Influence of the behavioural context on the optocollic reflex (OCR) in pigeons (Columba livia)

Development of the horizontal optocollic reflex in juvenile barn owls (Tyto furcata pratincola)

Adult barn owls and primates possess an almost symmetric monocular rotational horizontal optocollic reflex. In primates, the reflex is initially asymmetric and becomes symmetric with time after birth. The condition in barn owls has not been studied so far. Here, we present data on the development of this reflex in this bird. We tested juvenile barn owls from the time before they open their eyes after hatching to the time they reach adult feather length. Wide-field visual patterns served as stimuli. They were presented at different rotational speeds in binocular and monocular settings. The binocular horizontal optocollic responses of juvenile barn owls were symmetric and adult-like on the first day that the birds responded to the stimulus. The monocular responses showed different rates of development in respect to stimulus velocity and stimulus direction. For velocities up to 20 deg/s, the monocular reflex was also adult-like on the first day that the birds responded to the stimulus. An initially higher asymmetry for 30 deg/s compared to adults disappeared within about two weeks. The development at even higher velocities remained unclear.

Optocollic responses in adult barn owls (Tyto furcata)

Barn owls, like primates, have frontally oriented eyes, which allow for a large binocular overlap. While owls have similar binocular vision and visual-search strategies as primates, it is less clear whether reflexive visual behavior also resembles that of primates or is more similar to that of closer related, but lateral-eyed bird species. Test cases are visual responses driven by wide-field movement: the optokinetic, optocollic, and optomotor responses, mediated by eye, head and body movements, respectively. Adult primates have a so-called symmetric horizontal response: they show the same following behavior, if the stimulus, presented to one eye only, moves in the nasal-to-temporal direction or in the temporal-to-nasal direction. By contrast, lateral-eyed birds have an asymmetric response, responding better to temporal-to-nasal movement than to nasal-to-temporal movement. We show here that the horizontal optocollic response of adult barn owls is less asymmetric than that in the chicken for all velocities tested. Moreover, the response is symmetric for low velocities (< 20 deg/s), and similar to that of primates. The response becomes moderately asymmetric for middle-range velocities (20-40 deg/s). A definitive statement for the complex situation for higher velocities (> 40 deg/s) is not possible.

A Physical Model Suggests That Hip-Localized Balance Sense in Birds Improves State Estimation in Perching: Implications for Bipedal Robots

In addition to a vestibular system, birds uniquely have a balance-sensing organ within the pelvis, called the lumbosacral organ (LSO). The LSO is well developed in terrestrial birds, possibly to facilitate balance control in perching and terrestrial locomotion. No previous studies have quantified the functional benefits of the LSO for balance. We suggest two main benefits of hip-localized balance sense: reduced sensorimotor delay and improved estimation of foot-ground acceleration. We used system identification to test the hypothesis that hip-localized balance sense improves estimates of foot acceleration compared to a head-localized sense, due to closer proximity to the feet. We built a physical model of a standing guinea fowl perched on a platform, and used 3D accelerometers at the hip and head to replicate balance sense by the LSO and vestibular systems. The horizontal platform was attached to the end effector of a 6 DOF robotic arm, allowing us to apply perturbations to the platform analogous to motions of a compliant branch. We also compared state estimation between models with low and high neck stiffness. Cross-correlations revealed that foot-to-hip sensing delays were shorter than foot-to-head, as expected. We used multi-variable output error state-space (MOESP) system identification to estimate foot-ground acceleration as a function of hip- and head-localized sensing, individually and combined. Hip-localized sensors alone provided the best state estimates, which were not improved when fused with head-localized sensors. However, estimates from head-localized sensors improved with higher neck stiffness. Our findings support the hypothesis that hip-localized balance sense improves the speed and accuracy of foot state estimation compared to head-localized sense. The findings also suggest a role of neck muscles for active sensing for balance control: increased neck stiffness through muscle co-contraction can improve the utility of vestibular signals. Our engineering approach provides, to our knowledge, the first quantitative evidence for functional benefits of the LSO balance sense in birds. The findings support notions of control modularity in birds, with preferential vestibular sense for head stability and gaze, and LSO for body balance control,respectively. The findings also suggest advantages for distributed and active sensing for agile locomotion in compliant bipedal robots.

Whole-body 3D kinematics of bird take-off: key role of the legs to propel the trunk

Previous studies showed that birds primarily use their hindlimbs to propel themselves into the air in order to take-off. Yet, it remains unclear how the different parts of their musculoskeletal system move to produce the necessary acceleration. To quantify the relative motions of the bones during the terrestrial phase of take-off, we used biplanar fluoroscopy in two species of birds, diamond dove (Geopelia cuneata) and zebra finch (Taeniopygia guttata). We obtained a detailed 3D kinematics analysis of the head, the trunk and the three long bones of the left leg. We found that the entire body assisted the production of the needed forces to take-off, during two distinct but complementary phases. The first one, a relatively slow preparatory phase, started with a movement of the head and an alignment of the different groups of bones with the future take-off direction. It was associated with a pitch down of the trunk and a flexion of the ankle, of the hip and, to a lesser extent, of the knee. This crouching movement could contribute to the loading of the leg muscles and store elastic energy that could be released in the propulsive phase of take-off, during the extension of the leg joints. Combined with the fact that the head, together with the trunk, produced a forward momentum, the entire body assisted the production of the needed forces to take-off. The second phase was faster with mostly horizontal forward and vertical upward translation motions, synchronous to an extension of the entire lower articulated musculoskeletal system. It led to the propulsion of the bird in the air with a fundamental role of the hip and ankle joints to move the trunk upward and forward. Take-off kinematics were similar in both studied species, with a more pronounced crouching movement in diamond dove, which can be related to a large body mass compared to zebra finch.

Head Stabilization in the Pigeon: Role of Vision to Correct for Translational and Rotational Disturbances

Stabilization of the head in animals with limited capacity to move their eyes is key to maintain a stable image on the retina. In many birds, including pigeons, a prominent example for the important role of head stabilization is the characteristic head-bobbing behavior observed during walking. Multimodal sensory feedback from the eyes, the vestibular system and proprioceptors in body and neck is required to control head stabilization. Here, we trained unrestrained pigeons (Columba livia) to stand on a perch that was sinusoidally moved with a motion platform along all three translational and three rotational degrees of freedom. We varied the frequency of the perturbation and we recorded the pigeons' responses under both light and dark conditions. Head, body, and platform movements were assessed with a high-speed motion capture system and the data were used to compute gain and phase of head and body movements in response to the perturbations. Comparing responses under dark and light conditions, we estimated the contribution of visual feedback to the control of the head. Our results show that the head followed the movement of the motion platform to a large extent during translations, but it was almost perfectly stabilized against rotations. Visual feedback only improved head stabilization during translations but not during rotations. The body compensated rotations around the forward-backward and the lateral axis, but did not contribute to head stabilization during translations and rotations around the vertical axis. From the results, we conclude that head stabilization in response to translations and rotations depends on different sensory feedback and that visual feedback plays only a limited role for head stabilization during standing.

How Lovebirds Maneuver Rapidly Using Super-Fast Head Saccades and Image Feature Stabilization

Diurnal flying animals such as birds depend primarily on vision to coordinate their flight path during goal-directed flight tasks. To extract the spatial structure of the surrounding environment, birds are thought to use retinal image motion (optical flow) that is primarily induced by motion of their head. It is unclear what gaze behaviors birds perform to support visuomotor control during rapid maneuvering flight in which they continuously switch between flight modes. To analyze this, we measured the gaze behavior of rapidly turning lovebirds in a goal-directed task: take-off and fly away from a perch, turn on a dime, and fly back and land on the same perch. High-speed flight recordings revealed that rapidly turning lovebirds perform a remarkable stereotypical gaze behavior with peak saccadic head turns up to 2700 degrees per second, as fast as insects, enabled by fast neck muscles. In between saccades, gaze orientation is held constant. By comparing saccade and wingbeat phase, we find that these super-fast saccades are coordinated with the downstroke when the lateral visual field is occluded by the wings. Lovebirds thus maximize visual perception by overlying behaviors that impair vision, which helps coordinate maneuvers. Before the turn, lovebirds keep a high contrast edge in their visual midline. Similarly, before landing, the lovebirds stabilize the center of the perch in their visual midline. The perch on which the birds land swings, like a branch in the wind, and we find that retinal size of the perch is the most parsimonious visual cue to initiate landing. Our observations show that rapidly maneuvering birds use precisely timed stereotypic gaze behaviors consisting of rapid head turns and frontal feature stabilization, which facilitates optical flow based flight control. Similar gaze behaviors have been reported for visually navigating humans. This finding can inspire more effective vision-based autopilots for drones.

Encoding of naturalistic optic flow by motion sensitive neurons of nucleus rotundus in the zebra finch (Taeniopygia guttata)

The retinal image changes that occur during locomotion, the optic flow, carry information about self-motion and the three-dimensional structure of the environment. Especially fast moving animals with only little binocular vision depend on these depth cues for maneuvering. They actively control their gaze to facilitate perception of depth based on cues in the optic flow. In the visual system of birds, nucleus rotundus neurons were originally found to respond to object motion but not to background motion. However, when background and object were both moving, responses increased the more the direction and velocity of object and background motion on the retina differed. These properties may play a role in representing depth cues in the optic flow. We therefore investigated, how neurons in nucleus rotundus respond to optic flow that contains depth cues. We presented simplified and naturalistic optic flow on a panoramic LED display while recording from single neurons in nucleus rotundus of anaesthetized zebra finches. Unlike most studies on motion vision in birds, our stimuli included depth information. We found extensive responses of motion selective neurons in nucleus rotundus to optic flow stimuli. Simplified stimuli revealed preferences for optic flow reflecting translational or rotational self-motion. Naturalistic optic flow stimuli elicited complex response modulations, but the presence of objects was signaled by only few neurons. The neurons that did respond to objects in the optic flow, however, show interesting properties.

Possible cues driving context-specific adaptation of optocollic reflex in pigeons (Columba livia)

Context-specific adaptation (Shelhamer M, Clendaniel R. Neurosci Lett 332: 200-204, 2002) explains that reflexive responses can be maintained with different "calibrations" for different situations (contexts). Which context cues are crucial and how they combine to evoke context-specific adaptation is not fully understood. Gaze stabilization in birds is a nice model with which to tackle that question. Previous data showed that when pigeons (Columba livia) were hung in a harness and subjected to a frontal airstream provoking a flying posture ("flying condition"), the working range of the optokinetic head response [optocollic reflex (OCR)] extended toward higher velocities compared with the "resting condition." The present study was aimed at identifying which context cues are instrumental in recalibrating the OCR. We investigated that question by using vibrating stimuli delivered during the OCR provoked by rotating the visual surroundings at different velocities. The OCR gain increase and the boost of the fast phase velocity observed during the "flying condition" were mimicked by body vibration. On the other hand, the newly emerged relationship between the fast-phase and slow-phase velocities in the "flying condition" was mimicked by head vibration. Spinal cord lesion at the lumbosacral level decreased the effects of body vibration, whereas lesions of the lumbosacral apparatus had no effect. Our data suggest a major role of muscular proprioception in the context-specific adaptation of the stabilizing behavior, while the vestibular system could contribute to the context-specific adaptation of the orienting behavior. Participation of an efferent copy of the motor command driving the flight cannot be excluded.

State-dependent sensorimotor processing: gaze and posture stability during simulated flight in birds

Vestibular responses play an important role in maintaining gaze and posture stability during rotational motion. Previous studies suggest that these responses are state dependent, their expression varying with the environmental and locomotor conditions of the animal. In this study, we simulated an ethologically relevant state in the laboratory to study state-dependent vestibular responses in birds. We used frontal airflow to simulate gliding flight and measured pigeons' eye, head, and tail responses to rotational motion in darkness, under both head-fixed and head-free conditions. We show that both eye and head response gains are significantly higher during flight, thus enhancing gaze and head-in-space stability. We also characterize state-specific tail responses to pitch and roll rotation that would help to maintain body-in-space orientation during flight. These results demonstrate that vestibular sensorimotor processing is not fixed but depends instead on the animal's behavioral state.

Optokinetic nystagmus in harbor seals (Phoca vitulina)

Harbor seals experience motion due to self-motion and to movement in the external world. However, motion vision has not been studied yet in marine mammals moving in the underwater world. To open up this research, optokinetic nystagmus (OKN) as a basic motion sensing and retinal image stabilizing reflex was studied in four harbor seals during stimulation with moving black-and-white stripe patterns. All seals responded with optokinetic eye movements. Detailed measurements obtained with one animal revealed a moderate gain for horizontal binocular OKN. Monocularly stimulated, the seal displayed a symmetrical OKN with slightly stronger responses to leftward moving stimuli, and, surprisingly, a symmetrical OKN was found in the vertical domain.