Context-specific gain switching in the human vestibuloocular reflex

Role of the Cerebellum in the Construction of Functional and Geometrical Spaces

The perceptual and motor systems appear to have a set of movement primitives that exhibit certain geometric and kinematic invariances. Complex patterns and mental representations can be produced by (re)combining some simple motor elements in various ways using basic operations, transformations, and respecting a set of laws referred to as kinematic laws of motion. For example, point-to-point hand movements are characterized by straight hand paths with single-peaked-bell-shaped velocity profiles, whereas hand speed profiles for curved trajectories are often irregular and more variable, with speed valleys and inflections extrema occurring at the peak curvature. Curvature and speed are generically related by the 2/3 power law. Mathematically, such laws can be deduced from a combination of Euclidean, affine, and equi-affine geometries, whose neural correlates have been partially detected in various brain areas including the cerebellum and the basal ganglia. The cerebellum has been found to play an important role in the control of coordination, balance, posture, and timing over the past years. It is also assumed that the cerebellum computes forward internal models in relationship with specific cortical and subcortical brain regions but its motor relationship with the perceptual space is unclear. A renewed interest in the geometrical and spatial role of the cerebellum may enable a better understanding of its specific contribution to the action-perception loop and behavior's adaptation. In this sense, we complete this overview with an innovative theoretical framework that describes a possible implementation and selection by the cerebellum of geometries adhering to different mathematical laws.

Internal models in the cerebellum

This review will focus on the possibility that the cerebellum contains an internal model or models of the motor apparatus. Inverse internal models can provide the neural command necessary to achieve some desired trajectory. First, we review the necessity of such a model and the evidence, based on the ocular following response, that inverse models are found within the cerebellar circuitry. Forward internal models predict the consequences of actions and can be used to overcome time delays associated with feedback control. Secondly, we review the evidence that the cerebellum generates predictions using such a forward model. Finally, we review a computational model that includes multiple paired forward and inverse models and show how such an arrangement can be advantageous for motor learning and control.

Context-dependent arm pointing adaptation

We sought to determine the effectiveness of head posture as a contextual cue to facilitate adaptive transitions in manual control during visuomotor distortions. Subjects performed arm pointing movements by drawing on a digitizing tablet, with targets and movement trajectories displayed in real time on a computer monitor. Adaptation was induced by presenting the trajectories in an altered gain format on the monitor. The subjects were shown visual displays of their movements that corresponded to either 0.5 or 1.5 scaling of the movements made. Subjects were assigned to three groups: the head orientation group tilted the head towards the right shoulder when drawing under a 0.5 gain of display and towards the left shoulder when drawing under a 1.5 gain of display; the target orientation group had the home and target positions rotated counterclockwise when drawing under the 0.5 gain and clockwise for the 1.5 gain; the arm posture group changed the elbow angle of the arm they were not drawing with from full flexion to full extension with 0.5 and 1.5 gain display changes. To determine if contextual cues were associated with display alternations, the gain changes were returned to the standard (1.0) display. Aftereffects were assessed to determine the efficacy of the head orientation contextual cue compared to the two control cues. The head orientation cue was effectively associated with the multiple gains. The target orientation cue also demonstrated some effectiveness while the arm posture cue did not. The results demonstrate that contextual cues can be used to switch between multiple adaptive states. These data provide support for the idea that static head orientation information is a crucial component to the arm adaptation process. These data further define the functional linkage between head posture and arm pointing movements.

A pattern correlation model of vestibulo-ocular reflex habituation

Through the process of habituation, the response of the vestibulo-ocular reflex (VOR) is decreased by prolonged, sinusoidal stimulation at lower frequencies (< or =0.1 Hz). Research on goldfish has uncovered frequency-specific and nonlinear behaviors associated with habituation of the goldfish VOR, which include phenomena that cannot be explained using dynamic linear and static nonlinear models. The unexplained phenomena are abrupt decreases at peak response, gain decreases far in excess of linear predictions based on phase, and violation of superposition. Their existence was attributed to a hypothetical switch that closed in the appropriate context. The pattern correlation model provides a new perspective on the process of VOR habituation. Rather than treat the stimulus as a continuous sinusoid, the pattern correlation model breaks it up into a number of discontinuous patterns. The pattern most closely correlated with the current stimulus then decreases the VOR response by the amount of that correlation times a pre-assigned weight. The pattern correlation model explains how the frequency-specific and the nonlinear behaviors may be related, and how the apparent switching phenomena may occur.

Context estimation for sensorimotor control

Human motor behavior is remarkably accurate and appropriate even though the properties of our own bodies as well as the objects we interact with vary over time. To adjust appropriately, the motor system has to estimate the context, that is the properties of objects in the world and the prevailing environmental conditions. Here we show that to determine the current context the CNS uses information from both prior knowledge of how the context might evolve over time and from the comparison of predicted and actual sensory feedback. We show that these two sources of information may be modeled within the CNS and combined to derive an accurate estimate of the context which adjusts motor command selection. This provides a novel probabilistic framework for sensorimotor control.

Internal models for motor control

The process of moving the hand to a target in space involves a series of sensorimotor transformations that translate visual and other sensory information about the location of the target object and the limbs into a set of motor commands that will bring the hand to the desired position. Recent work at various laboratories has provided strong support for the hypothesis that the CNS learns and maintains internal models of sensorimotor transformations. An internal model is a neural system that mimics the behaviour of the sensorimotor system and objects in the external environment. Internal models enable the CNS to predict the consequences of motor commands and to determine the motor commands required to perform specific tasks. In this chapter, we first summarize recent computational, behavioural and neurophysiological studies that address the theoretical necessity of internal models, the locations of internal models, and the neural mechanism for acquiring internal models through learning. Then, we propose a new computational model of multiple internal models.

Motion sickness and development of synergy within the spatial orientation system. A hypothetical unifying concept

Adaptation to research paradigms such as rotating rooms and optical alteration of visual feedback during movement results in development of perceptual-motor programs that provide the reflexive assistance that is necessary to skilled control of movement and balance. The discomfort and stomach awareness that occur during the adaptation process has been attributed to conflicting sensory information about the state of motion. Vestibular signals depend on the kinematics of head movements irrespective of the presence or absence of signals from other senses. We propose that sensory conflict when vestibular signals are at least one component of the conflict are innately disturbing and unpleasant. This innate reaction is part of a continuum that operates early in life to prevent development of inefficient perceptual-motor programs. This reaction operates irrespective of and in addition to reward and punishment from parental guidance or goal attainment to yield efficient control of whole body movement in the operating environment of the individual. The same mechanism is involved in adapting the spatial orientation system to strange environments. This conceptual model "explains" why motion sickness is associated with adaptation to novel environments and is in general consistent with motion sickness literature.

Modular decomposition in visuomotor learning

The principle of 'divide-and-conquer' the decomposition of a complex task into simpler subtasks each learned by a separate module, has been proposed as a computational strategy during learning. We explore the possibility that the human motor system uses such a modular decomposition strategy to learn the visuomotor map, the relationship between visual inputs and motor outputs. Using a virtual reality system, subjects were exposed to opposite prism-like visuomotor remappings-discrepancies between actual and visually perceived hand locations- for movements starting from two distinct locations. Despite this conflicting pairing between visual and motor space, subjects learned the two starting-point-dependent visuomotor mappings and the generalization of this learning to intermediate starting locations demonstrated an interpolation of the two learned maps. This interpolation was a weighted average of the two learned visuomotor mappings, with the weighting sigmoidally dependent on starting location, a prediction made by a computational model of modular learning known as the "mixture of experts". These results provide evidence that the brain may employ a modular decomposition strategy during learning.

Separate adaptive mechanisms for the control of reactive and volitional saccadic eye movements

Adaptive reduction of the gain of the saccadic system was induced by means of two basically different paradigms. In the first approach the subjects had to follow a step-wise moving target. During each follow-up saccade the target was systematically displaced by 25% of the initial step, into the opposite direction of the saccade. In the second approach the subjects scanned a display of six small items. During each scanning saccade the whole display was displaced by 25% into the opposite direction of the saccade. Both conditions lead to fast and consistent saccadic gain reductions. However, adaptation with the stepping target did not transfer to the saccades in the scanning situation, nor to delayed saccades in an overlap paradigm, nor to memory-guided saccades. Conversely, when saccades were adapted in the scanning situation, induced gain changes transferred to overlap and memory-guided saccades, but not to saccades following steps of a single target. The results suggest that two separate and largely independent mechanisms are involved in the generation of reactive, stimulus-triggered and volitional, internally generated saccades, respectively. Both types of responses can be selectively adapted.