Parietal area 5 and the initiation of self-timed movements versus simple reactions

Bridging Neuroscience and Robotics: Spiking Neural Networks in Action

Robots are becoming increasingly sophisticated in the execution of complex tasks. However, an area that requires development is the ability to act in dynamically changing environments. To advance this, developments have turned towards understanding the human brain and applying this to improve robotics. The present study used electroencephalogram (EEG) data recorded from 54 human participants whilst they performed a two-choice task. A build-up of motor activity starting around 400 ms before response onset, also known as the lateralized readiness potential (LRP), was observed. This indicates that actions are not simply binary processes but rather, response-preparation is gradual and occurs in a temporal window that can interact with the environment. In parallel, a robot arm executing a pick-and-place task was developed. The understanding from the EEG data and the robot arm were integrated into the final system, which included cell assemblies (CAs)-a simulated spiking neural network-to inform the robot to place the object left or right. Results showed that the neural data from the robot simulation were largely consistent with the human data. This neurorobotics study provides an example of how to integrate human brain recordings with simulated neural networks in order to drive a robot.

What is the Intention to Move and When Does it Occur?

In 1983 Benjamin Libet and colleagues published a paper apparently challenging the view that the conscious intention to move precedes the brain's preparation for movement. The experiment initiated debates about the nature of intention, the neurophysiology of movement, and philosophical and legal understanding of free will and moral responsibility. Here we review the concept of "conscious intention" and attempts to measure its timing. Scalp electroencephalographic activity prior to movement, the Bereitschaftspotential, clearly begins prior to the reported onset of conscious intent. However, the interpretation of this finding remains controversial. Numerous studies show that the Libet method for determining intent, W time, is not accurate and may be misleading. We conclude that intention has many different aspects, and although we now understand much more about how the brain makes movements, identifying the time of conscious intention is still elusive.

A midbrain-thalamus-cortex circuit reorganizes cortical dynamics to initiate movement

Motor behaviors are often planned long before execution but only released after specific sensory events. Planning and execution are each associated with distinct patterns of motor cortex activity. Key questions are how these dynamic activity patterns are generated and how they relate to behavior. Here, we investigate the multi-regional neural circuits that link an auditory "Go cue" and the transition from planning to execution of directional licking. Ascending glutamatergic neurons in the midbrain reticular and pedunculopontine nuclei show short latency and phasic changes in spike rate that are selective for the Go cue. This signal is transmitted via the thalamus to the motor cortex, where it triggers a rapid reorganization of motor cortex state from planning-related activity to a motor command, which in turn drives appropriate movement. Our studies show how midbrain can control cortical dynamics via the thalamus for rapid and precise motor behavior.

Ramp-to-threshold dynamics in a hindbrain population controls the timing of spontaneous saccades

Organisms have the capacity to make decisions based solely on internal drives. However, it is unclear how neural circuits form decisions in the absence of sensory stimuli. Here we provide a comprehensive map of the activity patterns underlying the generation of saccades made in the absence of visual stimuli. We perform calcium imaging in the larval zebrafish to discover a range of responses surrounding spontaneous saccades, from cells that display tonic discharge only during fixations to neurons whose activity rises in advance of saccades by multiple seconds. When we lesion cells in these populations we find that ablation of neurons with pre-saccadic rise delays saccade initiation. We analyze spontaneous saccade initiation using a ramp-to-threshold model and are able to predict the times of upcoming saccades using pre-saccadic activity. These findings suggest that ramping of neuronal activity to a bound is a critical component of self-initiated saccadic movements.

Spatial and temporal scales of dopamine transmission

Dopamine is a prototypical neuromodulator that controls circuit function through G protein-coupled receptor signalling. Neuromodulators are volume transmitters, with release followed by diffusion for widespread receptor activation on many target cells. Yet, we are only beginning to understand the specific organization of dopamine transmission in space and time. Although some roles of dopamine are mediated by slow and diffuse signalling, recent studies suggest that certain dopamine functions necessitate spatiotemporal precision. Here, we review the literature describing dopamine signalling in the striatum, including its release mechanisms and receptor organization. We then propose the domain-overlap model, in which release and receptors are arranged relative to one another in micrometre-scale structures. This architecture is different from both point-to-point synaptic transmission and the widespread organization that is often proposed for neuromodulation. It enables the activation of receptor subsets that are within micrometre-scale domains of release sites during baseline activity and broader receptor activation with domain overlap when firing is synchronized across dopamine neuron populations. This signalling structure, together with the properties of dopamine release, may explain how switches in firing modes support broad and dynamic roles for dopamine and may lead to distinct pathway modulation.

What Is the Readiness Potential?

The readiness potential (RP), a slow buildup of electrical potential recorded at the scalp using electroencephalography, has been associated with neural activity involved in movement preparation. It became famous thanks to Benjamin Libet (Brain 1983;106:623-642), who used the time difference between the RP and self-reported time of conscious intention to move to argue that we lack free will. The RP's informativeness about self-generated action and derivatively about free will has prompted continued research on this neural phenomenon. Here, we argue that recent advances in our understanding of the RP, including computational modeling of the phenomenon, call for a reassessment of its relevance for understanding volition and the philosophical problem of free will.

Difference Between Intentional and Reactive Movement in Side-Steps: Patterns of Temporal Structure and Force Exertion

Intentional and reactive movements are dissimilar in terms of execution time. Previous studies reported that reactive movements are faster than intentional movements (“Bohr’s law” or “Gunslinger effect”), however, these studies focused only on hand-reaching tasks, such as pressing buttons. No studies assessed whole-body movements involving movement of the center of mass (CoM). This movement is characterized by many degrees of freedom because it involves many joints and requires more force than the hand-reaching movement. In this study, we determined the differences in the patterns of temporal structure and force exertion to elucidate the mechanism of “Bohr’s law” in whole-body movement involving movement of the CoM. Ten participants performed a sidestepping task, which requires at least two steps: (1) an intentional movement, in which the movement started with the participants’ own timing; and (2) a reactive movement, in which the movement started the moment a light-emitting diode bulb in front of the participants lit up. We collected data on the ground reaction forces and coordinates of 20 body points. The time of movement onset was calculated and defined based on the ground reaction force, which has the earliest onset compared with velocity and position. The execution time was significantly shorter in the reactive movement condition than in the intentional movement condition (772 vs. 715 ms, p = 2.9 × 10^–4). We confirmed that Bohr’s law was applicable not only in hand-reaching tasks but also in whole-body movement. Moreover, we identified three phases, including the velocity reversal phenomenon associated with the produced mechanism of Bohr’s law, and provided the temporal structure. The difference in the pattern of force exertion accompanying the two styles of motor planning with different accuracies was strongly associated with this motor characteristic. These findings may serve as important basic data to scientifically clarify the mechanism of complex physical tactics implemented in one-on-one dueling in various sports.

Sensory feedback independent pre-song vocalizations correlate with time to song initiation

The song of the adult male zebra finch is a well-studied example of a learned motor sequence. Song bouts begin with a variable number of introductory notes (INs) before actual song production. Previous studies have shown that INs progress from a variable initial state to a stereotyped final state before each song. This progression is thought to represent motor preparation, but the underlying mechanisms remain poorly understood. Here, we assessed the role of sensory feedback in the progression of INs to song. We found that the mean number of INs before song and the progression of INs to song were not affected by removal of two sensory feedback pathways (auditory or proprioceptive). In both feedback-intact and feedback-deprived birds, the presence of calls (other non-song vocalizations), just before the first IN, was correlated with fewer INs before song and an initial state closer to song. Finally, the initial IN state correlated with the time to song initiation. Overall, these results show that INs do not require real-time sensory feedback for progression to song. Rather, our results suggest that changes in IN features and their transition to song are controlled by internal neural processes, possibly involved in getting the brain ready to initiate a learned movement sequence.

Pre-Bout Neural Activity Changes in Premotor Nucleus HVC Correlate with Successful Initiation of Learned Song Sequence

Preparatory activity, characterized by gradual, longer timescale changes in neural activity, is present in a number of different brain areas before the onset of simple movements and is believed to be important for movement initiation. However, relatively little is known about such activity before initiation of naturally learned movement sequences. The song of an adult male zebra finch is a well studied example of a naturally learned movement sequence and previous studies have shown robust premotor activity immediately before song. Here, I characterize longer timescale changes in neural activity in adult male zebra finch premotor nucleus HVC before onset of song bouts. I show that interneurons and a subset of basal-ganglia-projecting neurons change their activity several hundred milliseconds before song bout onset. Interneurons increased their activity, whereas basal-ganglia-projecting neurons either increased or decreased their activity. Such changes in neural activity were larger, started earlier, and were more common specifically before song bouts that began with the short, repetitive, introductory notes (INs) characteristic of zebra finch song bouts. Further, stronger and earlier changes were also correlated with successful song sequence initiation. Finally, a small fraction of basal-ganglia-projecting neurons that increased their activity before song bout onset did not have song or IN-related activity, suggesting a specialized preparatory role for such neurons. Overall, these data suggest that pre-bout activity in HVC represents preparatory activity important for initiation of a naturally learned movement sequence.SIGNIFICANCE STATEMENT Changes in neuronal activity well before the onset of simple movements are thought to be important for movement initiation. However, a number of animal movements consist of sequences of simple movements and relatively little is known about neuronal activity before such movement sequences. Using adult zebra finch song, a well studied example of a movement sequence, I show here that neurons in premotor nucleus HVC change their activity hundreds of milliseconds before song bout onset. In most neurons, the presence of such changes correlated with successful song sequence initiation. My results show the presence of preparatory neural activity in HVC and suggest a role for HVC in sequence initiation in addition to its established role in song sequence timing.

Cortical Afferents and Myeloarchitecture Distinguish the Medial Intraparietal Area (MIP) from Neighboring Subdivisions of the Macaque Cortex

The parietal reach region (PRR) in the medial bank of the macaque intraparietal sulcus has been a subject of considerable interest in research aimed at the development of brain-controlled prosthetic arms, but its anatomical organization remains poorly characterized. We examined the anatomical organization of the putative PRR territory based on myeloarchitecture and retrograde tracer injections. We found that the medial bank includes three areas: an extension of the dorsal subdivision of V6A (V6Ad), the medial intraparietal area (MIP), and a subdivision of area PE (PEip). Analysis of corticocortical connections revealed that both V6Ad and MIP receive inputs from visual area V6; the ventral subdivision of V6A (V6Av); medial (PGm, 31), superior (PEc), and inferior (PFG/PF) parietal association areas; and intraparietal areas AIP and VIP. They also receive long-range projections from the superior temporal sulcus (MST, TPO), cingulate area 23, and the dorsocaudal (area F2) and ventral (areas F4/F5) premotor areas. In comparison with V6Ad, MIP receives denser input from somatosensory areas, the primary motor cortex, and the medial motor fields, as well as from visual cortex in the ventral precuneate cortex and frontal regions associated with oculomotor guidance. Unlike MIP, V6Ad receives stronger visual input, from the caudal inferior parietal cortex (PG/Opt) and V6Av, whereas PEip shows marked emphasis on anterior parietal, primary motor, and ventral premotor connections. These anatomical results suggest that MIP and V6A have complementary roles in sensorimotor behavior, with MIP more directly involved in movement planning and execution in comparison with V6A.

Area PEc Neurons Use a Multiphasic Pattern of Activity to Signal the Spatial Properties of Optic Flow

The cortical representation of visual perception requires the integration of several-signal processing distributed across many cortical areas, but the neural substrates of such perception are largely unknown. The type of firing pattern exhibited by single neurons is an important indicator of dynamic circuitry within or across cortical areas. Neurons in area PEc are involved in the spatial mapping of the visual field; thus, we sought to analyze the firing pattern of activity of PEc optic flow neurons to shed some light on the cortical processing of visual signals. We quantified the firing activity of 152 optic flow neurons using a spline interpolation function, which allowed determining onset, end, and latency of each neuronal response. We found that many PEc neurons showed multiphasic activity, which is strictly related to the position of the eye and to the position of the focus of expansion (FOE) of the flow field. PEc neurons showed a multiphasic activity comprised of excitatory phases interspersed with inhibitory pauses. This phasic pattern seems to be a very efficient way to signal the spatial location of visual stimuli, given that the same neuron sends different firing patterns according to a specific combination of FOE/eye position.

Posterior parietal cortex estimates the relationship between object and body location during locomotion

We test the hypothesis that the posterior parietal cortex (PPC) contributes to the control of visually guided locomotor gait modifications by constructing an estimation of object location relative to body state, and in particular the changing gap between them. To test this hypothesis, we recorded neuronal activity from areas 5b and 7 of the PPC of cats walking on a treadmill and stepping over a moving obstacle whose speed of advance was varied (slowed or accelerated with respect to the speed of the cat). We found distinct populations of neurons in the PPC, primarily in area 5b, that signaled distance- or time-to-contact with the obstacle, regardless of which limb was the first to step over the obstacle. We propose that these cells are involved in a sensorimotor transformation whereby information on the location of an obstacle with respect to the body is used to initiate the gait modification.

Imagine crossing the street and having to step up onto a sidewalk, or running up to kick a moving soccer ball. How does the brain allow you to accomplish these deceptively simple tasks? You might say that you look at the target and then adjust where you place your feet in order to achieve your goal. That would be correct, but to make that adjustment you have to determine where you are with respect to the curb or the soccer ball. A key aspect of both of these activities is the ability to determine where your target is with respect to your current location, even if that target is moving. One way to do that is to determine the distance or the time required to reach that target. The brain can then use this information to adjust your foot placement and limb movement to fulfill your goal.

Despite the fact that we constantly use vision to examine our environment as we walk, we have little understanding as to how the brain uses vision to plan where to step next. Marigold and Drew have now determined whether one specific part of the brain called the posterior parietal cortex, which is known to be involved in integrating vision and movement, is involved in this planning. Specifically, can it estimate the relative location of a moving object with respect to the body?

Marigold and Drew recorded from neurons in the posterior parietal cortex of cats while they walked on a treadmill and stepped over an obstacle that moved towards them. On some tests, the obstacle was either slowed or accelerated quickly as it approached the cat. Regardless of these manipulations, some neurons always became active when the obstacle was at a specific distance from the cat. By contrast, other neurons always became active at a specific time before the cat met the obstacle. Animals use this information to adjust their gait to step over an obstacle without hitting it.

Overall, the results presented by Marigold and Drew provide new insights into how animals use vision to modify their stepping pattern. This information could potentially be used to devise rehabilitation techniques, perhaps using virtual reality, to aid patients with damage to the posterior parietal cortex. Equally, the results from this research could help to design brain-controlled devices that help patients to walk – or even intelligent walking robots.

Cerebellar Roles in Self-Timing for Sub- and Supra-Second Intervals

Previous studies suggest that the cerebellum and basal ganglia are involved in sub-second and supra-second timing, respectively. To test this hypothesis at the cellular level, we examined the activity of single neurons in the cerebellar dentate nucleus in monkeys performing the oculomotor version of the self-timing task. Animals were trained to report the passage of time of 400, 600, 1200, or 2400 ms following a visual cue by making self-initiated memory-guided saccades. We found a sizeable preparatory neuronal activity before self-timed saccades across delay intervals, while the time course of activity correlated with the trial-by-trial variation of saccade latency in different ways depending on the length of the delay intervals. For the shorter delay intervals, the ramping up of neuronal firing rate started just after the visual cue and the rate of rise of neuronal activity correlated with saccade timing. In contrast, for the longest delay (2400 ms), the preparatory activity started late during the delay period, and its onset time correlated with self-timed saccade latency. Because electrical microstimulation applied to the recording sites during saccade preparation advanced self-timed but not reactive saccades, regardless of their directions, the signals in the cerebellum may have a causal role in self-timing. We suggest that the cerebellum may regulate timing in both sub-second and supra-second ranges, although its relative contribution might be greater for sub-second than for supra-second time intervals.SIGNIFICANCE STATEMENT How we decide the timing of self-initiated movement is a fundamental question. According to the prevailing hypothesis, the cerebellum plays a role in monitoring sub-second timing, whereas the basal ganglia are important for supra-second timing. To verify this, we explored neuronal signals in the monkey cerebellum while animals reported the passage of time in the range 400-2400 ms by making eye movements. Contrary to our expectations, we found that neurons in the cerebellar dentate nucleus exhibited a similar preparatory activity for both sub-second and supra-second intervals, and that electrical simulation advanced self-timed saccades in both conditions. We suggest that the cerebellum plays a causal role in the fine adjustment of self-timing in a larger time range than previously thought.

A Sensorimotor Model for Computing Intended Reach Trajectories

The presumed role of the primate sensorimotor system is to transform reach targets from retinotopic to joint coordinates for producing motor output. However, the interpretation of neurophysiological data within this framework is ambiguous, and has led to the view that the underlying neural computation may lack a well-defined structure. Here, I consider a model of sensorimotor computation in which temporal as well as spatial transformations generate representations of desired limb trajectories, in visual coordinates. This computation is suggested by behavioral experiments, and its modular implementation makes predictions that are consistent with those observed in monkey posterior parietal cortex (PPC). In particular, the model provides a simple explanation for why PPC encodes reach targets in reference frames intermediate between the eye and hand, and further explains why these reference frames shift during movement. Representations in PPC are thus consistent with the orderly processing of information, provided we adopt the view that sensorimotor computation manipulates desired movement trajectories, and not desired movement endpoints.

Does the brain explicitly plan entire movement trajectories or are these emergent properties of motor control? Although behavioral studies support the notion of trajectory planning for visually guided reaches, a neurobiologically plausible mechanism for this observation has been lacking. I discuss a model that generates representations of desired reach trajectories (i.e., paths and speed profiles) for point-to-point reaches. I show that the predictions of this model closely resemble the population responses of neurons in posterior parietal cortex, a visuomotor planning area of the monkey brain. Several aspects of population responses that are puzzling from the point of view of traditional sensorimotor models are coherently explained by this mechanism.

Neuronal Reward and Decision Signals: From Theories to Data

Rewards are crucial objects that induce learning, approach behavior, choices, and emotions. Whereas emotions are difficult to investigate in animals, the learning function is mediated by neuronal reward prediction error signals which implement basic constructs of reinforcement learning theory. These signals are found in dopamine neurons, which emit a global reward signal to striatum and frontal cortex, and in specific neurons in striatum, amygdala, and frontal cortex projecting to select neuronal populations. The approach and choice functions involve subjective value, which is objectively assessed by behavioral choices eliciting internal, subjective reward preferences. Utility is the formal mathematical characterization of subjective value and a prime decision variable in economic choice theory. It is coded as utility prediction error by phasic dopamine responses. Utility can incorporate various influences, including risk, delay, effort, and social interaction. Appropriate for formal decision mechanisms, rewards are coded as object value, action value, difference value, and chosen value by specific neurons. Although all reward, reinforcement, and decision variables are theoretical constructs, their neuronal signals constitute measurable physical implementations and as such confirm the validity of these concepts. The neuronal reward signals provide guidance for behavior while constraining the free will to act.

Signs of timing in motor cortex during movement preparation and cue anticipation

The capacity to accurately anticipate the timing of predictable events is essential for sensorimotor behavior. Motor cortex holds an established role in movement preparation and execution. In this chapter we review the different ways in which motor cortical activity is modulated by event timing in sensorimotor delay tasks. During movement preparation, both single neuron and population responses reflect the temporal constraints of the task. Anticipatory modulations prior to sensory cues are also observed in motor cortex when the cue timing is predictable. We propose that the motor cortical activity during cue anticipation and movement preparation is embedded in a timing network that facilitates sensorimotor processing. In this context, the pre-cue and post-cue activity may reflect a presetting mechanism, complementing processing during movement execution, while prohibiting premature responses in situations requiring delayed motor output.

Early planning activity in frontal and parietal cortex in a simplified task

Cortical planning activity has traditionally been probed with visual targets. However, external sensory signals might obscure early correlates of internally generated plans. We devised a nonspatial decision-making task in which the monkey is encouraged to decide randomly whether to reach or saccade in the absence of sensory stimuli. Neurons in frontal and parietal planning areas (in and around the arcuate and intraparietal sulci) showed responses predictive of the monkey's upcoming movement at early stages during the planning process. Neurons predicted the animal's future movements several seconds beforehand, sometimes before the trial even began. These data cast new light on the role of the cerebral cortex in the action planning process, when the animal is free to decide on his own actions in the absence of extraneous sensory cues.

Relative timing: from behaviour to neurons

Processing of temporal information is critical to behaviour. Here, we review the phenomenology and mechanism of relative timing, ordinal comparisons between the timing of occurrence of events. Relative timing can be an implicit component of particular brain computations or can be an explicit, conscious judgement. Psychophysical measurements of explicit relative timing have revealed clues about the interaction of sensory signals in the brain as well as in the influence of internal states, such as attention, on those interactions. Evidence from human neurophysiological and functional imaging studies, neuropsychological examination in brain-lesioned patients, and temporary disruptive interventions such as transcranial magnetic stimulation (TMS), point to a role of the parietal cortex in relative timing. Relative timing has traditionally been modelled as a 'race' between competing neural signals. We propose an updated race process based on the integration of sensory evidence towards a decision threshold rather than simple signal propagation. The model suggests a general approach for identifying brain regions involved in relative timing, based on looking for trial-by-trial correlations between neural activity and temporal order judgements (TOJs). Finally, we show how the paradigm can be used to reveal signals related to TOJs in parietal cortex of monkeys trained in a TOJ task.

Temporally specific sensory signals for the detection of stimulus omission in the primate deep cerebellar nuclei

The cerebellum is implicated in sensory prediction in the subsecond range. To explore how neurons in the cerebellum encode temporal information for the prediction of sensory events, we trained monkeys to make a saccade in response to either a single omission or deviation of isochronous repetitive stimuli. We found that neurons in the cerebellar dentate nucleus exhibited a gradual elevation of the baseline firing rate as the repetition progressed. Most neurons showed a transient suppression for each stimulus, and this firing modulation also increased gradually, opposed to the sensory adaptation. The magnitude of the enhanced sensory response positively correlated with interstimulus interval. Furthermore, when stimuli appeared unexpectedly earlier than the regular timing, the neuronal modulation became smaller, suggesting that the sensory response depended on the time elapsed since the previous stimulus. The enhancement of neuronal modulation was context dependent and was reduced or even absent when monkeys were unmotivated to detect stimulus omission. A significant negative correlation between neuronal activity at stimulus omission and saccade latency suggested that the timing of each stimulus was predicted by the amount of recovery from the transient response. Because inactivation of the recording sites delayed the detection of stimulus omission but only slightly altered the detection of stimulus deviation, these signals might be necessary for the prediction of stimulus timing but may not be involved only in the generation of saccades. Our results demonstrate a novel mechanism for temporal prediction of upcoming stimuli that accompanies the time-dependent modification of sensory gain in the cerebellum.

Neural chronometry and coherency across speed-accuracy demands reveal lack of homomorphism between computational and neural mechanisms of evidence accumulation

The stochastic accumulation framework provides a mechanistic, quantitative account of perceptual decision-making and how task performance changes with experimental manipulations. Importantly, it provides an elegant account of the speed-accuracy trade-off (SAT), which has long been the litmus test for decision models, and also mimics the activity of single neurons in several key respects. Recently, we developed a paradigm whereby macaque monkeys trade speed for accuracy on cue during visual search task. Single-unit activity in frontal eye field (FEF) was not homomorphic with the architecture of models, demonstrating that stochastic accumulators are an incomplete description of neural activity under SAT. This paper summarizes and extends this work, further demonstrating that the SAT leads to extensive, widespread changes in brain activity never before predicted. We will begin by reviewing our recently published work that establishes how spiking activity in FEF accomplishes SAT. Next, we provide two important extensions of this work. First, we report a new chronometric analysis suggesting that increases in perceptual gain with speed stress are evident in FEF synaptic input, implicating afferent sensory-processing sources. Second, we report a new analysis demonstrating selective influence of SAT on frequency coupling between FEF neurons and local field potentials. None of these observations correspond to the mechanics of current accumulator models.

The StartReact effect on self-initiated movements

Preparation of the motor system for movement execution involves an increase in excitability of motor pathways. In a reaction time task paradigm, a startling auditory stimulus (SAS) delivered together with the imperative signal (IS) shortens reaction time significantly. In self-generated tasks we considered that an appropriately timed SAS would have similar effects. Eight subjects performed a ballistic wrist extension in two blocks: reaction, in which they responded to a visual IS, and action, in which they moved when they wished within a predetermined time window. In 20-25% of the trials, a SAS was applied. We recorded electromyographic activity of wrist extension and wrist movement kinematic variables. No effects of SAS were observed in action trials when movement was performed before or long after SAS application. However, a cluster of action trials was observed within 200 ms after SAS. These trials showed larger EMG bursts, shorter movement time, shorter time to peak velocity, and higher peak velocity than other action trials (P < 0.001 for all), with no difference from Reaction trials containing SAS. The results show that SAS influences the execution of self-generated human actions as it does with preprogrammed reaction time tasks during the assumed building up of preparatory activity before execution of the willed motor action.

A comparison of lateral and medial intraparietal areas during a visual categorization task

Categorization is essential for interpreting sensory stimuli and guiding our actions. Recent studies have revealed robust neuronal category representations in the lateral intraparietal area (LIP). Here, we examine the specialization of LIP for categorization and the roles of other parietal areas by comparing LIP and the medial intraparietal area (MIP) during a visual categorization task. MIP is involved in goal-directed arm movements and visuomotor coordination but has not been implicated in non-motor cognitive functions, such as categorization. As expected, we found strong category encoding in LIP. Interestingly, we also observed category signals in MIP. However, category signals were stronger and appeared with a shorter latency in LIP than MIP. In this task, monkeys indicated whether a test stimulus was a category match to a previous sample with a manual response. Test-period activity in LIP showed category encoding and distinguished between matches and non-matches. In contrast, MIP primarily reflected the match/non-match status of test stimuli, with a strong preference for matches (which required a motor response). This suggests that, although category representations are distributed across parietal cortex, LIP and MIP play distinct roles: LIP appears more involved in the categorization process itself, whereas MIP is more closely tied to decision-related motor actions.

Whole-body isometric force/torque measurements for functional assessment in neuro-rehabilitation: user interface and data pre-processing techniques

A diagnostic platform for the early functional assessment of post-stroke patients was designed in order to perform isometric measurements during activities of daily living (ADL) tasks. The outcome of these measurements can contribute to verify the integrity of a post-stroke existing or altered "internal model" for a particular functional task. A complete and reliable software application for the diagnostic platform was designed, developed and tested in three European hospitals. The software application was divided into two main modules: a graphical user interface (GUI) and the data pre-processing techniques for the interpretation of recorded biomedical and clinical data. This paper presents the software application associated to the platform, aimed at analysing and interpreting the huge amount of data recorded and collected during the experimental trials. Its main objective is related to validating the onset detection and data reduction. The software application presented in this paper has been working and validated with success in three different clinical centres in Europe and it can be effectively used both as assessment tool in rehabilitation and as research tool in neuroscience.

Coding of the reach vector in parietal area 5d

Competing models of sensorimotor computation predict different topological constraints in the brain. Some models propose population coding of particular reference frames in anatomically distinct nodes, whereas others require no such dedicated subpopulations and instead predict that regions will simultaneously code in multiple, intermediate, reference frames. Current empirical evidence is conflicting, partly due to difficulties involved in identifying underlying reference frames. Here, we independently varied the locations of hand, gaze, and target over many positions while recording from the dorsal aspect of parietal area 5. We find that the target is represented in a predominantly hand-centered reference frame here, contrasting with the relative code seen in dorsal premotor cortex and the mostly gaze-centered reference frame in the parietal reach region. This supports the hypothesis that different nodes of the sensorimotor circuit contain distinct and systematic representations, and this constrains the types of computational model that are neurobiologically relevant.

An accumulator model for spontaneous neural activity prior to self-initiated movement

A gradual buildup of neuronal activity known as the "readiness potential" reliably precedes voluntary self-initiated movements, in the average time locked to movement onset. This buildup is presumed to reflect the final stages of planning and preparation for movement. Here we present a different interpretation of the premovement buildup. We used a leaky stochastic accumulator to model the neural decision of "when" to move in a task where there is no specific temporal cue, but only a general imperative to produce a movement after an unspecified delay on the order of several seconds. According to our model, when the imperative to produce a movement is weak, the precise moment at which the decision threshold is crossed leading to movement is largely determined by spontaneous subthreshold fluctuations in neuronal activity. Time locking to movement onset ensures that these fluctuations appear in the average as a gradual exponential-looking increase in neuronal activity. Our model accounts for the behavioral and electroencephalography data recorded from human subjects performing the task and also makes a specific prediction that we confirmed in a second electroencephalography experiment: Fast responses to temporally unpredictable interruptions should be preceded by a slow negative-going voltage deflection beginning well before the interruption itself, even when the subject was not preparing to move at that particular moment.

Functional heterogeneity of macaque lateral intraparietal neurons

The macaque lateral intraparietal area (LIP) has been implicated in many cognitive processes, ranging from saccade planning and spatial attention to timing and categorization. Importantly, different research groups have used different criteria for including LIP neurons in their studies. While some research groups have selected LIP neurons based on the presence of memory-delay activity, other research groups have used other criteria such as visual, presaccadic, and/or memory activity. We recorded from LIP neurons that were selected based on spatially selective saccadic activity but regardless of memory-delay activity in macaque monkeys. To test anticipatory climbing activity, we used a delayed visually guided saccade task with a unimodal schedule of go-times, for which the conditional probability that the go-signal will occur rises monotonically as a function of time. A subpopulation of LIP neurons showed anticipatory activity that mimicked the subjective hazard rate of the go-signal when the animal was planning a saccade toward the receptive field. A large subgroup of LIP neurons, however, did not modulate their firing rates according to the subjective hazard function. These non-anticipatory neurons were strongly influenced by salient visual stimuli appearing in their receptive field, but less so by the direction of the impending saccade. Thus, LIP contains a heterogeneous population of neurons related to saccade planning or visual salience, and these neurons are spatially intermixed. Our results suggest that between-study differences in neuronal selection may have contributed significantly to the findings of different research groups with respect to the functional role of area LIP.

Contribution of cells in the posterior parietal cortex to the planning of visually guided locomotion in the cat: effects of temporary visual interruption

In the present study, we determined whether cells in the posterior parietal cortex (PPC) may contribute to the planning of voluntary gait modifications in the absence of visual input. In two cats we recorded the responses of 41 neurons in layer V of the PPC that discharged in advance of the gait modification to a 900-ms interruption of visual information (visual occlusion). The cats continued to walk without interruption during the occlusion, which produced only minimal changes in step cycle duration and paw placement. Visual occlusion applied during the period of cell discharge was without significant effect on discharge frequency in 57% of cells. In the other cells, the visual occlusion produced either significant decreases (18%) or increases (21%) of discharge activity (in 1 cell there was both an increase and a decrease). The mean latency of the changes was 356 ms for decreases and 252 ms for increases. In most neurons, discharge frequency, when modified, returned to the same levels as during unoccluded locomotion when vision was restored. In some cells, there were significant changes in discharge activity after the restoration of vision; these were associated with corrections of gait. These results suggest that the PPC is more involved in the visuomotor transformations necessary to plan gait modifications than in continual sensory processing of visual information. We further propose that cells in the PPC contribute both to the planning of gait modifications on the basis of only intermittent visual sampling and to visually guided online corrections of gait.

Sequential synaptic excitation and inhibition shape readiness discharge for voluntary behavior

How do animals initiate voluntary behavior? A key phenomenon in neuroscience is the readiness or preparatory neural activity in specific regions of the animal brain. The neurons and synaptic mechanisms mediating this activity are unknown. We found that the readiness discharge is shaped by sequential synaptic excitation and inhibition in the brain of crayfish (Procambarus clarkii). The readiness discharge neurons extended axon collaterals that appeared to activate recurring local interneurons. Therefore, we propose that the readiness discharge is formed by sequential synaptic events within the brain without feedback signals from downstream ganglia. The circuit involved is suited for signal processing for self-generated voluntary initiation of behavior.

Internally generated preactivation of single neurons in human medial frontal cortex predicts volition

Understanding how self-initiated behavior is encoded by neuronal circuits in the human brain remains elusive. We recorded the activity of 1019 neurons while twelve subjects performed self-initiated finger movement. We report progressive neuronal recruitment over ∼1500 ms before subjects report making the decision to move. We observed progressive increase or decrease in neuronal firing rate, particularly in the supplementary motor area (SMA), as the reported time of decision was approached. A population of 256 SMA neurons is sufficient to predict in single trials the impending decision to move with accuracy greater than 80% already 700 ms prior to subjects' awareness. Furthermore, we predict, with a precision of a few hundred ms, the actual time point of this voluntary decision to move. We implement a computational model whereby volition emerges once a change in internally generated firing rate of neuronal assemblies crosses a threshold.

Chapter 6--motor planning of locomotor adaptations on the basis of vision: the role of the posterior parietal cortex

In this chapter, we consider the contribution of the posterior parietal cortex (PPC) to obstacle avoidance behavior and we define a model that identifies the major planning processes that are required for this task. A key aspect of this planning process is the need to integrate information concerning the obstacle, obtained from vision, together with an estimation of body and limb state. We suggest that the PPC makes a major contribution to this process during visually guided locomotion. We present evidence from lesion and single unit recording experiments in the cat that are compatible with this viewpoint.

Readiness discharge for spontaneous initiation of walking in crayfish

Animals initiate behavior not only reflexively but also spontaneously in the absence of external stimuli. In vertebrates, electrophysiological data on the neuronal activity associated with the self-initiated voluntary behavior have accumulated extensively. In invertebrates, however, little is known about the neuronal basis of the spontaneous initiation of behavior. We investigated the spike activity of brain neurons at the time of spontaneous initiation of walking in the crayfish Procambarus clarkii and found neuronal signals indicative of readiness or preparatory activities in the vertebrate brain that precede the onset of voluntary actions. Those readiness discharge neurons became active >1 s before the initiation of walking regardless of stepping direction. They remained inactive at the onset of mechanical stimulus-evoked walking in which other descending units were recruited. These results suggest that the parallel descending mechanisms from the brain separately subserve the spontaneous and stimulus-evoked walking. Electrical stimulation of these different classes of neurons caused different types of walking. In addition, we found other descending units that represented different aspects of walking, including those units that showed a sustained activity increase throughout the walking bout depending on its stepping direction, as well as one veto unit for canceling out the output effect of the readiness discharge and three termination units for stopping the walking behavior. These findings suggest that the descending activities are modularized in parallel for spontaneous initiation, continuation, and termination of walking, constituting a sequentially hierarchical control.

The quick and the dead: when reaction beats intention

Everyday behaviour involves a trade-off between planned actions and reaction to environmental events. Evidence from neurophysiology, neurology and functional brain imaging suggests different neural bases for the control of different movement types. Here we develop a behavioural paradigm to test movement dynamics for intentional versus reaction movements and provide evidence for a 'reactive advantage' in movement execution, whereby the same action is executed faster in reaction to an opponent. We placed pairs of participants in competition with each other to make a series of button presses. Within-subject analysis of movement times revealed a 10 per cent benefit for reactive actions. This was maintained when opponents performed dissimilar actions, and when participants competed against a computer, suggesting that the effect is not related to facilitation produced by action observation. Rather, faster ballistic movements may be a general property of reactive motor control, potentially providing a useful means of promoting survival.

Temporal sequence of attentional modulation in the lateral intraparietal area and middle temporal area during rapid covert shifts of attention

In the visual system, spatial attention enhances sensory responses to stimuli at attended locations relative to unattended locations. Which brain structures direct the locus of attention, and how is attentional modulation delivered to structures in the visual system? We trained monkeys on an attention-switch task designed to precisely measure the onset of attentional modulation during rapid shifts of spatial attention. Here we show that attentional modulation appears substantially earlier in the lateral intraparietal area (LIP) than in an anatomically connected lower visual area, the middle temporal area. This temporal sequence of attentional latencies demonstrates that endogenous changes of state can occur in higher visual areas before lower visual areas and satisfies a critical prediction of the hypothesis that LIP is a source of top-down attentional signals to early visual cortex.

A Contribution of Area 5 of the Posterior Parietal Cortex to the Planning of Visually Guided Locomotion: Limb-Specific and Limb-Independent Effects

We tested the hypothesis that area 5 of the posterior parietal cortex (PPC) contributes to the planning of visually guided gait modifications. We recorded 121 neurons from the PPC of two cats during a task in which cats needed to process visual input to step over obstacles attached to a moving treadmill belt. During unobstructed locomotion, 64/121 (53%) of cells showed rhythmic activity. During steps over the obstacles, 102/121 (84%) of cells showed a significant change of their activity. Of these, 46/102 were unmodulated during the control task. We divided the 102 task-related cells into two groups on the basis of their discharge when the limb contralateral to the recording site was the first to pass over the obstacle. One group (41/102) was characterized by a brief, phasic discharge as the lead forelimb passed over the obstacle (Step-related cells). These cells were recorded primarily from area 5a. The other group (61/102) showed a progressive increase in activity prior to the onset of the swing phase in the modified limb and frequently diverged from control at least one step cycle before the gait modification (Step-advanced cells). Most of these cells were recorded in area 5b. In both groups, some cells maintained a fixed relationship to the activity of the contralateral forelimb regardless of which limb was the first to pass over the obstacle (limb-specific cells), whereas others changed their phase of activity so that they were always related to activity of the first limb to pass over the obstacle, either contralateral or ipsilateral (limb-independent cells). Limb-independent cells were more common among the Step-advanced cell population. We suggest that both populations of cells contribute to the gait modification and that the discharge characteristics of the Step-advanced cells are compatible with a contribution to the planning of the gait modification.

Functional changes of the cortical motor system in hereditary spastic paraparesis

BACKGROUND

Hereditary spastic paraparesis (HSP) is a heterogeneous group of disorders characterized by progressive bilateral lower limb spasticity. Functional imaging studies in patients with corticospinal tract involvement have shown reorganization of motor circuitry. Our study investigates functional changes in sensorimotor brain areas in patients with HSP.

METHODS

Twelve subjects with HSP and 12 healthy subjects were studied. Functional magnetic resonance imaging (fMRI) was used to measure brain activation during right-hand finger tapping. Image analysis was performed using general linear model and regions of interest (ROI)-based approach. Weighted laterality indices (wLI) and anterior/posterior indicies (wAI and wPI) were calculated for predefined ROIs.

RESULTS AND DISCUSSION

Comparing patients and controls at the same finger-tapping rate (1.8 Hz), there was increased fMRI activation in patients' bilateral posterior parietal cortex and left primary sensorimotor cortex. No differences were found when comparing patients and controls at 80% of their individual maximum tapping rates. wLI of the primary sensorimotor cortex was significantly lower in patients. Subjects with HSP also showed a relative increase in the activation of the posterior parietal and premotor areas compared with that of the primary sensorimotor cortex. Our findings demonstrate an altered pattern of cortical activation in subjects with HSP during motor task. The increased activation probably reflects reorganization of the cortical motor system.

Beyond Poisson: increased spike-time regularity across primate parietal cortex

Cortical areas differ in their patterns of connectivity, cellular composition, and functional architecture. Spike trains, on the other hand, are commonly assumed to follow similarly irregular dynamics across neocortex. We examined spike-time statistics in four parietal areas using a method that accounts for nonstationarities in firing rate. We found that, whereas neurons in visual areas fire irregularly, many cells in association and motor-like parietal regions show increasingly regular spike trains by comparison. Regularity was evident both in the shape of interspike interval distributions and in spike-count variability across trials. Thus, Poisson-like randomness is not a universal feature of neocortex. Rather, many parietal cells have reduced trial-to-trial variability in spike counts that could provide for more reliable firing-rate signals. These results suggest that spiking dynamics may play different roles in different cortical areas and should not be assumed to arise from fundamentally irreducible noise sources.

Spontaneous electrical activity and behavior in the leech hirudo medicinalis

In the absence of external stimuli, animals explore the environment by performing irregular movements, but the neuronal mechanisms underlying this arrhythmic motion are largely unknown. In this paper, we studied the relationship between the spontaneous neuronal activity in the leech (Hirudo medicinalis) and its behavior. We analyzed the electrical activity of isolated ganglia, chains of two connected ganglia, and semi-intact preparations. The spontaneous electrical activity in ganglia was characterized by the occurrence of irregular bursts of spikes with variable duration and size. Properties of these bursts were modified by synaptic inputs arriving from the neighboring ganglia and from the two primitive brains located in the head and tail. In fact, in semi-intact preparations, unusually large bursts of spikes occurring spontaneously were recorded and caused the leech to move even in the absence of any external sensory stimulation. These large bursts appear to act as internal triggers controlling the spontaneous leech behavior and determining the duration of stereotypical motor patterns.

On the dynamics of the spontaneous activity in neuronal networks

Most neuronal networks, even in the absence of external stimuli, produce spontaneous bursts of spikes separated by periods of reduced activity. The origin and functional role of these neuronal events are still unclear. The present work shows that the spontaneous activity of two very different networks, intact leech ganglia and dissociated cultures of rat hippocampal neurons, share several features. Indeed, in both networks: i) the inter-spike intervals distribution of the spontaneous firing of single neurons is either regular or periodic or bursting, with the fraction of bursting neurons depending on the network activity; ii) bursts of spontaneous spikes have the same broad distributions of size and duration; iii) the degree of correlated activity increases with the bin width, and the power spectrum of the network firing rate has a 1/f behavior at low frequencies, indicating the existence of long-range temporal correlations; iv) the activity of excitatory synaptic pathways mediated by NMDA receptors is necessary for the onset of the long-range correlations and for the presence of large bursts; v) blockage of inhibitory synaptic pathways mediated by GABA(A) receptors causes instead an increase in the correlation among neurons and leads to a burst distribution composed only of very small and very large bursts. These results suggest that the spontaneous electrical activity in neuronal networks with different architectures and functions can have very similar properties and common dynamics.

Neuronal activity in monkey primary somatosensory cortex is related to expectation of somatosensory and visual go-cues

The present study was to investigate whether neuronal activity in primary somatosensory cortical areas (SI) differs when monkeys expect go-cues of different sensory modalities. Two monkeys made wrist extensions and flexions after steadily holding wrist at a center position. Movements were guided by increases in vibration to the monkey's palm (VIB), visual targets (VIS), or both in combination (COM). Neuronal activity recorded in SI during the early and late phases (i.e., the first and last 250 ms) of the instructed delay periods (IDP) were analyzed. Of 406 neurons recorded during all three paradigms, 263 (64.8%) showed significant changes in firing rates (FR) between the early and late IDP phases during either VIB or VIS trials and were selected for further analyses. The selected neurons were classified as VIB- or VIS-biased, depending on the paradigm (VIB or VIS) in which the greater FR changes occurred. Both increases and decreases in FRs were observed during the analyzed epochs. Most VIB-biased neurons showed the biggest FR changes during VIB trials and the least during VIS trials. Conversely, most VIS-biased neurons had the biggest FR changes during VIS trials and the least during VIB trials. For both VIB- and VIS-biased neurons, however, the FR changes were intermediate during COM trials. These results suggest that SI neurons play an important role in initiating/executing wrist movements. Neurons involved in wrist movements showed biases to the modality of cueing signals. Most SI neurons were biased to only one sensory modality. The expectation-related FR changes suggest different involvement by SI in movement initiation when tasks are guided by vibratory and visual signals.