Immediate tool incorporation processes determine human motor planning with tools

Embodiment modifies attention allotment for the benefit of dual task performance

Many everyday tasks, like walking down a street, require us to dual task to also avoid collisions of our swinging arms with other pedestrians. The collision avoidance is possible with ease because humans attend to all our (embodied) limbs. But how does the level of embodiment affect attention distribution, and consequently task performance in dual tasks? Here we examined this question with a dual task that required participants to perform a cued button-press (main task) with their right hand, while reacting to possible collisions by a moving object with a left 'robot' hand (secondary task). We observed that participants consistently improve main task performance when they perceived the robot hand to be embodied, compared to when they don't. The secondary task performance could be maintained in both cases. Our results suggest that embodiment of a limb modifies attention allotment for the benefit of dual motor task performance using limbs.

Shared mechanisms underlie mental imagery and motor planning

Many studies have associated mental imagery with motor control mechanisms by showing mutually active brain areas and functions, as well as similar temporal patterns of imagining and executing the same motor actions. One of the main conjectured mutual mechanisms is the Cerebellar forward-model, commonly believed to generate sensory predictions as part of both motor control and mental imagery processes. Nevertheless, trials to associate one’s overall individual mental and motor capacities have shown only mild and inconsistent correlations, hence challenging the mutual mechanism assumption. We hypothesized that one cause to this inconsistency is the forward-model’s dominance in the motor-planning stage only when adapting to novel sensorimotor environments, while the inverse-model is gradually taking the lead along the adaptation, and therefore biasing most attempts to measure motor-mental overlapping functions and correlate these measurements under regular circumstances. Our current study aimed to tackle and explore this gap using immersive virtual embodiment, by applying an experience of a fundamental sensorimotor conflict, thereby manipulating the sensory prediction mechanism, and presumably forcing an increased involvement of the forward-model in the motor planning stage throughout the experiment. In the study, two groups of subjects (n = 48) performed mental and manual rotation within an immersive, motion-captured, virtual reality environment, while the sensorimotor dynamics of only the test group were altered by physical-virtual speed re-mapping making the virtual hand move twice as fast as the physical hand controlling it. Individual mental imagery capacities were assessed before and after three blocks of manual-rotation, where motor planning durations were measured as the time until motion onset. The results show that virtual sensorimotor alteration extremely increases the correlation of mental imagery and motor planning (r = 0.9, p < .0001) and leads to higher mental imagery performance improvement following the physical blocks. We particularly show that virtual embodiment manipulation affects the motor planning stage to change and functionally overlap with imagery mechanisms, rather than the other way around, which supports our conjecture of an increased sensory-prediction forward-model involvement. Our results shed new light on the embodied nature of mental imagery, support the view of the predictive forward-model as a key mechanism mutually underlying motor control and imagery, and suggest virtual sensorimotor alteration as a novel methodology to increase physical-mental convergence. These findings also suggest the applicability of using existing motion-tracked virtual environments for continuous cognitive evaluation and treatment, through kinematic analysis of ongoing natural motor behaviors.

Bodily ownership of an independent supernumerary limb: an exploratory study

Can our brain perceive a sense of ownership towards an independent supernumerary limb; one that can be moved independently of any other limb and provides its own independent movement feedback? Following the rubber-hand illusion experiment, a plethora of studies have shown that the human representation of “self” is very plastic. But previous studies have almost exclusively investigated ownership towards “substitute” artificial limbs, which are controlled by the movements of a real limb and/or limbs from which non-visual sensory feedback is provided on an existing limb. Here, to investigate whether the human brain can own an independent artificial limb, we first developed a novel independent robotic “sixth finger.” We allowed participants to train using the finger and examined whether it induced changes in the body representation using behavioral as well as cognitive measures. Our results suggest that unlike a substitute artificial limb (like in the rubber hand experiment), it is more difficult for humans to perceive a sense of ownership towards an independent limb. However, ownership does seem possible, as we observed clear tendencies of changes in the body representation that correlated with the cognitive reports of the sense of ownership. Our results provide the first evidence to show that an independent supernumerary limb can be embodied by humans.

Experience-Dependent Modulation of Rubber Hand Illusion in Badminton Players

Badminton players have a plastic modification of their arm representation in the brain due to the prolonged use of their racket. However, it is not known whether their arm representation can be altered through short-term visuotactile integration. The neural representation of the body is easily altered when multiple sensory signals are integrated in the brain. One of the most popular experimental paradigms for investigating this phenomenon is the "rubber hand illusion." This study was designed to investigate the effect of prolonged use of a racket on the modulation of arm representation during the rubber hand illusion in badminton players. When badminton players hold the racket, their badminton experience in years is negatively correlated with the magnitude of the rubber hand illusion. This finding suggests that tool embodiment obtained by the prolonged use of the badminton racket is less likely to be disturbed when holding the racket.

Body schema plasticity is altered in Developmental Coordination Disorder

Developmental Coordination Disorder (DCD) is a pathological condition characterized by impaired motor skills. Current theories advance that a deficit of the internal models is mainly responsible for DCD children's altered behavior. Yet, accurate movement execution requires not only correct movement planning, but also integration of sensory feedback into body representation for action (Body Schema) to update the state of the body. Here we advance and test the hypothesis that the plasticity of this body representation is altered in DCD. To probe Body Schema (BS) plasticity, we submitted a well-established tool-use paradigm to seventeen DCD children, required to reach for an object with their hand before and after tool use, and compared their movement kinematics to that of a control group of Typically Developing (TD) peers. We also asked both groups to provide explicit estimates of their arm length to probe plasticity of their Body Image (BI). Results revealed that DCD children explicitly judged their arm shorter after tool use, showing changes in their BI comparable to their TD peers. Unlike them, though, DCD did not update their implicit BS estimate: kinematics showed that tool use affected their peak amplitudes, but not their latencies. Remarkably, the kinematics of tool use showed that the motor control of the tool was comparable between groups, both improving with practice, confirming that motor learning abilities are preserved in DCD. This study thus brings evidence in favor of an alternative theoretical account of the DCD etiology. Our findings point to a deficit in the plasticity of the body representation used to plan and execute movements. Though not mutually exclusive, this widens the theoretical perspective under which DCD should be considered: DCD may not be limited to a problem affecting the internal models and their motor functions, but may concern the state of the effector they have to use.

The long developmental trajectory of body representation plasticity following tool use

Humans evolution is distinctly characterized by their exquisite mastery of tools, allowing them to shape their environment in more elaborate ways compared to other species. This ability is present ever since infancy and most theories indicate that children become proficient with tool use very early. In adults, tool use has been shown to plastically modify metric aspects of the arm representation, as indexed by changes in movement kinematics. To date, whether and when the plastic capability of updating the body representation develops during childhood remains unknown. This question is particularly important since body representation plasticity could be impacted by the fact that the human body takes years to achieve a stable metric configuration. Here we assessed the kinematics of 90 young participants (8-21 years old) required to reach for an object before and after tool use, as a function of their pubertal development. Results revealed that tool incorporation, as indexed by the adult typical kinematic pattern, develops very slowly and displays a u-shaped developmental trajectory. From early to mid puberty, the changes in kinematics following tool use seem to reflect a shortened arm representation, opposite to what was previously reported in adults. This pattern starts reversing after mid puberty, which is characterized by the lack of any kinematics change following tool use. The typical adult-like pattern emerges only at late puberty, when body size is stable. These findings reveal the complex dynamics of tool incorporation across development, possibly indexing the transition from a vision-based to a proprioception-based body representation plasticity.

Analogous adaptations in speed, impulse and endpoint stiffness when learning a real and virtual insertion task with haptic feedback

Humans have the ability to use a diverse range of handheld tools. Owing to its versatility, a virtual environment with haptic feedback of the force is ideally suited to investigating motor learning during tool use. However, few simulators exist to recreate the dynamic interactions during real tool use, and no study has compared the correlates of motor learning between a real and virtual tooling task. To this end, we compared two groups of participants who either learned to insert a real or virtual tool into a fixture. The trial duration, the movement speed, the force impulse after insertion and the endpoint stiffness magnitude decreased as a function of trials, but they changed at comparable rates in both environments. A ballistic insertion strategy observed in both environments suggests some interdependence when controlling motion and controlling interaction, contradicting a prominent theory of these two control modalities being independent of one another. Our results suggest that the brain learns real and virtual insertion in a comparable manner, thereby supporting the use of a virtual tooling task with haptic feedback to investigate motor learning during tool use.

Online proprioception feeds plasticity of arm representation following tool-use in healthy aging

Following tool-use, the kinematics of free-hand movements are altered. This modified kinematic pattern has been taken as a behavioral hallmark of the modification induced by tool-use on the effector representation. Proprioceptive inputs appear central in updating the estimated effector state. Here we questioned whether online proprioceptive modality that is accessed in real time, or offline, memory-based, proprioception is responsible for this update. Since normal aging affects offline proprioception only, we examined a group of 60 year-old adults for proprioceptive acuity and movement's kinematics when grasping an object before and after tool-use. As a control, participants performed the same movements with a weight-equivalent to the tool-weight-attached to their wrist. Despite hampered offline proprioceptive acuity, 60 year-old participants exhibited the typical kinematic signature of tool incorporation: Namely, the latency of transport components peaks was longer and their amplitude reduced after tool-use. Instead, we observed no kinematic modifications in the control condition. In addition, online proprioception acuity correlated with tool incorporation, as indexed by the amount of kinematics changes observed after tool-use. Altogether, these findings point to the prominent role played by online proprioception in updating the body estimate for the motor control of tools.

Water and Sodium Chloride: Essential Ingredients for Robust and Fast Pd-Catalysed Cross-Coupling Reactions between Organolithium Reagents and (Hetero)aryl Halides

Direct palladium-catalysed cross-couplings between organolithium reagents and (hetero)aryl halides (Br, Cl) proceed fast, cleanly and selectively at room temperature in air, with water as the only reaction medium and in the presence of NaCl as a cheap additive. Under optimised reaction conditions, a water-accelerated catalysis is responsible for furnishing C(sp³ )-C(sp² ), C(sp² )-C(sp² ), and C(sp)-C(sp² ) cross-coupled products, in competition with protonolysis, within a reaction time of 20 s, in yields of up to 99 %, and in the absence of undesired dehalogenated/homocoupling side products even when challenging secondary organolithiums serve as the starting material. It is worth noting that the proposed protocol is scalable and the catalyst and water can easily and successfully be recycled up to 10 times, with an E-factor as low as 7.35.

Clustering of Directions Improves Goodness of Fit in Kinematic Data Collected in the Transverse Plane During Robot-Assisted Rehabilitation of Stroke Patients

The kinematic character of hand trajectory in reaching tasks varies by movement direction. Often, direction is not included as a factor in the analysis of data collected during multi-directional reach tasks; consequently, this directionally insensitive model (DI) may be prone to type-II error due to unexplained variance. On the other hand, directionally specific models (DS) that account separately for each movement direction, may reduce statistical power by increasing the amount of data groupings. We propose a clustered-by-similarity (CS) in which movement directions with similar kinematic features are grouped together, maximizing model fit by decreasing unexplained variance while also decreasing uninformative sub-groupings. We tested model quality in measuring change over time in 10 kinematic features extracted from 72 chronic stroke patients participating in the VA-ROBOTICS trial, performing a targeted reaching task over 16 movement directions (8 targets, back- and forth from center) in the horizontal plane. Across 49 participants surviving a quality control sieve, 4.3 ± 1.1 (min: 3; max: 7) clusters were found among the 16 movement directions; clusters varied between participants. Among 49 participants, and averaged across 10 features, the better-fitting model for predicting change in features was found to be CS assessed by the Akaike Information criterion (61.6 ± 7.3%), versus DS (31.0 ± 7.8%) and DI (7.1 ± 7.1%). Confirmatory analysis via Extra Sum of Squares F-test showed the DS and CS models out-performed the DI model in head-to-head (pairwise) comparison in >85% of all specimens. Thus, we find overwhelming evidence that it is necessary to adjust for direction in the models of multi-directional movements, and that clustering kinematic data by feature similarly may yield the optimal configuration for this co-variate.

Unprecedented Nucleophilic Additions of Highly Polar Organometallic Compounds to Imines and Nitriles Using Water as a Non-Innocent Reaction Medium

In contrast to classic methods carried out under inert atmospheres with dry volatile organic solvents and often low temperatures, the addition of highly polar organometallic compounds to non-activated imines and nitriles proceeds quickly, efficiently, and chemoselectively with a broad range of substrates at room temperature and under air with water as the only reaction medium. Secondary amines and tertiary carbinamines are furnished in yields of up to and over 99 %. The significant solvent D/H isotope effect observed for the on-water nucleophilic additions of organolithium compounds to imines suggests that the on-water catalysis arises from proton transfer across the organic-water interface. The strong intermolecular hydrogen bonds between water molecules may play a key role in disfavoring protonolysis, which occurs extensively in other protic media such as methanol. This work lays the foundation for reshaping many fundamental s-block metal-mediated organic transformations in water.

The recalibration of tactile perception during tool use is body-part specific

Two decades of research have demonstrated that using a tool modulates spatial representations of the body. Whether this embodiment is specific to representations of the tool-using limb or extends to representations of other body parts has received little attention. Several studies of other perceptual phenomena have found that modulations to the primary somatosensory representation of the hand transfers to the face, due in part to their close proximity in primary somatosensory cortex. In the present study, we investigated whether tool-induced recalibration of tactile perception on the hand transfers to the cheek. Participants verbally estimated the distance between two tactile points applied to either their hand or face, before and after using a hand-shaped tool. Tool use recalibrated tactile distance perception on the hand-in line with previous findings-but left perception on the cheek unchanged. This finding provides support for the idea that embodiment is body-part specific. Furthermore, it suggests that tool-induced perceptual recalibration occurs at a level of somatosensory processing, where representations of the hand and face have become functionally disentangled.

Forward modelling the rubber hand: illusion of ownership modifies motor-sensory predictions by the brain

The question of how we attribute observed body parts as our own, and the consequences of this attribution on our sensory-motor processes, is fundamental to understand how our brain distinguishes between self and other. Previous studies have identified interactions between the illusion of ownership, and multi-sensory integration and cross-sensory predictions by the brain. Here we show that illusory ownership additionally modifies the motor-sensory predictions by the brain. In our preliminary experiments, we observed a new numbness illusion following the classical rubber-hand illusion (RHI); brushing only the rubber hand after induction of the RHI results in illusory numbness in one's real hand. Previous studies have shown that self-generated actions (like tickling) are attenuated by motor-sensory predictions by the so-called forward model. Motivated by this finding, here we examined whether the numbness illusion after the RHI is different when the rubber hand is brushed oneself, compared with when the brushing is performed by another. We observed that, all other conditions remaining the same, haptic perception in the real hand was lower (numbness higher) during self-generated brushing. Our result suggests that RHI reorganizes the forward model, such that we predict haptic consequences of self-generated motor actions on the rubber hand.

Tool-use: An open window into body representation and its plasticity

Over the last decades, scientists have questioned the origin of the exquisite human mastery of tools. Seminal studies in monkeys, healthy participants and brain-damaged patients have primarily focused on the plastic changes that tool-use induces on spatial representations. More recently, we focused on the modifications tool-use must exert on the sensorimotor system and highlighted plastic changes at the level of the body representation used by the brain to control our movements, i.e., the Body Schema. Evidence is emerging for tool-use to affect also more visually and conceptually based representations of the body, such as the Body Image. Here we offer a critical review of the way different tool-use paradigms have been, and should be, used to try disentangling the critical features that are responsible for tool incorporation into different body representations. We will conclude that tool-use may offer a very valuable means to investigate high-order body representations and their plasticity.

The role of functionality in the body model for self-attribution

Bodily self-attribution, the feeling that a body (or parts of it) is owned by me, is a fundamental component of one's self. Previous studies have suggested that, in addition to a necessary multi-sensory stimulation, the sense of body ownership is determined by the body model, a representation of our body in the brain. It is however unclear what features constitute the body representation. To examine this issue, we first briefly review results on embodiment of artificial limbs, whole bodies and virtual avatars to understand the apparent anatomical, volumetric and spatial constraints associated with the sense of ownership toward external entities. We then discuss how considering limb functionality in the body model can provide an integrated explanation for most of the varied embodiment results in literature. We propose that the self-attribution of an entity may be determined, not just by its physical features, but by whether the entity can afford actions that the brain has associated with the limb which it replaces.