Monkey cutaneous SAI and RA responses to raised and depressed scanned patterns: effects of width, height, orientation, and a raised surround

ASICs mediate fast excitatory synaptic transmission for tactile discrimination

Tactile discrimination, the ability to differentiate objects' physical properties such as texture, shape, and edges, is essential for environmental exploration, social interaction, and early childhood development. This ability heavily relies on Merkel cell-neurite complexes (MNCs), the tactile end-organs enriched in the fingertips of humans and the whisker hair follicles of non-primate mammals. Although recent studies have advanced our knowledge on mechanical transduction in MNCs, it remains unknown how tactile signals are encoded at MNCs. Here, using rodent whisker hair follicles, we show that tactile signals are encoded at MNCs as fast excitatory synaptic transmission. This synaptic transmission is mediated by acid-sensing ion channels (ASICs) located on the neurites of MNCs, with protons as the principal transmitters. Pharmacological inhibition or genetic deletion of ASICs diminishes the tactile encoding at MNCs and impairs tactile discrimination in animals. Together, ASICs are required for tactile encoding at MNCs to enable tactile discrimination in mammals.

Temporal coherency of mechanical stimuli modulates tactile form perception

The human hand can detect both form and texture information of a contact surface. The detection of skin displacement (sustained stimulus) and changes in skin displacement (transient stimulus) are thought to be mediated in different tactile channels; however, tactile form perception may use both types of information. Here, we studied whether both the temporal frequency and the temporal coherency information of tactile stimuli encoded in sensory neurons could be used to recognize the form of contact surfaces. We used the fishbone tactile illusion (FTI), a known tactile phenomenon, as a probe for tactile form perception in humans. This illusion typically occurs with a surface geometry that has a smooth bar and coarse textures in its adjacent areas. When stroking the central bar back and forth with a fingertip, a human observer perceives a hollow surface geometry even though the bar is physically flat. We used a passive high-density pin matrix to extract only the vertical information of the contact surface, suppressing tangential displacement from surface rubbing. Participants in the psychological experiment reported indented surface geometry by tracing over the FTI textures with pin matrices of the different spatial densities (1.0 and 2.0 mm pin intervals). Human participants reported that the relative magnitude of perceived surface indentation steeply decreased when pins in the adjacent areas vibrated in synchrony. To address possible mechanisms for tactile form perception in the FTI, we developed a computational model of sensory neurons to estimate temporal patterns of action potentials from tactile receptive fields. Our computational data suggest that (1) the temporal asynchrony of sensory neuron responses is correlated with the relative magnitude of perceived surface indentation and (2) the spatiotemporal change of displacements in tactile stimuli are correlated with the asynchrony of simulated sensory neuron responses for the fishbone surface patterns. Based on these results, we propose that both the frequency and the asynchrony of temporal activity in sensory neurons could produce tactile form perception.

Information about contact force and surface texture is mixed in the firing rates of cutaneous afferent neurons

Cutaneous mechanoreceptors in our hands gather information about the objects we handle. Tactile fibers encode mixed information about contact events and object properties. Neural coding in tactile afferents is typically studied by varying a single aspect of tactile stimuli, avoiding the confounds of real-world haptic interactions. We instead record responses of small populations of dorsal root ganglia (DRG) neurons to variable tactile stimuli and find that neurons primarily respond to force, though some texture information can be detected. Tactile nerve fibers convey information about many features of haptic interactions, including the force and speed of contact, as well as the texture and shape of the objects being handled. How we perceive these object features is relatively unaffected by the forces and movements we use when interacting with the object. Because signals related to contact events and object properties are mixed in the responses of tactile fibers, our ability to disentangle these different components of our tactile experience implies that they are demultiplexed as they propagate along the neuraxis. To understand how texture and contact mechanics are encoded together by tactile fibers, we studied the activity of multiple neurons recorded simultaneously in the cervical DRG of two anesthetized rhesus monkeys while textured surfaces were applied to the glabrous skin of the fingers and palm using a handheld probe. A transducer at the tip of the textured probe measured contact forces as tactile stimuli were applied at different locations on the finger-pads and palm. We examined how a sample population of DRG neurons encode force and texture and found that firing rates of individual neurons are modulated by both force and texture. In particular, slowly adapting (SA) neurons were more responsive to force than texture, and rapidly adapting (RA) neurons were more responsive to texture than force. Although force could be decoded accurately throughout the entire contact interval, texture signals were most salient during onset and offset phases of the contact interval.NEW & NOTEWORTHY Cutaneous mechanoreceptors in our hands gather information about the objects we handle. Tactile fibers encode mixed information about contact events and object properties. Neural coding in tactile afferents is typically studied by varying a single aspect of tactile stimuli, avoiding the confounds of real-world haptic interactions. We instead record responses of small populations of DRG neurons to variable tactile stimuli and find that neurons primarily respond to force, though some texture information can be detected.

Emergence of an Invariant Representation of Texture in Primate Somatosensory Cortex

A major function of sensory processing is to achieve neural representations of objects that are stable across changes in context and perspective. Small changes in exploratory behavior can lead to large changes in signals at the sensory periphery, thus resulting in ambiguous neural representations of objects. Overcoming this ambiguity is a hallmark of human object recognition across sensory modalities. Here, we investigate how the perception of tactile texture remains stable across exploratory movements of the hand, including changes in scanning speed, despite the concomitant changes in afferent responses. To this end, we scanned a wide range of everyday textures across the fingertips of rhesus macaques at multiple speeds and recorded the responses evoked in tactile nerve fibers and somatosensory cortical neurons (from Brodmann areas 3b, 1, and 2). We found that individual cortical neurons exhibit a wider range of speed-sensitivities than do nerve fibers. The resulting representations of speed and texture in cortex are more independent than are their counterparts in the nerve and account for speed-invariant perception of texture. We demonstrate that this separation of speed and texture information is a natural consequence of previously described cortical computations.

Molecular Mechanisms of the Sense of Touch: An Overview of Mechanical Transduction and Transmission in Merkel Discs of Whisker Hair Follicles and Some Clinical Perspectives

The Merkel disc is a main type of tactile end organs for sensing gentle touch and is essential for sophisticated sensory tasks including social interaction, environmental exploration, and tactile discrimination. Recent studies have shown that Merkel cells are primary sites of mechanotransduction using Piezo2 channels as a molecular transducer in Merkel discs. Furthermore, tactile stimuli trigger serotonin release from Merkel cells to excite their associated whisker Aβ-afferent endings and transmit tactile signals. The tactile transduction and transmission at Merkel discs may have important clinical implications in sensory dysfunctions such as the loss of tactile sensitivity and tactile allodynia seen in patients who have diabetes and inflammatory diseases and undergo chemotherapy.

High-dimensional representation of texture in somatosensory cortex of primates

The sense of touch affords a remarkable sensitivity to the microstructure of surfaces, affording us the ability to sense elements ranging in size from tens of nanometers to tens of millimeters. The hand sends signals about texture to the brain using three classes of nerve fibers through two neural codes: coarse features in spatial patterns of activation and fine features in precise temporal spiking patterns. In this study, we show that these nerve signals culminate in a complex, high-dimensional representation of texture in somatosensory cortex, whose structure can account for the structure of texture perception. This complexity arises from the neurons that act as idiosyncratic detectors of spatial and/or temporal motifs in the afferent input.

In the somatosensory nerves, the tactile perception of texture is driven by spatial and temporal patterns of activation distributed across three populations of afferents. These disparate streams of information must then be integrated centrally to achieve a unified percept of texture. To investigate the representation of texture in somatosensory cortex, we scanned a wide range of natural textures across the fingertips of rhesus macaques and recorded the responses evoked in Brodmann’s areas 3b, 1, and 2. We found that texture identity is reliably encoded in the idiosyncratic responses of populations of cortical neurons, giving rise to a high-dimensional representation of texture. Cortical neurons fall along a continuum in their sensitivity to fine vs. coarse texture, and neurons at the extrema of this continuum seem to receive their major input from different afferent populations. Finally, we show that cortical responses can account for several aspects of texture perception in humans.

Functional Maps of Mechanosensory Features in the Drosophila Brain

Johnston's organ is the largest mechanosensory organ in Drosophila. It contributes to hearing, touch, vestibular sensing, proprioception, and wind sensing. In this study, we used in vivo 2-photon calcium imaging and unsupervised image segmentation to map the tuning properties of Johnston's organ neurons (JONs) at the site where their axons enter the brain. We then applied the same methodology to study two key brain regions that process signals from JONs: the antennal mechanosensory and motor center (AMMC) and the wedge, which is downstream of the AMMC. First, we identified a diversity of JON response types that tile frequency space and form a rough tonotopic map. Some JON response types are direction selective; others are specialized to encode amplitude modulations over a specific range (dynamic range fractionation). Next, we discovered that both the AMMC and the wedge contain a tonotopic map, with a significant increase in tonotopy-and a narrowing of frequency tuning-at the level of the wedge. Whereas the AMMC tonotopic map is unilateral, the wedge tonotopic map is bilateral. Finally, we identified a subregion of the AMMC/wedge that responds preferentially to the coherent rotation of the two mechanical organs in the same angular direction, indicative of oriented steady air flow (directional wind). Together, these maps reveal the broad organization of the primary and secondary mechanosensory regions of the brain. They provide a framework for future efforts to identify the specific cell types and mechanisms that underlie the hierarchical re-mapping of mechanosensory information in this system.

Effect of 3D microstructure of dermal papillae on SED concentration at a mechanoreceptor location

The feeling of touch is an essential human sensation. Four types of mechanoreceptors (i.e., FA-I, SA-I, FA-II, and SA-II) in human skin signalize physical properties, such as shape, size, and texture, of an object that is touched and transmit the signal to the brain. Previous studies attempted to investigate the mechanical properties of skin microstructure and their effect on mechanoreceptors by using finite element modeling. However, very few studies have focused on the three-dimensional microstructure of dermal papillae, and this is related to that of FA-I receptors. A gap exists between conventional 2D models of dermal papillae and the natural configuration, which corresponds to a complex and uneven structure with depth. In this study, the three-dimensional microstructure of dermal papillae is modeled, and the differences between two-dimensional and three-dimensional aspects of dermal papillae on the strain energy density at receptor positions are examined. The three-dimensional microstructure has a focalizing effect and a localizing effect. Results also reveal the potential usefulness of these effects for tactile sensor design, and this may improve edge discrimination.

Tactile perception of the roughness of 3D-printed textures

Surface roughness is one of the most important qualities in haptic perception. Roughness is a major identifier for judgments of material composition, comfort, and friction and is tied closely to manual dexterity. Some attention has been given to the study of roughness perception in the past, but it has typically focused on noncontrollable natural materials or on a narrow range of artificial materials. The advent of high-resolution three-dimensional (3D) printing technology provides the ability to fabricate arbitrary 3D textures with precise surface geometry to be used in tactile studies. We used parametric modeling and 3D printing to manufacture a set of textured plates with defined element spacing, shape, and arrangement. Using active touch and two-alternative forced-choice protocols, we investigated the contributions of these surface parameters to roughness perception in human subjects. Results indicate that large spatial periods produce higher estimations of roughness (with Weber fraction = 0.19), small texture elements are perceived as rougher than large texture elements of the same wavelength, perceptual differences exist between textures with the same spacing but different arrangements, and roughness equivalencies exist between textures differing along different parameters. We posit that papillary ridges serve as tactile processing units, and neural ensembles encode the spatial profiles of the texture contact area to produce roughness estimates. The stimuli and the manufacturing process may be used in further studies of tactile roughness perception and in related neurophysiological applications. NEW & NOTEWORTHY Surface roughness is an integral quality of texture perception. We manufactured textures using high-resolution 3D printing, which allows precise specification of the surface spatial topography. In human psychophysical experiments we investigated the contributions of specific surface parameters to roughness perception. We found that textures with large spatial periods, small texture elements, and irregular, isotropic arrangements elicit the highest estimations of roughness. We propose that roughness correlates inversely with the total contacted surface area.

An evaluation of tactile directional symbols

Symbols that could effectively designate direction have the potential to show routes, geographic phenomena, aid scientific explanation and generally enhance understanding of tactile maps and diagrams. In this study, 41 tactile symbols, including subsets of arrow symbols and stair symbols, were investigated for effectiveness at indicating direction. The symbols were presented to blind or blindfolded participants, and qualitative and quantitative responses regarding the symbol orientation and meaning were recorded. The arrow symbols with the greatest agreement across participants as to which direction the symbol intended to convey were basic arrows and the arrowhead. In the case of a line with a saw-tooth surface profile that felt rough when traced by the finger in one direction and smooth in the opposite, participants were split between those intuitively thinking the rough or the smooth was the direction being indicated. Stair symbols with a greater degree of threedimensionality gave marginally increased agreement as to which way was up.

The Slip Hypothesis: Tactile Perception and its Neuronal Bases

The slip hypothesis of epicritic tactile perception interprets actively moving sensor and touched objects as a frictional system, known to lead to jerky relative movements called 'slips'. These slips depend on object geometry, forces, material properties, and environmental factors, and, thus, have the power to incorporate coding of the perceptual target, as well as perceptual strategies (sensor movement). Tactile information as transferred by slips will be encoded discontinuously in space and time, because slips sometimes engage only parts of the touching surfaces and appear as discrete and rare events in time. This discontinuity may have forced tactile systems of vibrissae and fingertips to evolve special ways to convert touch signals to a tactile percept.

Effect of blocking tactile information from the fingertips on adaptation and execution of grip forces to friction at the grasping surface

Adaptation of fingertip forces to friction at the grasping surface is necessary to prevent use of inadequate or excessive grip forces. In the current study we investigated the effect of blocking tactile information from the fingertips noninvasively on the adaptation and efficiency of grip forces to surface friction during precision grasp. Ten neurologically intact subjects grasped and lifted an instrumented grip device with 18 different frictional surfaces under three conditions: with bare hands or with a thin layer of plastic (Tegaderm) or an additional layer of foam affixed to the fingertips. The coefficient of friction at the finger-object interface of each surface was obtained for each subject with bare hands and Tegaderm by measuring the slip ratio (grip force/load force) at the moment of slip. We found that the foam layer reduced sensibility for two-point discrimination and pressure sensitivity at the fingertips, but Tegaderm did not. However, Tegaderm reduced static, but not dynamic, tactile discrimination. Adaptation of fingertip grip forces to surface friction measured by the rate of change of peak grip force, and grip force efficiency measured by the grip-load force ratio at lift, showed a proportional relationship with bare hands but were impaired with Tegaderm and foam. Activation of muscles engaged in precision grip also varied with the frictional surface with bare hands but not with Tegaderm and foam. The results suggest that sensitivity for static tactile discrimination is necessary for feedforward and feedback control of grip forces and for adaptive modulation of muscle activity during precision grasp.

Neuronal activity in somatosensory cortex related to tactile exploration

The very light contact forces (∼0.60 N) applied by the fingertips during tactile exploration reveal a clearly optimized sensorimotor strategy. To investigate the cortical mechanisms involved with this behavior, we recorded 230 neurons in the somatosensory cortex (S1), as two monkeys scanned different surfaces with the fingertips in search of a tactile target without visual feedback. During the exploration, the monkeys, like humans, carefully controlled the finger forces. High-friction surfaces offering greater tangential shear force resistance to the skin were associated with decreased normal contact forces. The activity of one group of neurons was modulated with either the normal or tangential force, with little or no influence from the orthogonal force component. A second group responded to kinetic friction or the ratio of tangential to normal forces rather than responding to a specific parameter, such as force magnitude or direction. A third group of S1 neurons appeared to respond to particular vectors of normal and tangential force on the skin. Although 45 neurons correlated with scanning speed, 32 were also modulated by finger forces, suggesting that forces on the finger should be considered as the primary parameter encoding the skin compliance and that finger speed is a secondary parameter that co-varies with finger forces. Neurons (102) were also tested with different textures, and the activity of 62 of these increased or decreased in relation to the surface friction.

Merkel cells transduce and encode tactile stimuli to drive Aβ-afferent impulses

Sensory systems for detecting tactile stimuli have evolved from touch-sensing nerves in invertebrates to complicated tactile end organs in mammals. Merkel discs are tactile end organs consisting of Merkel cells and Aβ-afferent nerve endings and are localized in fingertips, whisker hair follicles, and other touch-sensitive spots. Merkel discs transduce touch into slowly adapting impulses to enable tactile discrimination, but their transduction and encoding mechanisms remain unknown. Using rat whisker hair follicles, we show that Merkel cells rather than Aβ-afferent nerve endings are primary sites of tactile transduction and identify the Piezo2 ion channel as the Merkel cell mechanical transducer. Piezo2 transduces tactile stimuli into Ca(2+)-action potentials in Merkel cells, which drive Aβ-afferent nerve endings to fire slowly adapting impulses. We further demonstrate that Piezo2 and Ca(2+)-action potentials in Merkel cells are required for behavioral tactile responses. Our findings provide insights into how tactile end-organs function and have clinical implications for tactile dysfunctions.

The sensory neurons of touch

The somatosensory system decodes a wide range of tactile stimuli and thus endows us with a remarkable capacity for object recognition, texture discrimination, sensory-motor feedback and social exchange. The first step leading to perception of innocuous touch is activation of cutaneous sensory neurons called low-threshold mechanoreceptors (LTMRs). Here, we review the properties and functions of LTMRs, emphasizing the unique tuning properties of LTMR subtypes and the organizational logic of their peripheral and central axonal projections. We discuss the spinal cord neurophysiological representation of complex mechanical forces acting upon the skin and current views of how tactile information is processed and conveyed from the spinal cord to the brain. An integrative model in which ensembles of impulses arising from physiologically distinct LTMRs are integrated and processed in somatotopically aligned mechanosensory columns of the spinal cord dorsal horn underlies the nervous system's enormous capacity for perceiving the richness of the tactile world.

Estimation of simulated phosphene size based on tactile perception

Clinical trials have successfully shown that a visual prosthesis can elicit visual perception (phosphenes) in the visual field. Psychophysical studies based on simulated prosthetic vision offer an effective means to evaluate and refine prosthetic vision. We designed three experiments to examine the effect of phosphene luminance, flicker rate, and eccentricity on the ability to estimate simulated phosphene sizes using tactile perception. Thirty subjects participated in the three experiments. There was a linear increase in reported size as visual stimulus size increased. Judgment was significantly affected by stimulus luminance and eccentricity (P < 0.05) but not by flicker rates. Brighter stimuli were perceived as being larger, and the more eccentric the position, the larger the estimated size. These simulation studies, although idealized, suggested that tactile perception is a potential way to estimate phosphene sizes.

Raised-angle discrimination under passive finger movement

The characteristics of raised-line drawing discrimination can be defined as the sum of the discriminability of the length, curvature, and angles of the edges. The size of the angle between two edges constitutes an important feature of these tactile stimuli. In the first experiment, five standard angles (30 degrees, 60 degrees, 90 degrees, 120 degrees, and 150 degrees) and twenty comparison angles for each standard angle were used to investigate the human capacity for tactile discrimination of raised angles by passive finger movement. The subjects in this study were asked to identify the larger angle of each pair by passive finger movement. We found that the threshold doubled when the standard angle was increased from 30 degrees to 90 degrees; however, the threshold remained unchanged when the standard angle was greater than 90 degrees. In the second experiment, to investigate the influence of the endpoints on angle discriminability, we used one standard angle (60 degrees) and seven comparison angles that changed in four bisector orientations. The results indicate that cutaneous feedback from the local apex and endpoints of the angle contributed to the discrimination of acute angles. Taken together, these results suggest that, when an acute angle is presented, both local apex and endpoint informations are used, while cutaneous mechanoreceptors rely more on apex information to discriminate the angle size when an obtuse angle is presented.

Roughness of simulated surfaces examined with a haptic tool: effects of spatial period, friction, and resistance amplitude

A specifically designed force-feedback device accurately simulated textures consisting of lateral forces opposing motion, simulating friction. The textures were either periodic trapezoidal forces, or sinusoidal forces spaced at various intervals from 1.5 mm to 8.5 mm. In each of two experiments, 10 subjects interacted with the virtual surfaces using the index finger placed on a mobile plate that produced the forces. The subjects selected their own speed and contact force for exploring the test surface. The apparatus returned force fields as a function of both the finger position and the force normal to the skin allowing full control over the tangential interaction force. In Experiment #1, subjects used an integer, numerical scale of their own choosing to rate the roughness of eight identical, varyingly spaced force ramps superimposed on a background resistance. The results indicated that subjective roughness was significantly, but negatively, correlated (mean r = -0.84) with the spatial period of the resistances for all subjects. In a second experiment, subjects evaluated the roughness of 80 different sinusoidal modulated force fields, which included 4 levels of resistance amplitude, 4 levels of baseline friction, and 5 spatial periods. Multiple regression was used to determine the relationship between friction, tangential force amplitude, and spatial period to roughness. Together, friction and tangential force amplitude produced a combined correlation of 0.70 with subjective roughness. The addition of spatial period only increased the multiple regression correlation to 0.71. The correlation between roughness estimates and the rate of change in tangential force was 0.72 in Experiment #1 and 0.57 in Experiment #2. The results suggest that the sensation of roughness is strongly influenced by friction and tangential force amplitude, whereas the spatial period of simulated texture alone makes a negligible contribution to the sensation of roughness.

Examination of force discrimination in human upper limb amputees with reinnervated limb sensation following peripheral nerve transfer

Artificial limbs allow amputees to manipulate objects, but the loss of a limb severs the sensory link between a subject and objects they touch. A novel surgical technique we term targeted reinnervation (TR) allows severed cutaneous nerves to reinnervate skin on a different portion of the body. This technique provides a physiologically appropriate portal to the sensory pathways of the missing limb through the reinnervated skin. This study quantified the ability of three amputee subjects who had undergone TR surgery on the chest (two subjects) and upper arm (one subject) to discriminate changes in graded force on their reinnervated skin over a range of 1-4 N using a stochastic staircase approach. These values were compared to those from sites on their intact contralateral skin and index fingers, and from the chests and index fingers of a control population (n = 10) . Weber's ratio (WR) was used to examine the subjects' abilities to discriminate between a baseline force and subsequent forces of different magnitudes. WRs of 0.22, 0.25, and 0.12 were measured on the reinnervated skin of the three TR subjects, whereas WRs of 0.25, 0.23, and 0.12 were measured on their contralateral skin. TR subjects did not have substantially different WRs on their reinnervated versus their contralateral normal side and did not appear to exhibit a trend towards impaired sensation. No significant difference was found between the WR of the chest and index finger of the control subjects, which ranged between 0.09 and 0.21. WR of reinnervated skin for TR subjects were within the 95% confidence interval of the control group. These data suggest that subjects with targeted reinnervation have unimpaired ability to discriminate gradations in force.

Tactile elevation perception in blind and sighted participants and its implications for tactile map creation

OBJECTIVE

Our goal was to determine the optimal elevation of tactile map symbols.

BACKGROUND

Tactile perception research predicts that symbol elevation (vertical height) and texture on tactile maps could influence their readability. However, although research has shown that elevation influences detection and discrimination thresholds for single tactile stimuli and that the physiological response of fingertip receptors varies with texture, little is known about the influence of these parameters on the identification of stimuli in the context of multiple symbols as found on tactile maps.

METHOD

Sighted and visually impaired participants performed tactile symbol identification tasks. In Experiment 1, we measured the effect of elevation on identification accuracy. In Experiment 2, we measured the effect of elevation and symbol texture on identification speed.

RESULTS

Symbol elevation influenced both speed and accuracy of identification; thresholds were higher than those found in work on detection and discrimination but lower than on existing tactile maps. Furthermore, as predicted from existing knowledge of tactile perception, rough features were identified more quickly than smooth ones. Finally, visually impaired participants performed better than sighted ones.

CONCLUSION

The symbol elevations necessary for identification (0.040 to 0.080 mm) are considerably lower than would be expected on the basis of existing tactile maps (generally 0.5 mm or higher) and design guidelines (0.4 mm).

APPLICATION

Tactile map production costs could be reduced and map durability increased by reducing symbol elevation. Furthermore, legibility of maps could be improved by using rough features, which are read more easily, and smaller symbols, which reduce crowding of graphics.

Responses of Trigeminal Ganglion Neurons during Natural Whisking Behaviors in the Awake Rat

Rats use their whiskers to locate and discriminate tactile features of their environment. Mechanoreceptors surrounding each whisker encode and transmit sensory information from the environment to the brain via afferents whose cell bodies lie in the trigeminal ganglion (Vg). These afferents are classified as rapidly (RA) or slowly (SA) adapting by their response to stimulation. The activity of these cells in the awake behaving rat is yet unknown. Therefore, we developed a method to chronically record Vg neurons during natural whisking behaviors and found that all cells exhibited (1) no neuronal activity when the whiskers were not in motion, (2) increased activity when the rat whisked, with activity correlated to whisk frequency, and (3) robust increases in activity when the whiskers contacted an object. Moreover, we observed distinct differences in the firing rates between RA and SA cells, suggesting that they encode distinct aspects of stimuli in the awake rat.

Representation of object size in the somatosensory system

In this study we investigate the haptic perception of object size. We report the results from four psychophysical experiments. In the first, we ask subjects to discriminate the size of objects that vary in surface curvature and compliance while changing contact force. We show that objects exhibit size constancy such that perception of object size using haptics does not change with changes in contact force. Based on these results, we hypothesize that size perception depends on the degree of spread between the digits at initial contact with objects. In the second experiment, we test this hypothesis by having subjects continuously contact an object that changes dynamically in size. We show that size perception takes into account the compliance of the object. In the third and fourth experiments we attempt to separate the individual contributions of proprioceptive and cutaneous input. In the third, we test the ability of subjects to perceive object size after altering the sensitivity of cutaneous receptors with adapting vibratory stimuli. The results from this experiment suggest that initial contact is signaled by the cutaneous slowly adapting type 1 afferents (SA1) and/or the rapidly adapting afferents (RA). In the last experiment, we block cutaneous input at the site of contact by anesthetizing the digital nerves and show that proprioceptive information alone provides only a rough estimate of object size. We conclude that the perception of object size depends on inputs from SA1 and possibly RA afferents, combined with inputs from proprioceptive afferents that signal the spread between digits.

Relationship between physiological response type (RA and SA) and vibrissal receptive field of neurons within the rat trigeminal ganglion

Cells within the trigeminal ganglion (Vg) encode all the information necessary for the rat to differentiate tactile stimuli, yet it is the least-studied component in the rodent trigeminal somatosensory system. For example, extensive anatomical and electrophysiological investigations have shown clear somatotopic organization in the higher levels of this system, including VPM thalamus and SI cortex, yet whether this conserved schemata exists in the Vg is unknown. Moreover although there is recent interest in recording from vibrissae-responsive cells in the Vg, it is surprising to note that the locations of these cells have not even been clearly demarcated. To address this, we recorded extracellularly from 350 sensory-responsive Vg neurons in 35 Long-Evans rats. First, we determined three-dimensional locations of these cells and found a finer detail of somatotopy than previously reported. Cells innervating dorsal facial features, even within the whisker region, were more dorsal than midline and ventral features. We also show more cells with caudal than rostral whisker receptive fields (RF), similar to that found in VPM and SI. Next, for each vibrissal cell we determined its response type classified as either rapidly (RA) or slowly (SA) adapting. We examined the relationship between vibrissal RF and response type and demonstrate similar proportions of RA and SA cells responding to any whisker. These results suggest that if RA and SA cells encode distinct features of stimuli, as previously suggested, then at the basic physiological level each whisker has similar abilities to encode for such features.

Changes of AI receptive fields with sound density

Primates engage in auditory behaviors under a broad range of signal-to-noise conditions. In this study, optimal linear receptive fields were measured in alert primate primary auditory cortex (A1) in response to stimuli that vary in spectrotemporal density. As density increased, A1 excitatory receptive fields systematically changed. Receptive field sensitivity, expressed as the expected change in firing rate after a tone pip onset, decreased by an order of magnitude. Spectral selectivity more than doubled. Inhibitory subfields, which were rarely recorded at low sound densities, emerged at higher sound densities. The ratio of excitatory to inhibitory population strength changed from 14.4:1 to 1.4:1. At low sound densities, the sound associated with the evocation of an action potential from an A1 neuron was broad in spectrum and time. At high sound densities, a spike-evoking sound was more likely to be a spectral or temporal edge and was narrower in time and frequency range. Receptive fields were used to predict responses to a novel high-noise-density stimulus. The predictions were highly correlated with the actual responses to the 2-s complex sound excerpt. The structure of prediction failures revealed that neurons with prominent inhibitory fields had relatively poor linear predictions. Further, the finding that stochastic variance is limiting in prediction even after averaging 150 repetitions means that high-fidelity representations of simple sounds in A1 must be distributed over at least hundreds of neurons. Auditory context alters A1 responses across multiple parameter spaces; this presents a challenge for reconstructing neural codes.

Neural coding of the location and direction of a moving object by a spatially distributed population of mechanoreceptors

A neural code for the location and direction of an object moving over the fingerpad was constructed from the responses of a population of rapidly adapting type I (RAs) and slowly adapting type I (SAs) mechanoreceptive nerve fibers. The object was either a sphere with a radius of 5 mm or a toroid with radii of 5 mm on the major axis and either 1 or 3 mm on the minor axis. The object was stroked under constant velocity and contact force along eight different linear trajectories. The spatial locations of the centers of activity of the population responses (PLs) were determined from nonsimultaneously recorded responses of 99 RAs and 97 SAs with receptive fields spatially distributed over the fingerpad of the anesthetized monkey. The PL at each moment during each stroke was used as a neural code of object location. The angle between the direction of the trajectory of the PL and mediolateral axis was used to represent the direction of motion of the object. The location of contact between the object and skin was better represented in SA than in RA PLs, regardless of stroke direction or object curvature. The PL representation of stroke direction was linearly related to the actual direction of the object for both RAs and SAs but was less variable for SAs than for RAs. Both the SA and RA populations coded spatial position and direction of motion at acuities similar to those obtained in psychophysical studies in humans.

Orofacial mechanoreceptors in humans: encoding characteristics and responses during natural orofacial behaviors

We used microneurography to characterize stimulus-encoding properties of low-threshold mechanoreceptive afferents in human orofacial tissues. Signals were recorded from single afferents in the infraorbital, lingual and inferior alveolar nerves while localized, controlled, mechanical stimuli were delivered to the facial skin, lips, oral mucosa and teeth. We likewise analyzed activity in these afferents during orofacial behaviors such as speech, chewing and biting. The afferents in the soft tissues functionally resemble four types described in the human hand: hair follicle afferents, slowly adapting (SA) type I and type II afferents and fast adapting (FA) type I afferents. Afferents in the facial skin, lips and buccal mucosa respond not only to contact with environmental objects, but also to contact between the lips, changes in air pressure generated for speech sounds, and to facial skin and mucosa deformations that accompany lip and jaw movements associated with chewing and swallowing. Hence, in addition to exteroceptive information, these afferents provide proprioceptive information. In contrast, afferents terminating superficially in the tongue do not signal proprioceptive information about tongue movements in this manner. They only respond when the receptive field is brought into contact with other intraoral structures or objects, e.g. the teeth or food. All human periodontal afferents adapt slowly to maintained tooth loads. Populations of periodontal afferents encode information about both which teeth are loaded and the direction of forces applied to individual teeth. Most afferents exhibit a markedly curved relationship between discharge rate and force amplitude, featuring the highest sensitivity to changes in tooth load at low forces (below 1 N). Accordingly, periodontal afferents efficiently encode tooth load when subjects first contact, hold, and gently manipulate food by the teeth. In contrast, only a minority of the afferents encodes the rapid and strong force increase generated when biting through food. We conclude, that humans use periodontal afferent signals to control jaw actions associated with intraoral manipulation of food rather than exertion of jaw power actions.

Neural coding and the basic law of psychophysics

There have been three main ideas about the basic law of psychophysics. In 1860, Fechner used Weber's law to infer that the subjective sense of intensity is related to the physical intensity of a stimulus by a logarithmic function (the Weber-Fechner law). A hundred years later, Stevens refuted Fechner's law by showing that direct reports of subjective intensity are related to the physical intensity of stimuli by a power law. MacKay soon showed, however, that the logarithmic and power laws are indistinguishable without examining the underlying neural mechanisms. Mountcastle and his colleagues did so, and, on the basis of transducer functions obeying power laws, inferred that subjective intensity must be related linearly to the neural coding measure on which it is based. In this review, we discuss these issues and we review a series of studies aimed at the neural mechanisms of a very complex form of subjective experience-the experience of roughness produced by a textured surface. The results, which are independent of any assumptions about the form of the psychophysical law, support the idea that the basic law of psychophysics is linearity between subjective experience and the neural activity on which it is based.

Modulation of ongoing EMG by different classes of low-threshold mechanoreceptors in the human hand

1. We have previously demonstrated that the input from single FA I and SA II cutaneous mechanoreceptors in the glabrous skin of the human hand is sufficiently strong to modulate ongoing EMG of muscles acting on the digits. Some unresolved issues have now been addressed. 2. Single cutaneous (n = 60), joint (n = 2) and muscle spindle (n = 34) afferents were recorded via tungsten microelectrodes inserted into the median and ulnar nerves at the wrist. Spike-triggered averaging was used to investigate synaptic coupling between these afferents and muscles acting on the digits. The activity of 37 % of FA I (7/19), 20 % of FA II (1/5) and 52 % of SA II afferents (11/21) evoked a reflex response. The discharge from muscle spindles, 15 SA I and two joint afferents did not modulate EMG activity. 3. Two types of reflex responses were encountered: a single excitatory response produced by irregularly firing afferents, or a cyclic modulation evoked by regularly discharging afferents. Rhythmic stimulation of one FA I afferent generated regularly occurring bursts which corresponded to the associated cyclic EMG response. 4. Selectively triggering from the first or last spike of each burst of one FA I afferent altered the averaged EMG profile, suggesting that afferent input modulates the associated EMG and not vice versa. 5. The discharge from single FA I, FA II and SA II afferents can modify ongoing voluntary EMG in muscles of the human hand, presumably via a spinally mediated oligosynaptic pathway. Conversely, we saw no evidence of such modulation by SA I, muscle spindle or joint afferents.

Tactile discrimination of edge shape: limits on spatial resolution imposed by parameters of the peripheral neural population

When the flat faces of a coin are grasped between thumb and index finger, a "curved edge" is felt. Analogous curved edges were generated by our stimuli, which comprised the flat face of segments of annuli applied passively to immobilized fingers. Humans could scale the curvature of the annulus and could discriminate changes in curvature of approximately 20 m(-1). The responses of single slowly adapting type I afferents (SAIs) recorded in anesthetized monkeys could be quantified by the product of two factors: their sensitivity and a spatial profile dependent only on the radius of the annulus. This allowed us to reconstruct realistic SAI population responses that included noise, variation in fiber sensitivity, and varying innervation patterns. The critical question was how relatively small populations ( approximately 70 active fibers) can encode edge curvature with such precision. A template-matching approach was used to establish the accuracy of edge representation in the population. The known large interfiber variability in sensitivity had no effect on curvature resolution. Neural resolution was superior to human performance until large levels of central noise were present showing that, unlike simple detection, spatial processing is limited centrally. In contrast to the behavior of mean response codes, neural resolution improved with increasing covariance in noise. Surprisingly, resolution for any single population varied considerably with small changes in the position of the stimulus relative to the SAI matrix. Overall innervation density was not as critical as the spacing of receptive fields at right angles to the edge.

The Meissner corpuscle revised: a multiafferented mechanoreceptor with nociceptor immunochemical properties

Meissner corpuscles (MCs) in the glabrous skin of monkey digits have at least three types of innervation as revealed by immunofluorescence. The previously well known Aalphabeta-fiber terminals are closely intertwined with endings from peptidergic C-fibers. These intertwined endings are segregated into zones that alternate with zones containing a third type of ending supplied by nonpeptidergic C-fibers. Although MCs are widely regarded as low-threshold mechanoreceptors, all three types of innervation express immunochemical properties associated with nociception. The peptidergic C-fiber endings have readily detectable levels of immunoreactivity (IR) for calcitonin gene-related peptide (CGRP) and substance P (SP). The Aalphabeta endings have relatively lower levels of IR for CGRP and SP as well as the SP neurokinin 1 receptor and vanilloid-like receptor 1. Both the Aalphabeta and peptidergic C-fiber endings were also labeled with antibodies for different combinations of adrenergic, opioid, and purinergic receptors. The nonpeptidergic C-fiber endings express IR for vanilloid receptor 1, which has also been implicated in nociception. Thus, MCs are multiafferented receptor organs that may have nociceptive capabilities in addition to being low-threshold mechanoreceptors.

Tactile functions of mechanoreceptive afferents innervating the hand

Four types of mechanoreceptive afferents innervate the glabrous skin of the hand. Evidence from more than three decades of combined psychophysical and neurophysiological research supports the idea that each afferent type serves a distinctly different sensory function and that these functions explain most of tactual perceptual function. The available evidence supports the following hypotheses: (1) The slowly adapting type 1 system provides the information on which form and texture perception are based. (2) The cutaneous rapidly adapting system provides information about minute skin motion and, thereby, plays a critical role in grip control. (3) The Pacinian system is responsible for the detection and perception of distant events by vibrations transmitted through objects, probes, and tools held in the hand. (4) The slowly adapting type 2 system provides information for the perception of hand conformation and for the perception of forces acting on the hand. The authors review the evidence on which these hypotheses are based. They also review the role of proprioceptive afferents in the perception of hand conformation because they appear to play a significant role along with cutaneous afferents.

Slowly adapting type I afferents from the sides and end of the finger respond to stimuli on the center of the fingerpad

The central part of the fingerpad in anesthetized monkeys was stimulated by spheres varying in curvature indented into the skin. Responses were recorded from single slowly adapting type I primary afferent fibers (SAIs) innervating the sides and end of the distal segment of the stimulated finger. Although these afferents had receptive field centers that were remote from the stimulus, their responses were substantial. Increasing the curvature of the stimulus resulted in an increased response for most afferents. In general, responses increased most between stimuli with curvatures of 0 (flat) and 80.6 m(-1), with further increases in curvature having progressively smaller effects on the response. We calculated an index of sensitivity to changes in curvature; this index varied widely among the afferents but for most it was less than the index calculated for afferents innervating the fingerpad in the vicinity of the stimulus. Responses of all the SAIs increased when the contact force of the stimulus increased. An index of sensitivity to changes in contact force varied widely among the afferents but in all cases was greater than the index calculated for SAIs from the fingerpad itself. Neither the curvature sensitivity nor the force sensitivity of an afferent was related in any obvious way to the location of its receptive field center on the digit. There was only a minor correspondence between an afferent's sensitivity to force and its sensitivity to curvature. The large number of afferents innervating the border regions of the digit do respond to stimuli contacting the central fingerpad; they convey some information about the curvature of the stimulus and substantial information about contact force.

Surround suppression in the responses of primate SA1 and RA mechanoreceptive afferents mapped with a probe array

Twenty-four slowly adapting type 1 (SA1) and 26 rapidly adapting (RA) cutaneous mechanoreceptive afferents in the rhesus monkey were studied with an array of independently controlled, punctate probes that covered an entire fingerpad. Each afferent had a receptive field (RF) on a single fingerpad and was studied at 73 skin sites (50 mm2). The entire array was lowered to 1.6 to 3.0 mm below the point of initial skin contact (the background indentation) before delivering indentations with one to seven probes. Indentations were generally limited to 100 microm to minimize gross mechanical interactions. There were two major, new findings. 1) The discharge rates of both SA1 and RA afferents were strongly affected by the number of probes indenting the RF simultaneously. The effect was exponential. Each increase in probe number reduced the response by 24% in SA1 and 12% in RA afferents on average. When seven probes indented the skin simultaneously, the impulse rates in SA1 and RA afferents were reduced to 20 and 40% of the rates evoked by a single probe at the hot spot (all indentations were 100 microm). This shows that before any synaptic interaction in the CNS there is already a mechanism analogous to surround inhibition that suppresses an afferent's responses to uniform indentation and makes it especially sensitive to deviations from spatial uniformity. 2) The responses of both SA1 and RA afferents were independent of background array depth over the range from 1.6 to 3 mm below the point of initial skin contact. This shows that the neural responses to elements raised above a background are independent of the applied force over a wide range of forces. To relate the background depths to indentation force and to compare humans and monkeys, we studied the biomechanics of indentation with a uniform surface. A remarkable result is that the force-displacement relationships in humans and monkeys were the same; the skin is highly compliant for the first 2-3 mm of indentation and then becomes much stiffer. The results were the same in alert humans and monkeys and in monkeys anesthetized with pentobarbital. Ketamine anesthesia made the skin much stiffer and reduced the compliant range substantially.

SA1 and RA receptive fields, response variability, and population responses mapped with a probe array

Twenty-four slowly adapting type 1 (SA1) and 26 rapidly adapting (RA) cutaneous mechanoreceptive afferents in the rhesus monkey were studied with an array of independently controlled, punctate probes that covered an entire fingerpad. Each afferent had a receptive field (RF) on a single fingerpad and was studied at 73 skin sites (50 mm2). The entire array was lowered to 1.6 mm below the point of initial skin contact (the background indentation) before delivering single-probe indentations. SA1 and RA responses differed in several ways. 1) SA1 RF boundaries were affected much less by indentation depth than were RA boundaries, and the SA1 RF areas were much more uniform in size. The mean SA1 RF area grew from 5.1 to 8.8 mm2 as the indentation depth increased from 50 to 500 microm; the mean RA RF area grew from 5.5 to 22.4 mm2 over the same intensity range. 2) SA1 RFs were more elongated than RA RFs. Elongated RFs were oriented in all directions relative to the skin ridges and the finger axis. 3) SA1 impulse rates were linear functions of indentation depth at all probe locations in the RF; RA responses tended toward saturation beginning at 100 microm indentation depth when the probe was over the HS. Similarities between SA1 and RA responses were that 1) both were extremely repeatable with SDs < 1 impulse per trial and 2) both had population responses (number of impulses) that were nearly linear functions of indentation depth. However, SA1s represented increasing indentation depth by increasing impulse rates in a small, relatively constant group of afferents, whereas the RAs represented increasing indentation depth predominantly by the recruitment of new afferents at a distance.

Velocity invariance of receptive field structure in somatosensory cortical area 3b of the alert monkey

This is the second in a series of studies of the neural representation of tactile spatial form in cortical area 3b of the alert monkey. We previously studied the spatial structure of 330 area 3b neuronal receptive fields (RFs) on the fingerpad with random dot patterns scanned at one velocity (40 mm/sec; ). Here, we analyze the temporal structure of 84 neuronal RFs by studying their spatial structure at three scanning velocities (20, 40, and 80 mm/sec). As in the previous study, most RFs contained a single, central, excitatory region and one or more surrounding or flanking inhibitory regions. The mean time delay between skin stimulation and its excitatory effect was 15.5 msec. Except for differences in mean rate, each neuron's response and the spatial structure of its RF were essentially unaffected by scanning velocity. This is the expected outcome when excitatory and inhibitory effects are brief and synchronous. However, that interpretation is consistent neither with the reported timing of excitation and inhibition in somatosensory cortex nor with the third study in this series, which investigates the effect of scanning direction and shows that one component of inhibition lags behind excitation. We reconcile these observations by showing that overlapping (in-field) inhibition delayed relative to excitation can produce RF spatial structure that is unaffected by changes in scanning velocity. Regardless of the mechanisms, the velocity invariance of area 3b RF structure is consistent with the velocity invariance of tactile spatial perception (e.g., roughness estimation and form recognition).

Raised object on a planar surface stroked across the fingerpad: responses of cutaneous mechanoreceptors to shape and orientation

The representations of orientation and shape were studied in the responses of cutaneous mechanoreceptors to an isolated, raised object on a planar surface stroked across the fingerpad. The objects were the top portions of a sphere with a 5-mm radius, and two toroids each with a radius of 5 mm along one axis and differing radii of 1 or 3 mm along the orthogonal axis. The velocity and direction of stroking were fixed while the orientation of the object in the horizontal plane was varied. Each object was stroked along a series of laterally shifted, parallel, linear trajectories over the receptive fields of slowly adapting, type I (SA), and rapidly adapting, type I (RA) mechanoreceptive afferents innervating the fingerpad of the monkey. "Spatial event plots" (SEPs) of the occurrence of action potentials, as a function of the location of each object on the receptive field, were interpreted as the responses of a spatially distributed population of fibers. That portion of the plot evoked by the curved object (the SEPc) provided a representation of the shape and orientation of the two-dimensional outline of the object in the horizontal plane in contact with the skin. For both SAs and RAs, the major vector of the SEPc, obtained by a principal components analysis, was linearly related to the physical orientation of the major axis of each toroid. The spatial distribution of discharge rates [spatial rate surface profiles (SRSs), after plotting mean instantaneous frequency versus spatial locus within the SEPc] represented object shape in a third dimension, normal to the skin surface. The shape of the SA SRSs, well fitted by Gaussian equations, better represented object shape than that of the RA SRSs. A cross-sectional profile along the minor axis [spatial rate profile (SRP)] was approximately triangular for SAs. After normalization for differences in peak height, the falling slopes of the SA SRPs increased, and the base widths decreased with curvature of the object's minor axis. These curvature-related differences in slopes and widths were invariant with changes in object orientation. It is hypothesized that circularity in object shape is coded by the constancy of slopes of SA SRPs between peak and base and that the constancy of differences in the widths and falling slopes evoked by different raised objects encodes, respectively, the differences in their sizes and shapes regardless of differences in their orientation on the skin.

Structure of receptive fields in area 3b of primary somatosensory cortex in the alert monkey

We investigated the two-dimensional structure of area 3b neuronal receptive fields (RFs) in three alert monkeys. Three hundred thirty neurons with RFs on the distal fingerpads were studied with scanned, random dot stimuli. Each neuron was stimulated continuously for 14 min, yielding 20,000 response data points. Excitatory and inhibitory components of each RF were determined with a modified linear regression algorithm. Analyses assessing goodness-of-fit, repeatability, and generality of the RFs were developed. Two hundred forty-seven neurons yielded highly repeatable RF estimates, and most RFs accounted for a large fraction of the explainable response of each neuron. Although the area 3b RF structures appeared to be continuously distributed, certain structural generalities were apparent. Most RFs (94%) contained a single, central region of excitation and one or more regions of inhibition located on one, two, three, or all four sides of the excitatory center. The shape, area, and strength of excitatory and inhibitory RF regions ranged widely. Half the RFs contained almost evenly balanced excitation and inhibition. The findings indicate that area 3b neurons act as local spatiotemporal filters that are maximally excited by the presence of particular stimulus features. We believe that form and texture perception are based on high-level representations and that area 3b is an intermediate stage in the processes leading to these representations. Two possibilities are considered: (1) that these high-level representations are basically somatotopic and that area 3b neurons amplify some features and suppress others, or (2) that these representations are highly transformed and that area 3b effects a step in the transformation.

Neural coding mechanisms in tactile pattern recognition: the relative contributions of slowly and rapidly adapting mechanoreceptors to perceived roughness

Tactile pattern recognition depends on form and texture perception. A principal dimension of texture perception is roughness, the neural coding of which was the focus of this study. Previous studies have shown that perceived roughness is not based on neural activity in the Pacinian or cutaneous slowly adapting type II (SAII) neural responses or on mean impulse rate or temporal patterning in the cutaneous slowly adapting type I (SAI) or rapidly adapting (RA) discharge evoked by a textured surface. However, those studies found very high correlations between roughness scaling by humans and measures of spatial variation in SAI and RA firing rates. The present study used textured surfaces composed of dots of varying height (280-620 micron) and diameter (0.25-2.5 mm) in psychophysical and neurophysiological experiments. RA responses were affected least by the range of dot diameters and heights that produced the widest variation in perceived roughness, and these responses could not account for the psychophysical data. In contrast, spatial variation in SAI impulse rate was correlated closely with perceived roughness over the whole stimulus range, and a single measure of SAI spatial variation accounts for the psychophysical data in this (0.974 correlation) and two previous studies. Analyses based on the possibility that perceived roughness depends on both afferent types suggest that if the RA response plays a role in roughness perception, it is one of mild inhibition. These data reinforce the hypothesis that SAI afferents are mainly responsible for information about form and texture whereas RA afferents are mainly responsible for information about flutter, slip, and motion across the skin surface.