Spatial invariance in anticipatory orienting behaviour during human navigation

Head control and head-trunk coordination as a function of anticipation in sidestepping

Head reorientation precedes body reorientation during direction change to facilitate gaze realignment, thus enhancing perceptual awareness. Whole body kinematics are dependent on the available planning time. The purpose of this study was to assess the role of anticipation on head control and head-trunk coordination during sidestepping tasks. Fourteen male collegiate athletes performed anticipated and unanticipated sidestepping tasks. Transverse plane head, trunk and heading direction, as well as head-trunk coordination were assessed. During change of direction tasks, we observed greater head orientation towards the new travel direction, followed by heading direction and then trunk direction during both anticipated and unanticipated tasks. With reduced planning time, heading in the preparatory phase and trunk rotation in the preparatory and stance phases were significantly less oriented towards the new travel direction, with no differences in head rotation. During anticipated sidestepping, significantly greater in-phase coordination was observed during the preparatory phase compared to unanticipated sidestepping. Head reorientation facilitates gaze realignment and may be prioritized irrespective of planning time during sidestepping tasks. During anticipated trials, the head and trunk move more synchronously compared to unanticipated sidestepping, highlighting the potential benefits of aligning the degrees of freedom earlier in the change of direction stride and optimizing perceptual awareness.

Between-site equivalence of turning speed assessments using inertial measurement units

BACKGROUND

Turning is a component of gait that requires planning for movement of multiple body segments and the sophisticated integration of sensory information from the vestibular, visual, and somatosensory systems. These aspects of turning have led to growing interest to quantify turning in clinical populations to characterize deficits or identify disease progression. However, turning may be affected by environmental differences, and the degree to which turning assessments are comparable across research or clinical sites has not yet been evaluated.

RESEARCH QUESTION

The aim of this study was to determine the extent to which peak turning speeds are equivalent between two sites for a variety of mobility tasks.

METHODS

Data were collected at two different sites using separate healthy young adult participants (n = 47 participants total), but recruited using identical inclusion and exclusion criteria. Participants at each site completed three turning tasks: a one-minute walk (1 MW) along a six-meter walkway, a modified Illinois Agility Test (mIAT), and a custom clinical turning course (CCTC). Peak yaw turning speeds were extracted from wearable inertial sensors on the head, trunk, and pelvis. Between-site differences and two one-sided tests (TOST) were used to determine equivalence between sites, based on a minimum effect size reported between individuals with mild traumatic brain injury and healthy control subjects.

RESULTS

No outcomes were different between sites, and equivalence was determined for 6/21 of the outcomes. These findings suggest that some turning tasks and outcome measures may be better suited for multi-site studies. The equivalence results are also dependent on the minimum effect size of interest; nearly all outcomes were equivalent across sites when larger minimum effect sizes of interest were used.

SIGNIFICANCE

Together, these results suggest some tasks and outcome measures may be better suited for multi-site studies and literature-based comparisons.

Modeling and Simulation of Pedestrian Movement Planning Around Corners

: Owing to the complexity of behavioral dynamics and mechanisms associated with turning maneuvers, capturing pedestrian movements around corners in a mathematical model is a challenging task. In this study, minimum jerk and one-thirds power law concepts, which have been initially applied in neurosciences and brain research domains, were utilized in combination to model pedestrian movement planning around bends. Simulation outputs explained that the proposed model could realistically represent the behavioral characteristics of pedestrians walking through bends. Comparison of modeled trajectories with empirical data demonstrated that the accuracy of the model could further be improved by using appropriate parameters in the one-thirds power law equation. Sensitivity analysis explained that, although the paths were not sensitive to the boundary conditions, speed and acceleration profiles could be remarkably varied depending on boundary conditions. Further, the applicability of the proposed model to estimate trajectories of pedestrians negotiating bends under different entry, intermediate, and exit conditions was also identified. The proposed model can be applied in microscopic simulation platforms, virtual reality, and driving simulator applications to provide realistic and accurate maneuvers around corners.

Walking Along Curved Trajectories. Changes With Age and Parkinson's Disease. Hints to Rehabilitation

In this review, we briefly recall the fundamental processes allowing us to change locomotion trajectory and keep walking along a curved path and provide a review of contemporary literature on turning in older adults and people with Parkinson's Disease (PD). The first part briefly summarizes the way the body exploits the physical laws to produce a curved walking trajectory. Then, the changes in muscle and brain activation underpinning this task, and the promoting role of proprioception, are briefly considered. Another section is devoted to the gait changes occurring in curved walking and steering with aging. Further, freezing during turning and rehabilitation of curved walking in patients with PD is mentioned in the last part. Obviously, as the research on body steering while walking or turning has boomed in the last 10 years, the relevant critical issues have been tackled and ways to improve this locomotor task proposed. Rationale and evidences for successful training procedures are available, to potentially reduce the risk of falling in both older adults and patients with PD. A better understanding of the pathophysiology of steering, of the subtle but vital interaction between posture, balance, and progression along non-linear trajectories, and of the residual motor learning capacities in these cohorts may provide solid bases for new rehabilitative approaches.

Stroke Affects the Coordination of Gaze and Posture During Preplanned Turns While Walking

Background In healthy subjects, the act of walking and turning is accomplished by a sequential horizontal reorientation of gaze, head, and body toward the direction of the turn. Subjects with stroke, however, have difficulty altering their walking direction and present with loss of balance when performing a head turn or whole body rotation.

Objective. To study, in a pilot case study, the spatial and temporal coordination of gaze and posture during preplanned turns executed while walking in severely disabled and mildly disabled subjects with stroke as compared to a healthy control walking at slow speed.

Methods. Horizontal plane orientations of gaze, head, thorax, pelvis, and feet as well as the body’s center of mass (CoM) trajectory were analyzed as subjects were walking straight or executing a 90-deg turn.

Results. Subjects with stroke revealed altered orientation and sequencing of gaze body segments. These alterations were more pronounced in the most severely disabled subject with stroke, especially when turning to the nonparetic side as compared to the paretic side.

Conclusions. These findings suggest an altered coordination of gaze and posture during steering of locomotion in subjects with stroke. This altered coordination is likely due to a complex interaction of motor, sensory, and biomechanical factors that may explain the poor balance and poor control of heading direction during walking and turning in stroke.

Eye movements in the wild: Oculomotor control, gaze behavior & frames of reference

Understanding the brain's capacity to encode complex visual information from a scene and to transform it into a coherent perception of 3D space and into well-coordinated motor commands are among the outstanding questions in the study of integrative brain function. Eye movement methodologies have allowed us to begin addressing these questions in increasingly naturalistic tasks, where eye and body movements are ubiquitous and, therefore, the applicability of most traditional neuroscience methods restricted. This review explores foundational issues in (1) how oculomotor and motor control in lab experiments extrapolates into more complex settings and (2) how real-world gaze behavior in turn decomposes into more elementary eye movement patterns. We review the received typology of oculomotor patterns in laboratory tasks, and how they map onto naturalistic gaze behavior (or not). We discuss the multiple coordinate systems needed to represent visual gaze strategies, how the choice of reference frame affects the description of eye movements, and the related but conceptually distinct issue of coordinate transformations between internal representations within the brain.

Anticipatory control and spatial cognition in locomotion and navigation through typical development and in cerebral palsy

Behavioural evidence, summarized in this narrative review, supports a developmental model of locomotor control based on increasing neural integration of spatial reference frames. Two consistent adult locomotor behaviours are head stabilization and head anticipation: the head is stabilized to gravity and leads walking direction. This cephalocaudal orienting organization aligns gaze and vestibula with a reference frame centred on the upcoming walking direction, allowing anticipatory control on body kinematics, but is not fully developed until adolescence. Walking trajectories and those of hand movements share many aspects, including power laws coupling velocity to curvature, and minimized spatial variability. In fact, the adult brain can code trajectory geometry in an allocentric reference frame, irrespective of the end effector, regulating body kinematics thereafter. Locomotor trajectory formation, like head anticipation, matures in early adolescence, indicating common neurocomputational substrates. These late-developing control mechanisms can be distinguished from biomechanical problems in children with cerebral palsy (CP). Children's performance on a novel navigation test, the Magic Carpet, indicates that typical navigation development consists of the increasing integration of egocentric and allocentric reference frames. In CP, right-brain impairment seems to reduce navigation performance due to a maladaptive left-brain sequential egocentric strategy. Spatial integration should be considered more in rehabilitation.

Walking paths to and from a goal differ: on the role of bearing angle in the formation of human locomotion paths

The path that humans take while walking to a goal is the result of a cognitive process modulated by the perception of the environment and physiological constraints. The path shape and timing implicitly embeds aspects of the architecture behind this process. Here, locomotion paths were investigated during a simple task of walking to and from a goal, by looking at the evolution of the position of the human on a horizontal (x,y) plane. We found that the path while walking to a goal was not the same as that while returning from it. Forward-return paths were systematically separated by 0.5-1.9m, or about 5% of the goal distance. We show that this path separation occurs as a consequence of anticipating the desired body orientation at the goal while keeping the target in view. The magnitude of this separation was strongly influenced by the bearing angle (difference between body orientation and angle to goal) and the final orientation imposed at the goal. This phenomenon highlights the impact of a trade-off between a directional perceptual apparatus—eyes in the head on the shoulders—and and physiological limitations, in the formation of human locomotion paths. Our results give an insight into the influence of environmental and perceptual variables on human locomotion and provide a basis for further mathematical study of these mechanisms.

Allocentric directional processing in the rodent and human retrosplenial cortex

Head direction (HD) cells in the rodent brain have been investigated for a number of years, providing us with a detailed understanding of how the rodent brain codes for allocentric direction. Allocentric direction refers to the orientation of the external environment, independent of one's current (egocentric) orientation. The presence of neural activity related to allocentric directional coding in humans has also been noted but only recently directly tested. Given the current status of both fields, it seems beneficial to draw parallels between this rodent and human research. We therefore discuss how findings from the human retrosplenial cortex (RSC), including its "translational function" (converting egocentric to allocentric information) and ability to code for permanent objects, compare to findings from the rodent RSC. We conclude by suggesting critical future experiments that derive from a cross-species approach to understanding the function of the human RSC.

Kinematic evaluation of virtual walking trajectories

Virtual walking, a fundamental task in Virtual Reality (VR), is greatly influenced by the locomotion interface being used, by the specificities of input and output devices, and by the way the virtual environment is represented. No matter how virtual walking is controlled, the generation of realistic virtual trajectories is absolutely required for some applications, especially those dedicated to the study of walking behaviors in VR, navigation through virtual places for architecture, rehabilitation and training. Previous studies focused on evaluating the realism of locomotion trajectories have mostly considered the result of the locomotion task (efficiency, accuracy) and its subjective perception (presence, cybersickness). Few focused on the locomotion trajectory itself, but in situation of geometrically constrained task. In this paper, we study the realism of unconstrained trajectories produced during virtual walking by addressing the following question: did the user reach his destination by virtually walking along a trajectory he would have followed in similar real conditions? To this end, we propose a comprehensive evaluation framework consisting on a set of trajectographical criteria and a locomotion model to generate reference trajectories. We consider a simple locomotion task where users walk between two oriented points in space. The travel path is analyzed both geometrically and temporally in comparison to simulated reference trajectories. In addition, we demonstrate the framework over a user study which considered an initial set of common and frequent virtual walking conditions, namely different input devices, output display devices, control laws, and visualization modalities. The study provides insight into the relative contributions of each condition to the overall realism of the resulting virtual trajectories.

Effect of temporal organization of the visuo-locomotor coupling on the predictive steering

Studies on the direction of a driver’s gaze while taking a bend show that the individual looks toward the tangent-point of the inside curve. Mathematically, the direction of this point in relation to the car enables the driver to predict the curvature of the road. In the same way, when a person walking in the street turns a corner, his/her gaze anticipates the rotation of the body. A current explanation for the visuo-motor anticipation over the locomotion would be that the brain, involved in a steering behavior, executes an internal model of the trajectory that anticipates the completion of the path, and not the contrary. This paper proposes to test this hypothesis by studying the effect of an artificial manipulation of the visuo-locomotor coupling on the trajectory prediction. In this experiment, subjects remotely control a mobile robot with a pan-tilt camera. This experimental paradigm is chosen to manipulate in an easy and precise way the temporal organization of the visuo-locomotor coupling. The results show that only the visuo-locomotor coupling organized from the visual sensor to the locomotor organs enables (i) a significant smoothness of the trajectory and (ii) a velocity-curvature relationship that follows the “2/3 Power Law.” These findings are consistent with the theory of an anticipatory construction of an internal model of the trajectory. This mental representation used by the brain as a forward prediction of the formation of the path seems conditioned by the motor program. The overall results are discussed in terms of the sensorimotor scheme bases of the predictive coding.

Human locomotion through a multiple obstacle environment: strategy changes as a result of visual field limitation

This study investigated how human locomotion through an obstacle environment is influenced by visual field limitation. Participants were asked to walk at a comfortable pace to a target location while avoiding multiple vertical objects. During this task, they wore goggles restricting their visual field to small (S: 40°×25°), medium (M: 80°×60°), large (L: 115°×90°), or unlimited (U) visual field sizes. Full-body motion capture was used to extract for each trial the mean speed, pathlength, mean step width, magnitude of head rotation and head mean angular speed. The results show that compared with the U condition, the M and L conditions caused participants to select a wider path around the obstacles without slowing down or altering step width. However, the S condition did slow down the participants, and increased both their step width and path length. We conclude that only for the S condition, balancing problems were substantial enough to spend more energy associated with increased step width. In all cases, participants choose to optimize safety (collision avoidance) at the cost of spending more energy.

Dissociable cognitive mechanisms underlying human path integration

Path integration is a fundamental mechanism of spatial navigation. In non-human species, it is assumed to be an online process in which a homing vector is updated continuously during an outward journey. In contrast, human path integration has been conceptualized as a configural process in which travelers store working memory representations of path segments, with the computation of a homing vector only occurring when required. To resolve this apparent discrepancy, we tested whether humans can employ different path integration strategies in the same task. Using a triangle completion paradigm, participants were instructed either to continuously update the start position during locomotion (continuous strategy) or to remember the shape of the outbound path and to calculate home vectors on basis of this representation (configural strategy). While overall homing accuracy was superior in the configural condition, participants were quicker to respond during continuous updating, strongly suggesting that homing vectors were computed online. Corroborating these findings, we observed reliable differences in head orientation during the outbound path: when participants applied the continuous updating strategy, the head deviated significantly from straight ahead in direction of the start place, which can be interpreted as a continuous motor expression of the homing vector. Head orientation-a novel online measure for path integration-can thus inform about the underlying updating mechanism already during locomotion. In addition to demonstrating that humans can employ different cognitive strategies during path integration, our two-systems view helps to resolve recent controversies regarding the role of the medial temporal lobe in human path integration.

Coordination of segments reorientation during on-the-spot turns in healthy older adults in eyes-open and eyes-closed conditions

Turning has frequent occurrence in everyday activities. Despite the prevalence of turning in everyday life and the challenge it poses to older adults, there is far less known about the multisegmental control of turning than the control of standing and straight walking, especially in elderly individuals. The purpose of this study was to examine the timing and sequence of segments reorientation in healthy older adults during 90° on-the-spot turns. The role of vision on segments coordination was also examined by testing the participants in eyes-open and eyes-closed conditions. When turning on-the-spot, healthy elderly reoriented their head, shoulder and pelvis simultaneously, followed by foot displacement. This was a robust behavior not affected by visual condition. Axial segments turned slower and more synchronously when vision was not available. While all segments started to turn together in both visual conditions, head turned faster and reached its peak velocity earlier than shoulder and pelvis. However, the difference in segmental velocity and the time to reach the peak velocity was smaller in eyes-closed than eyes-open condition. Without vision, the functional importance of a faster head turn is diminished. Participants may have adopted a tighter control of segments to simplify the control of movement by reducing the degrees of freedom.

Gaze and Postural Reorientation in the Control of Locomotor Steering After Stroke

Background. Steering of locomotion is a complex task involving stabilizing and anticipatory orienting behavior essential for the maintenance of balance and for establishing a stable frame of reference for future motor and sensory events. How these mechanisms are affected by stroke remains unknown. Objectives. To compare locomotor steering behavior between stroke and healthy individuals and to determine whether steering abilities are influenced by walking speed, turning direction and walking capacity in stroke individuals. Methods. Gaze and body kinematics were recorded in 8 stroke and 7 healthy individuals while walking and turning in response to a visual cue. Horizontal orientation of gaze, head, thorax, pelvis, and feet with respect to spatial and heading coordinates were examined. Results. Temporal and spatial coordination of gaze and body movements revealed stabilizing and anticipatory orienting mechanisms in the healthy individuals. Changing walking speed affected the onset time but not the sequencing of segment reorientation. In the individuals with stroke, abnormally large and uncoordinated head and gaze motion were observed. The sequence of gaze, head, thorax and pelvis horizontal reorientation also was also disrupted. Alterations in orienting behaviors were more pronounced at the slowest walking speeds and turning to the nonparetic side in 3 of the most severely disabled individuals. Conclusion. The results in this convenience sample of slow and faster walkers suggest that stroke alters the stabilizing and orienting behavior during steering of locomotion. Such alterations are not caused by the inherently slow walking speed, but rather by a combination of biomechanical factors and defective sensorimotor integration, including altered vestibulo-ocular reflexes.

Walking along curved paths of different angles: the relationship between head and trunk turning

Walking along a curved path requires coordinated motor actions of the entire body. Here, we investigate the relationship between head and trunk movements during walking. Previous studies have found that the head systematically turns into turns before the trunk does. This has been found to occur at a constant distance rather than at a constant time before a turn. We tested whether this anticipatory head behavior is spatially invariant for turns of different angles. Head and trunk positions and orientations were measured while participants walked around obstacles in 45 degrees, 90 degrees, 135 degrees or 180 degrees turns. The radius of the turns was either imposed or left free. We found that the head started to turn into the direction of the turn at a constant distance before the obstacle (approximately 1.1 m) for turn angles up to 135 degrees . During turns, the head was consistently oriented more into the direction of the turn than the trunk. This difference increased for larger turning angles and reached its maximum later in the turn for larger turns. Walking speeds decreased monotonically for increasing turn angles. Imposing fixed turn radii only affected the point at which the trunk started to turn into a turn. Our results support the view that anticipatory head movements during turns occur in order to gather advance visual information about the trajectory and potential obstacles.

Fractionating dead reckoning: role of the compass, odometer, logbook, and home base establishment in spatial orientation

Rats use multiple sources of information to maintain spatial orientation. Although previous work has focused on rats' use of environmental cues, a growing number of studies have demonstrated that rats also use self-movement cues to organize navigation. This review examines the extent that kinematic analysis of naturally occurring behavior has provided insight into processes that mediate dead-reckoning-based navigation. This work supports a role for separate systems in processing self-movement cues that converge on the hippocampus. The compass system is involved in deriving directional information from self-movement cues; whereas, the odometer system is involved in deriving distance information from self-movement cues. The hippocampus functions similar to a logbook in that outward path unique information from the compass and odometer is used to derive the direction and distance of a path to the point at which movement was initiated. Finally, home base establishment may function to reset this system after each excursion and anchor environmental cues to self-movement cues. The combination of natural behaviors and kinematic analysis has proven to be a robust paradigm to investigate the neural basis of spatial orientation.

Velocity/curvature relations along a single turn in human locomotion

Neuroscientific approaches have provided an important invariant linking kinematics and geometry in locomotion: a power law controls the relation between radius of curvature and velocity of the trajectory followed. However, these trajectories are predefined and cyclic. Consequently, they cannot be considered as fully natural. We investigate whether this relationship still exists in one unconstrained turn, which can be compared to an everyday life movement. Two different approaches were developed: an intra-individual one along each turn of each trial and an inter-individual one based on a specific instant for which a subject's trajectory goes through its maximal curvature. Eleven subjects performed turns at three gait speeds (natural, slow, fast). The intra-individual approach did not lead to any power law between velocity and curvature along one single trial. Notwithstanding, the inter-individual approach showed a power law between the whole couples "minimal radius of curvature/associated velocity". Thus, the speed/curvature relation is more a "long term" motor control law linked to the turning task goal rather than a "short term" one dealing with trajectory following all the time of the motion.

Kinematics of podokinetic after-rotation: similarities to voluntary turning and potential clinical implications

We examined the kinematics of voluntary turning in place at three different speeds and of inadvertent turning in place during attempts to step in place following stepping on a rotating disc (podokinetic after-rotation, PKAR). We hypothesized that voluntary turning in place, like online turning during walking, would be characterized by a top-down sequence of yaw rotations in the direction of the turn, i.e. the head would rotate first, followed by the trunk and then the foot. We also hypothesized that in place PKAR would be characterized by a bottom-up sequence of yaw rotations, i.e. the foot would rotate first, followed by the trunk and the head. The alternative possibility was that PKAR, like voluntary turning, would be initiated by the head and trunk and the foot would rotate last. As expected, voluntary turning in place was characterized by a top-down sequence similar to that noted previously during online turning in the midst of walking. Turning velocity did not alter the sequence of rotations in voluntary turning. In place PKAR was also characterized by a top-down sequence, indicating that PKAR may access the same neural circuits employed during voluntary turning. These data suggest that the rotating treadmill may be a useful training tool for addressing difficulties with turning that are experienced by individuals with Parkinson disease (PD).

Head motion in humans alternating between straight and curved walking path: combination of stabilizing and anticipatory orienting mechanisms

Anticipatory head orientation relative to walking direction was investigated in humans. Subjects were asked to walk along a 20 m perimeter, figure of eight. The geometry of this path required subjects to steer their body according to both curvature variations (alternate straight with curved walking) and walking direction (clock wise and counter clock wise). In agreement with previous results obtained during different locomotor tasks [R. Grasso, S. Glasauer, Y. Takei, A. Berthoz, The predictive brain: anticipatory control of head direction for the steering of locomotion, NeuroReport 7 (1996) 1170-1174; R. Grasso, P. Prevost, Y.P. Ivanenko, A. Berthoz, Eye-head coordination for the steering of locomotion in humans: an anticipatory synergy, Neurosci. Lett. 253 (2) (1998) 115-118; T. Imai, S.T. Moore, T. Raphan, B. Cohen, Interaction of body, head, and eyes during walking and turning, Exp. Brain Res. 136 (2001) 1-18; P. Prevost, Y. Ivanenko, R. Grasso, A. Berthoz, Spatial invariance in anticipatory orienting behaviour during human navigation, Neurosci. Lett. 339 (2002) 243-247; G. Courtine, M. Schieppati, Human walking along a curved path. I. Body trajectory, segment orientation and the effect of vision, Eur. J. Neurosci. 18 (2003) 177-190], the head turned toward the future walking direction. This anticipatory head behaviour was continuously modulated by the geometrical variations of the path. Two main components were observed in the anticipatory head behaviour. One was related to the geometrical form of the path, the other to the transfer of body mass from one foot to the other during stepping. A clear modulation of the head deviation pattern was observed between walking on curved versus straight parts of the path: head orientation was influenced to a lesser extent by step alternation for curved path where a transient head fixation was observed. We also observed good symmetry in the head deviation profile, i.e. the head tended to anticipate the future walking direction with the same amplitude when turning to the left (29.75 +/- 7.41 degrees of maximum head deviation) or to the right (30.86 +/- 9.92 degrees ). These findings suggest a combination of motor strategies underlying head stabilization in space and more global orienting mechanisms for steering the whole body in the desired direction.