-temporal rules. This is a promising direction for building new types of Brain-Computer Interfaces called Brain-Inspired Brain-Computer Interfaces (BI-BCI). A theoretical framework and its experimental validation on deep knowledge extraction and representation using SNN are presented.

RESULTS

The proposed methodology was applied in a case study to extract deep knowledge of the functional and structural organisation of the brain's neural network during the execution of a Grasp and Lift task. The BI-BCI successfully extracted the neural trajectories that represent the dorsal and ventral visual information processing streams as well as its connection to the motor cortex in the brain. Deep spatiotemporal rules on functional and structural interaction of distinct brain areas were then used for event prediction in BI-BCI.

SIGNIFICANCE

The computational framework can be used for unveiling the topological patterns of the brain and such knowledge can be effectively used to enhance the state-of-the-art in BCI.

Transcranial Direct Current Stimulation on Parietal Operculum Contralateral to the Moving Limb Does Not Affect the Programming of Intra-Limb Anticipatory Postural Adjustments

Recent data suggest that the parietal operculum acts as an integration center within a multimodal network, originating from different primary sensory and motor cortices and projecting to frontal, parietal and temporal cortical hubs, which in turn govern cognitive and motor functions. Thus, parietal operculum might also play a crucial role in the integrated control of voluntary movement and posture. As a first step to test this hypothesis, the Anticipatory Postural Adjustments (APAs) stabilizing the arm when the index-finger is briskly flexed were recorded, on the preferred side, in three groups of 10 healthy subjects, before, during and after CATHODAL or ANODAL transcranial Direct Current Stimulation (tDCS, 20 min at 2 mA) applied over the contralateral Parietal Operculum (coPO). Results were compared to those obtained in a SHAM group. In agreement with literature, in the SHAM group the activation of the prime mover Flexor Digitorum Superficialis was preceded by an inhibitory APA in Biceps Brachii and Anterior Deltoid, and almost simultaneous to an excitatory APA in Triceps Brachii. The same pattern was observed in both the CATHODAL and ANODAL groups, with no significant tDCS effects on APAs amplitude and timing. Index-finger kinematics were also unchanged. These negative results suggest that the coPO does not disturb the key network governing APAs in index-finger flexion. Since it has been well documented that such APAs share many features with those observed in trunk and limb muscles when performing several other movements, we suggest that coPO may not be crucial to the general APA control.

Preliminary findings of altered functional connectivity of the default mode network linked to functional outcomes one year after pediatric traumatic brain injury

PURPOSE AND METHOD

This study examined functional connectivity of the default mode network (DMN) and examined brain-behavior relationships in a pilot cohort of children with chronic mild to moderate traumatic brain injury (TBI).

RESULTS

Compared to uninjured peers, children with TBI demonstrated less anti-correlated functional connectivity between DMN and right Brodmann Area 40 (BA 40). In children with TBI, more anomalous less anti-correlated) connectivity between DMN and right BA 40 was linked to poorer performance on response inhibition tasks.

CONCLUSION

Collectively, these preliminary findings suggest that functional connectivity between DMN and BA 40 may relate to longterm functional outcomes in chronic pediatric TBI.

An MRI evaluation of grey matter damage in African Americans with MS

OBJECTIVE

Multiple sclerosis (MS) is less prevalent in African Americans (AAs) than Caucasians (CAs) but in the former the disease course tends to be more severe. In order to clarify the MRI correlates of disease severity in AAs, we performed a multimodal brain MRI study to comprehensively assess the extent of grey matter (GM) damage and the degree of functional adaptation to structural damage in AAs with MS.

METHODS

In this cross-sectional study, we characterized GM damage in terms of focal lesions and volume loss and functional adaptation during the execution of a simple motor task on a sample of 20 AAs and 20 CAs with MS and 20 healthy controls (CTRLs).

RESULTS

In AAs, we observed a wider range of EDSS scores than CAs, with multisystem involvement being more likely in AAs (p < 0.01). While no significant differences were detected in lesion loads and global brain volumes, AAs showed regional atrophy in the posterior lobules of cerebellum, temporo-occipital and frontal regions in comparison with CAs (p < 0.01), with cerebellar atrophy being the best metric in differentiating AAs from CAs (p = 0.007, AUC = 0.96 and p = 0.005, AUC = 0.96, respectively for right and left cerebellar clusters). In AAs, the functional analysis of cortical activations showed an increase in task-related activation of areas involved in high level processing and a decreased activation in the medial prefrontal cortex compared to CAs.

INTERPRETATION

In our study, the direct comparison of AAs and CAs points to cerebellar atrophy as the main difference between subgroups.

Neurophysiological effects of exercise in the heat

Fatigue during prolonged exercise is a multifactorial phenomenon. The complex interplay between factors originating from both the periphery and the brain will determine the onset of fatigue. In recent years, electrophysiological and imaging tools have been fine-tuned, allowing for an improved understanding of what happens in the brain. In the first part of the review, we present literature that studied the changes in electrocortical activity during and after exercise in normal and high ambient temperature. In general, exercise in a thermo-neutral environment or at light to moderate intensity increases the activity in the β frequency range, while exercising at high intensity or in the heat reduces β activity. In the second part, we review literature that manipulated brain neurotransmission, through either pharmacological or nutritional means, during exercise in the heat. The dominant outcomes were that manipulations changing brain dopamine concentration have the potential to delay fatigue, while the manipulation of serotonin had no effect and noradrenaline reuptake inhibition was detrimental for performance in the heat. Research on the effects of neurotransmitter manipulations on brain activity during or after exercise is scarce. The combination of brain imaging techniques with electrophysiological measures presents one of the major future challenges in exercise physiology/neurophysiology.

Reliability of Visual and Somatosensory Feedback in Skilled Movement: The Role of the Cerebellum

The integration of vision and somatosensation is required to allow for accurate motor behavior. While both sensory systems contribute to an understanding of the state of the body through continuous updating and estimation, how the brain processes unreliable sensory information remains to be fully understood in the context of complex action. Using functional brain imaging, we sought to understand the role of the cerebellum in weighting visual and somatosensory feedback by selectively reducing the reliability of each sense individually during a tool use task. We broadly hypothesized upregulated activation of the sensorimotor and cerebellar areas during movement with reduced visual reliability, and upregulated activation of occipital brain areas during movement with reduced somatosensory reliability. As specifically compared to reduced somatosensory reliability, we expected greater activations of ipsilateral sensorimotor cerebellum for intact visual and somatosensory reliability. Further, we expected that ipsilateral posterior cognitive cerebellum would be affected with reduced visual reliability. We observed that reduced visual reliability results in a trend towards the relative consolidation of sensorimotor activation and an expansion of cerebellar activation. In contrast, reduced somatosensory reliability was characterized by the absence of cerebellar activations and a trend towards the increase of right frontal, left parietofrontal activation, and temporo-occipital areas. Our findings highlight the role of the cerebellum for specific aspects of skillful motor performance. This has relevance to understanding basic aspects of brain functions underlying sensorimotor integration, and provides a greater understanding of cerebellar function in tool use motor control.

Impedance control: Learning stability in human sensorimotor control

The human sensorimotor control system generates movement by adapting and controlling the mechanics of the musculoskeletal system. To generate skilful movements the sensorimotor control system must be able to predict and compensate for any disturbances generated either in our own body or in the external environment. While stable and repeatable perturbations can be easily adapted through iterative learning, instability and unpredictability require a different approach: impedance control. Here I outline the arguments for impedance control as a fundamental process of human adaptation as well as describe evidence suggesting the manner in which such impedance can be learned in order to ensure the stability of the neuro-mechanical system.

Complex motor task associated with non-linear BOLD responses in cerebro-cortical areas and cerebellum

Previous studies have used fMRI to address the relationship between grip force (GF) applied to an object and BOLD response. However, whilst the majority of these studies showed a linear relationship between GF and neural activity in the contralateral M1 and ipsilateral cerebellum, animal studies have suggested the presence of non-linear components in the GF–neural activity relationship. Here, we present a methodology for assessing non-linearities in the BOLD response to different GF levels, within primary motor as well as sensory and cognitive areas and the cerebellum. To be sensitive to complex forms, we designed a feasible grip task with five GF targets using an event-related visually guided paradigm and studied a cohort of 13 healthy volunteers. Polynomial functions of increasing order were fitted to the data. Major findings: (1) activated motor areas irrespective of GF; (2) positive higher-order responses in and outside M1, involving premotor, sensory and visual areas and cerebellum; (3) negative correlations with GF, predominantly involving the visual domain. Overall, our results suggest that there are physiologically consistent behaviour patterns in cerebral and cerebellar cortices; for example, we observed the presence of a second-order effect in sensorimotor areas, consistent with an optimum metabolic response at intermediate GF levels, while higher-order behaviour was found in associative and cognitive areas. At higher GF levels, sensory-related cortical areas showed reduced activation, interpretable as a redistribution of the neural activity for more demanding tasks. These results have the potential of opening new avenues for investigating pathological mechanisms of neurological diseases.

Neuronal representation of stand and squat in the primary motor cortex of monkeys

BACKGROUND

Determining neuronal topographical information in the cerebral cortex is of fundamental importance for developing neuroprosthetics. Significant progress has been achieved in decoding hand voluntary movement with cortical neuronal activity in nonhuman primates. However, there are few successful reports in scientific literature for decoding lower limb voluntary movement with the cortical neuronal firing. We once reported an experimental system, which consists of a specially designed chair, a visually guided stand and squat task training paradigm and an acute neuron recording setup. With this system, we can record high quality cortical neuron activity to investigate the correlation between these neuronal signals and stand/squat movement.

METHODS/RESULTS

In this research, we train two monkeys to perform the visually guided stand and squat task, and record neuronal activity in the vast areas targeted to M1 hind-limb region, at a distance of 1 mm. We find that 76.9% of recorded neurons (1230 out of 1598 neurons) showing task-firing modulation, including 294 (18.4%) during the pre-response window; 310 (19.4%) for standing up; 104 (6.5%) for the holding stand phase; and 205 (12.8%) during the sitting down. The distributions of different type neurons have a high degree of overlap. They are mainly ranged from +7.0 to 13 mm in the Posterior-Anterior dimension, and from +0.5 to 4.0 mm in Dosal-lateral dimension, very close to the midline, and just anterior of the central sulcus.

CONCLUSIONS/SIGNIFICANCE

The present study examines the neuronal activity related to lower limb voluntary movements in M1 and find topographical information of various neurons tuned to different stages of the stand and squat task. This work may contribute to understanding the fundamental principles of neural control of lower limb movements. Especially, the topographical information suggests us where to implant the chronic microelectrode arrays to harvest the most quantity and highest quality neurons related to lower limb movements, which may accelerate to develop cortically controlled lower limb neuroprosthetics for spinal cord injury subjects.

Brain process for perception of the "out of the body" tactile illusion for virtual object interaction

"Out of the body" tactile illusion refers to the phenomenon in which one can perceive tactility as if emanating from a location external to the body without any stimulator present there. Taking advantage of such a tactile illusion is one way to provide and realize richer interaction feedback without employing and placing actuators directly at all stimulation target points. However, to further explore its potential, it is important to better understand the underlying physiological and neural mechanism. As such, we measured the brain wave patterns during such tactile illusion and mapped out the corresponding brain activation areas. Participants were given stimulations at different levels with the intention to create veridical (i.e., non-illusory) and phantom sensations at different locations along an external hand-held virtual ruler. The experimental data and analysis indicate that both veridical and illusory sensations involve, among others, the parietal lobe, one of the most important components in the tactile information pathway. In addition, we found that as for the illusory sensation, there is an additional processing resulting in the delay for the ERP (event-related potential) and involvement by the limbic lobe. These point to regarding illusion as a memory and recognition task as a possible explanation. The present study demonstrated some basic understanding; how humans process "virtual" objects and the way associated tactile illusion is generated will be valuable for HCI (Human-Computer Interaction).

Objects tell us what action we can expect: dissociating brain areas for retrieval and exploitation of action knowledge during action observation in fMRI

Objects are reminiscent of actions often performed with them: knife and apple remind us on peeling the apple or cutting it. Mnemonic representations of object-related actions (action codes) evoked by the sight of an object may constrain and hence facilitate recognition of unrolling actions. The present fMRI study investigated if and how action codes influence brain activation during action observation. The average number of action codes (NAC) of 51 sets of objects was rated by a group of n = 24 participants. In an fMRI study, different volunteers were asked to recognize actions performed with the same objects presented in short videos. To disentangle areas reflecting the storage of action codes from those exploiting them, we showed object-compatible and object-incompatible (pantomime) actions. Areas storing action codes were considered to positively co-vary with NAC in both object-compatible and object-incompatible action; due to its role in tool-related tasks, we here hypothesized left anterior inferior parietal cortex (aIPL). In contrast, areas exploiting action codes were expected to show this correlation only in object-compatible but not incompatible action, as only object-compatible actions match one of the active action codes. For this interaction, we hypothesized ventrolateral premotor cortex (PMv) to join aIPL due to its role in biasing competition in IPL. We found left anterior intraparietal sulcus (IPS) and left posterior middle temporal gyrus (pMTG) to co-vary with NAC. In addition to these areas, action codes increased activity in object-compatible action in bilateral PMv, right IPS, and lateral occipital cortex (LO). Findings suggest that during action observation, the brain derives possible actions from perceived objects, and uses this information to shape action recognition. In particular, the number of expectable actions quantifies the activity level at PMv, IPL, and pMTG, but only PMv reflects their biased competition while observed action unfolds.

The role of left supplementary motor area in grip force scaling

Skilled tool use and object manipulation critically relies on the ability to scale anticipatorily the grip force (GF) in relation to object dynamics. This predictive behaviour entails that the nervous system is able to store, and then select, the appropriate internal representation of common object dynamics, allowing GF to be applied in parallel with the arm motor commands. Although psychophysical studies have provided strong evidence supporting the existence of internal representations of object dynamics, known as “internal models”, their neural correlates are still debated. Because functional neuroimaging studies have repeatedly designated the supplementary motor area (SMA) as a possible candidate involved in internal model implementation, we used repetitive transcranial magnetic stimulation (rTMS) to interfere with the normal functioning of left or right SMA in healthy participants performing a grip-lift task with either hand. TMS applied over the left, but not right, SMA yielded an increase in both GF and GF rate, irrespective of the hand used to perform the task, and only when TMS was delivered 130–180 ms before the fingers contacted the object. We also found that both left and right SMA rTMS led to a decrease in preload phase durations for contralateral hand movements. The present study suggests that left SMA is a crucial node in the network processing the internal representation of object dynamics although further experiments are required to rule out that TMS does not affect the GF gain. The present finding also further substantiates the left hemisphere dominance in scaling GF.

Cutaneous and periodontal inputs to the cerebellum of the naked mole-rat (Heterocephalus glaber)

The naked mole-rat (Heterocephalus glaber) is a small fossorial rodent with specialized dentition that is reflected by the large cortical area dedicated to representation of the prominent incisors. Due to naked mole-rats’ behavioral reliance on the incisors for digging and for manipulating objects, as well as their ability to move the lower incisors independently, we hypothesized that expanded somatosensory representations of the incisors would be present within the cerebellum in order to accommodate a greater degree of proprioceptive, cutaneous, and periodontal input. Multiunit electrophysiological recordings targeting the ansiform lobule were used to investigate tactile inputs from receptive fields on the entire body with a focus on the incisors. Similar to other rodents, a fractured somatotopy appeared to be present with discrete representations of the same receptive fields repeated within each folium of the cerebellum. These findings confirm the presence of somatosensory inputs to a large area of the naked mole-rat cerebellum with particularly extensive representations of the lower incisors and mystacial vibrissae. We speculate that these extensive inputs facilitate processing of tactile cues as part of a sensorimotor integration network that optimizes how sensory stimuli are acquired through active exploration and in turn adjusts motor outputs (such as independent movement of the lower incisors). These results highlight the diverse sensory specializations and corresponding brain organizational schemes that have evolved in different mammals to facilitate exploration of and interaction with their environment.

Brain mapping after prolonged cycling and during recovery in the heat

The aim of this study was to determine the effect of prolonged intensive cycling and postexercise recovery in the heat on brain sources of altered brain oscillations. After a max test and familiarization trial, nine trained male subjects (23 ± 3 yr; maximal oxygen uptake = 62.1 ± 5.3 ml·min(-1)·kg(-1)) performed three experimental trials in the heat (30°C; relative humidity 43.7 ± 5.6%). Each trial consisted of two exercise tasks separated by 1 h. The first was a 60-min constant-load trial, followed by a 30-min simulated time trial (TT1). The second comprised a 12-min simulated time trial (TT2). After TT1, active recovery (AR), passive rest (PR), or cold water immersion (CWI) was applied for 15 min. Electroencephalography was measured at baseline and during postexercise recovery. Standardized low-resolution brain electromagnetic tomography was applied to accurately pinpoint and localize altered electrical neuronal activity. After CWI, PR and AR subjects completed TT2 in 761 ± 42, 791 ± 76, and 794 ± 62 s, respectively. A prolonged intensive cycling performance in the heat decreased β activity across the whole brain. Postexercise AR and PR elicited no significant electrocortical differences, whereas CWI induced significantly increased β3 activity in Brodmann areas (BA) 13 (posterior margin of insular cortex) and BA 40 (supramarginal gyrus). Self-paced prolonged exercise in the heat seems to decrease β activity, hence representing decreased arousal. Postexercise CWI increased β3 activity at BA 13 and 40, brain areas involved in somatosensory information processing.

Neural response to movement of the hand and mouth in the secondary somatosensory cortex of Japanese monkeys during a simple feeding task

Neural activity was recorded in the secondary somatosensory cortex (SII) of macaque monkeys during a simple feeding task. Around the border between the representations of the hand and face in SII, we found neurons that became active during both retrieving with the hand and eating; 59% had receptive fields (RFs) in the hand/face and the remaining 41% had no RFs. Neurons that responded to touching objects were rarely found. This suggests their sensorimotor function rather than tactile object recognition.

Control strategies for the index finger of a tendon-driven hand

To understand how versatile dexterity is achieved in the human hand and to achieve it in a robotic form, we have constructed an anatomically correct testbed (ACT) hand. This paper focuses on the development of control strategies for the index finger motion and implementation of joint passive behavior in the ACT hand. A direct muscle position control and a force-optimized joint control are implemented for position tracking through muscle force control. The relationships between the muscle and joint motions play a critical role in both of the controllers and we implemented a Gaussian process regression technique to determine these relationships. Our experiments demonstrate that the direct muscle position controller allows for fast position tracking, while the force-optimized joint controller allows for the exploitation of actuation redundancy in the finger critical for this redundant system. We demonstrate that by implementing a passive force–length relationship at each muscle we are able to precisely match joint stiffness of the metacarpophalangeal (MCP) joint of the ACT to that of a human MCP joint. We also show the results from improved position tracking when implemented in the presence of passive muscle control schemes. The control schemes for position tracking and passive behavior are inspired by human neuromuscular control, and form the building blocks for developing future human-like control approaches.

Computational mechanisms of sensorimotor control

In order to generate skilled and efficient actions, the motor system must find solutions to several problems inherent in sensorimotor control, including nonlinearity, nonstationarity, delays, redundancy, uncertainty, and noise. We review these problems and five computational mechanisms that the brain may use to limit their deleterious effects: optimal feedback control, impedance control, predictive control, Bayesian decision theory, and sensorimotor learning. Together, these computational mechanisms allow skilled and fluent sensorimotor behavior.

Dissociation of brain areas associated with force production and stabilization during manipulation of unstable objects

Multifinger dexterous manipulation of unstable or deformable objects requires control of both direction and magnitude of fingertip force vectors. Our aim was to study the neuroanatomical correlates of these two distinct control functions. Brain activity was measured using functional magnetic resonance imaging while 16 male subjects (age: 26-42, M = 32, SD ± 4 years) compressed four springs representing a 2 × 2 factorial design with two levels of force and instability requirements. Significant activations associated with higher instability were located bilaterally in the precentral gyri, the postcentral gyrus, and the cerebellum. In the main effect for high force, activity was found in areas located in the primary motor regions contralateral to the active hand and bilaterally in the cerebellum. An overlap in activation between the two main effects was found bilaterally in the cerebellum (lobule VI). This study not only confirms a recently described bilateral fronto-parieto-cerebellar network for manipulation of increasingly unstable objects, but critically extends our understanding by describing its differentiated modulation with both force magnitude and instability requirements. Our results, therefore, expose a previously unrecognized and context-sensitive system of brain regions that enable dexterous manipulation for different force magnitude and instability requirements of the task.

Impaired prehension is associated with lesions of the superior and inferior hand representation within the human cerebellum

Impairment of patients with cerebellar disease in prehension is well recognized. So far specific localizations within the human cerebellum associated with the impairment have rarely been assessed. To address this question we performed voxel-based lesion symptom mapping (VLSM) in patients with chronic focal cerebellar lesions in relation to specific deficits in prehensile movements. Patients with stroke within the posterior inferior cerebellar artery territory (n = 13) or the superior cerebellar artery (SCA) territory (n = 7) and corresponding control subjects were included in the study. Participants reached out, grasped, and lifted an object with either the left or right hand and with fast or normal movement speed. Both kinematic and grip-force parameters were recorded. Magnetic resonance imaging anatomical scans of the cerebellum were acquired, and lesions were marked as regions of interest. For VLSM analysis, a nonparametric test (Brunner-Munzel) was applied. Cerebellar patients showed clear abnormalities in hand transport (impaired movement speed and straightness) and, to a lesser degree, in hand shaping (increased finger touch latencies) while grip function was preserved. Deficits were most prominent in patients with SCA lesions and for ipsilesional, fast movements. Disorders in hand transport may be more difficult to compensate than deficits in hand shaping and grip-force control in chronic focal lesions of the cerebellum because of higher demands on predictive control of interaction torques. Lesions of the superior cerebellar cortex (lobules IV, V, VI) were associated with slower hand transport, whereas lesions of both superior (lobules VI, V, VI) and inferior cerebellar cortex (lobules VII, VIII) were associated with impaired movement straightness. These findings show that both the superior and inferior hand representations within the cerebellum contribute to hand transport during prehensile movements; however, they may have a different functional role.

Evidence of validity in a new method for measurement of dexterity in children and adolescents

AIM

many everyday activities involve manipulation of objects with the fingertips. Impaired performance in manipulative tasks is common in neurodevelopmental disorders. Thus accurate assessment of an individual's ability to coordinate fingertip forces is important for planning treatment. We evaluated a recently developed assessment tool (the Strength-Dexterity Test), which is based on manipulation of unstable objects, in a paediatric population.

METHOD

a Rasch model was used to examine the validity and reliability of the Strength-Dexterity Test in a sample of 56 typically developing children and adolescents (30 males, 26 females; age range 4y 10mo-17y 3mo; mean age 9y 8mo, SD 3y 8mo). In addition, we examined how performance on this test relates to widely used tests for assessment of gross manual dexterity (assessed with the Box and Blocks Test) and finger strength measured with a pinch meter.

RESULTS

the constructs measured with the 78-item Strength-Dexterity Test include dexterity and strength, and form a unique unidimensional latent trait, named fingertip force coordination, that improves with age. The test has internal scale validity when applied to a typical paediatric population. Positive correlations (significant at p<0.001) were found among all three tests.

INTERPRETATION

we provide preliminary evidence of construct validity in the Strength-Dexterity Test. Our findings suggest that this test has the potential to be developed into a promising tool for assessing dexterity in children.

The cognitive neuroscience of prehension: recent developments

Prehension, the capacity to reach and grasp, is the key behavior that allows humans to change their environment. It continues to serve as a remarkable experimental test case for probing the cognitive architecture of goal-oriented action. This review focuses on recent experimental evidence that enhances or modifies how we might conceptualize the neural substrates of prehension. Emphasis is placed on studies that consider how precision grasps are selected and transformed into motor commands. Then, the mechanisms that extract action relevant information from vision and touch are considered. These include consideration of how parallel perceptual networks within parietal cortex, along with the ventral stream, are connected and share information to achieve common motor goals. On-line control of grasping action is discussed within a state estimation framework. The review ends with a consideration about how prehension fits within larger action repertoires that solve more complex goals and the possible cortical architectures needed to organize these actions.

Differential force scaling of fine-graded power grip force in the sensorimotor network

Force scaling in the sensorimotor network during generation and control of static or dynamic grip force has been the subject of many investigations in monkeys and human subjects. In human, the relationship between BOLD signal in cortical and subcortical regions and force still remains controversial. With respect to grip force, the modulation of the BOLD signal has been mostly studied for forces often reaching high levels while little attention has been given to the low range for which electrophysiological neuronal correlates have been demonstrated. We thus conducted a whole-brain fMRI study on the control of fine-graded force in the low range, using a power grip and three force conditions in a block design. Participants generated on a dynamometer visually guided repetitive force pulses (ca. 0.5 Hz), reaching target forces of 10%, 20%, and 30% of maximum voluntary contraction. Regions of interest analysis disclosed activation in the entire cortical and subcortical sensorimotor network and significant force-related modulation in several regions, including primary motor (M1) and somatosensory cortex, ventral premotor and inferior parietal areas, and cerebellum. The BOLD signal, however, increased monotonically with force only in contralateral M1 and ipsilateral anterior cerebellum. The remaining regions were activated with force in various nonlinear manners, suggesting that other factors such as visual input, attention, and muscle recruitment also modulate the BOLD signal in this visuomotor task. These findings demonstrate that various regions of the sensorimotor network participate differentially in the production and control of fine-graded grip forces.

Motor learning characterized by changing Lévy distributions

The probability distributions for changes in transverse plane fingertip speed are Lévy distributed in human pole balancing. Six subjects learned to balance a pole on their index finger over three sessions while sitting and standing. The Lévy or decay exponent decreased as a function of learning, showing reduced decay in the probability for large speed steps and was significantly smaller in the sitting condition. However, the probability distribution for changes in fingertip speed was truncated so that the probability for large steps was reduced in this condition. These results show a learning-induced tolerance for large speed step sizes and demonstrate that motor learning in continuous tasks may be characterized by changing distributions that reflect sensorimotor skill acquisition.

Gender Differences in Cognitive Control: an Extended Investigation of the Stop Signal Task

Men and women show important differences in clinical conditions in which deficits in cognitive control are implicated. We used functional magnetic resonance imaging to examine gender differences in the neural processes of cognitive control during a stop-signal task. We observed greater activation in men, compared to women, in a wide array of cortical and sub-cortical areas, during stop success (SS) as compared to stop error (SE). Conversely, women showed greater regional brain activation during SE > SS, compared to men. Furthermore, compared to women, men engaged the right inferior parietal lobule to a greater extent during post-SE go compared to post-go go trials. Women engaged greater posterior cingulate cortical activation than men during post-SS slowing in go trial reaction time (RT) but did not differ during post-SE slowing in go trial RT. These findings extended our previous results of gender differences in regional brain activation during response inhibition. The results may have clinical implications by, for instance, helping initiate studies to understand why women are more vulnerable to depression while men are more vulnerable to impulse control disorders.

Neural correlates of predictive and postdictive switching mechanisms for internal models

Switching of sensorimotor tasks may be classified into predictive switching based on contextual information and postdictive switching based on the error between sensorimotor feedback and predictions. We used functional neuroimaging to study the brain regions involved in each type of switching of internal models for visuomotor rotations (clockwise and counterclockwise rotations of visual feedback). The color of a cue presented before movement initiation corresponded to direction of rotation of the feedback in an instructed condition, but not in a noninstructed condition. Switching-related activity was identified as activity that transiently increased after the direction of rotation was changed. The switching-related activity in cue periods in the instructed condition, when a predictive switch is possible, was observed in the superior parietal lobule (SPL). However, the switching-related activity in feedback periods in the noninstructed condition, when prediction error is crucial for the postdictive switch, was observed in the inferior parietal lobule (IPL) and prefrontal cortex. The functional influence of the SPL on the lateral cerebellum, namely, a possible neural correlate for internal models, increased in the instructed condition, but the influence of the IPL on the cerebellum was increased in the noninstructed condition. We observed a rapid activity increase in the instructed condition and a gradual activity increase in the noninstructed condition mainly in the lateral occipito-temporal cortices (LOTC) and supplementary motor cortex (SMA). These results are consistent with separate mechanisms for predictive and postdictive switches and suggest that the LOTC and SMA receive output signals from appropriate internal models.

Sparse linear regression for reconstructing muscle activity from human cortical fMRI

In humans, it is generally not possible to use invasive techniques in order to identify brain activity corresponding to activity of individual muscles. Further, it is believed that the spatial resolution of non-invasive brain imaging modalities is not sufficient to isolate neural activity related to individual muscles. However, this study shows that it is possible to reconstruct muscle activity from functional magnetic resonance imaging (fMRI). We simultaneously recorded surface electromyography (EMG) from two antagonist muscles and motor cortices activity using fMRI, during an isometric task requiring both reciprocal activation and co-activation of the wrist muscles. Bayesian sparse regression was used to identify the parameters of a linear mapping from the fMRI activity in areas 4 (M1) and 6 (pre-motor, SMA) to EMG, and to reconstruct muscle activity in an independent test data set. The mapping obtained by the sparse regression algorithm showed significantly better generalization than those obtained from algorithms commonly used in decoding, i.e., support vector machine and least square regression. The two voxel sets corresponding to the activity of the antagonist muscles were intermingled but disjoint. They were distributed over a wide area of pre-motor cortex and M1 and not limited to regions generally associated with wrist control. These results show that brain activity measured by fMRI in humans can be used to predict individual muscle activity through Bayesian linear models, and that our algorithm provides a novel and non-invasive tool to investigate the brain mechanisms involved in motor control and learning in humans.

Vestibular Nuclei and Cerebellum Put Visual Gravitational Motion in Context

Animal survival in the forest, and human success on the sports field, often depend on the ability to seize a target on the fly. All bodies fall at the same rate in the gravitational field, but the corresponding retinal motion varies with apparent viewing distance. How then does the brain predict time-to-collision under gravity? A perspective context from natural or pictorial settings might afford accurate predictions of gravity's effects via the recovery of an environmental reference from the scene structure. We report that embedding motion in a pictorial scene facilitates interception of gravitational acceleration over unnatural acceleration, whereas a blank scene eliminates such bias. Functional magnetic resonance imaging (fMRI) revealed blood-oxygen-level-dependent correlates of these visual context effects on gravitational motion processing in the vestibular nuclei and posterior cerebellar vermis. Our results suggest an early stage of integration of high-level visual analysis with gravity-related motion information, which may represent the substrate for perceptual constancy of ubiquitous gravitational motion.

Endpoint stiffness of the arm is directionally tuned to instability in the environment

It has been shown that humans are able to selectively control the endpoint impedance of their arms when moving in an unstable environment. However, directional instability was only examined for the case in which the main contribution was from coactivation of biarticular muscles. The goal of this study was to examine whether, in general, the CNS activates the sets of muscles that contribute to selective control of impedance in particular directions. Subjects performed reaching movements in three differently oriented unstable environments generated by a robotic manipulandum. After subjects had learned to make relatively straight reaching movements in the unstable force field, the endpoint stiffness of the limb was measured at the midpoint of the movements. For each force field, the endpoint stiffness increased in a specific direction, whereas there was little change in stiffness in the orthogonal direction. The increase in stiffness was oriented along the direction of instability in the environment, which caused the major axis of the stiffness ellipse to rotate toward the instability in the environment. This study confirms that the CNS is able to control the endpoint impedance of the limbs and selectively adapt it to the environment. Furthermore, it supports the idea that the CNS incorporates an impedance controller that acts to ensure stability, reduce movement variability, and reduce metabolic cost.