Prediction of primary somatosensory neuron activity during active tactile exploration

Reliability and stability of tactile perception in the whisker somatosensory system

Rodents rely on their whiskers as vital sensory tools for tactile perception, enabling them to distinguish textures and shapes. Ensuring the reliability and constancy of tactile perception under varying stimulus conditions remains a fascinating and fundamental inquiry. This study explores the impact of stimulus configurations, including whisker movement velocity and object spatial proximity, on texture discrimination and stability in rats. To address this issue, we employed three distinct approaches for our investigation. Stimulus configurations notably affected tactile inputs, altering whisker vibration's kinetic and kinematic aspects with consistent effects across various textures. Through a texture discrimination task, rats exhibited consistent discrimination performance irrespective of changes in stimulus configuration. However, alterations in stimulus configuration significantly affected the rats' ability to maintain stability in texture perception. Additionally, we investigated the influence of stimulus configurations on cortical neuronal responses by manipulating them experimentally. Notably, cortical neurons demonstrated substantial and intricate changes in firing rates without compromising the ability to discriminate between textures. Nevertheless, these changes resulted in a reduction in texture neuronal response stability. Stimulating multiple whiskers led to improved neuronal texture discrimination and maintained coding stability. These findings emphasize the importance of considering numerous factors and their interactions when studying the impact of stimulus configuration on neuronal responses and behavior.

Comparative morphology of the whiskers and faces of mice (Mus musculus) and rats (Rattus norvegicus)

Understanding neural function requires quantification of the sensory signals that an animal's brain evolved to interpret. These signals in turn depend on the morphology and mechanics of the animal's sensory structures. Although the house mouse (Mus musculus) is one of the most common model species used in neuroscience, the spatial arrangement of its facial sensors has not yet been quantified. To address this gap, the present study quantifies the facial morphology of the mouse, with a particular focus on the geometry of its vibrissae (whiskers). The study develops equations that establish relationships between the three-dimensional (3D) locations of whisker basepoints, whisker geometry (arclength, curvature) and the 3D angles at which the whiskers emerge from the face. Additionally, the positions of facial sensory organs are quantified relative to bregma-lambda. Comparisons with the Norway rat (Rattus norvegicus) indicate that when normalized for head size, the whiskers of these two species have similar spacing density. The rostral-caudal distances between facial landmarks of the rat are a factor of ∼2.0 greater than the mouse, while the scale of bilateral distances is larger and more variable. We interpret these data to suggest that the larger size of rats compared with mice is a derived (apomorphic) trait. As rodents are increasingly important models in behavioral neuroscience, the morphological model developed here will help researchers generate naturalistic, multimodal patterns of stimulation for neurophysiological experiments and allow the generation of synthetic datasets and simulations to close the loop between brain, body and environment.

Pre-neuronal processing of haptic sensory cues via dispersive high-frequency vibrational modes

Sense of touch is one of the major perception channels. Neural coding of object textures conveyed by rodents' whiskers has been a model to study early stages of haptic information uptake. While high-precision spike timing has been observed during whisker sweeping across textured surfaces, the exact nature of whisker micromotions that spikes encode remains elusive. Here, we discovered that a single micro-collision of a whisker with surface features generates vibrational eigenmodes spanning frequencies up to 10 kHz. While propagating along the whisker, these high-frequency modes can carry up to 80% of shockwave energy, exhibit 100× smaller damping ratio, and arrive at the follicle 10× faster than low frequency components. The mechano-transduction of these energy bursts into time-sequenced population spike trains may generate temporally unique "bar code" with ultra-high information capacity. This hypothesis of pre-neuronal processing of haptic signals based on dispersive temporal separation of the vibrational modal frequencies can shed light on neural coding of haptic signals in many whisker-like sensory organs across the animal world as well as in texture perception in primate's glabrous skin.

On the intrinsic curvature of animal whiskers

Facial vibrissae (whiskers) are thin, tapered, flexible, hair-like structures that are an important source of tactile sensory information for many species of mammals. In contrast to insect antennae, whiskers have no sensors along their lengths. Instead, when a whisker touches an object, the resulting deformation is transmitted to mechanoreceptors in a follicle at the whisker base. Previous work has shown that the mechanical signals transmitted along the whisker will depend strongly on the whisker's geometric parameters, specifically on its taper (how diameter varies with arc length) and on the way in which the whisker curves, often called "intrinsic curvature." Although previous studies have largely agreed on how to define taper, multiple methods have been used to quantify intrinsic curvature. The present work compares and contrasts different mathematical approaches towards quantifying this important parameter. We begin by reviewing and clarifying the definition of "intrinsic curvature," and then show results of fitting whisker shapes with several different functions, including polynomial, fractional exponent, elliptical, and Cesàro. Comparisons are performed across ten species of whiskered animals, ranging from rodents to pinnipeds. We conclude with a discussion of the advantages and disadvantages of using the various models for different modeling situations. The fractional exponent model offers an approach towards developing a species-specific parameter to characterize whisker shapes within a species. Constructing models of how the whisker curves is important for the creation of mechanical models of tactile sensory acquisition behaviors, for studies of comparative evolution, morphology, and anatomy, and for designing artificial systems that can begin to emulate the whisker-based tactile sensing of animals.

A cortico-collicular circuit for orienting to shelter during escape

When faced with predatory threats, escape towards shelter is an adaptive action that offers long-term protection against the attacker. Animals rely on knowledge of safe locations in the environment to instinctively execute rapid shelter-directed escape actions1,2. Although previous work has identified neural mechanisms of escape initiation3,4, it is not known how the escape circuit incorporates spatial information to execute rapid flights along the most efficient route to shelter. Here we show that the mouse retrosplenial cortex (RSP) and superior colliculus (SC) form a circuit that encodes the shelter-direction vector and is specifically required for accurately orienting to shelter during escape. Shelter direction is encoded in RSP and SC neurons in egocentric coordinates and SC shelter-direction tuning depends on RSP activity. Inactivation of the RSP-SC pathway disrupts the orientation to shelter and causes escapes away from the optimal shelter-directed route, but does not lead to generic deficits in orientation or spatial navigation. We find that the RSP and SC are monosynaptically connected and form a feedforward lateral inhibition microcircuit that strongly drives the inhibitory collicular network because of higher RSP input convergence and synaptic integration efficiency in inhibitory SC neurons. This results in broad shelter-direction tuning in inhibitory SC neurons and sharply tuned excitatory SC neurons. These findings are recapitulated by a biologically constrained spiking network model in which RSP input to the local SC recurrent ring architecture generates a circular shelter-direction map. We propose that this RSP-SC circuit might be specialized for generating collicular representations of memorized spatial goals that are readily accessible to the motor system during escape, or more broadly, during navigation when the goal must be reached as fast as possible.

Coexisting neuronal coding strategies in the barrel cortex

During tactile sensation by rodents, whisker movements across surfaces generate complex whisker motions, including discrete, transient stick-slip events, which carry information about surface properties. The characteristics of these events and how the brain encodes this tactile information remain enigmatic. We found that cortical neurons show a mixture of synchronized and nontemporally correlated spikes in their tactile responses. Synchronous spikes convey the magnitude of stick-slip events by numerous aspects of temporal coding. These spikes show preferential selectivity for kinetic and kinematic whisker motion. By contrast, asynchronous spikes in each neuron convey the magnitude of stick-slip events by their discharge rates, response probability, and interspike intervals. We further show that the differentiation between these two types of activity is highly dependent on the magnitude of stick-slip events and stimulus and response history. These results suggest that cortical neurons transmit multiple components of tactile information through numerous coding strategies.

Demonstration of three-dimensional contact point determination and contour reconstruction during active whisking behavior of an awake rat

The rodent vibrissal (whisker) system has been studied for decades as a model of active touch sensing. There are no sensors along the length of a whisker; all sensing occurs at the whisker base. Therefore, a large open question in many neuroscience studies is how an animal could estimate the three-dimensional (3D) location at which a whisker makes contact with an object. In the present work we simulated the shape of a real rat whisker to demonstrate the existence of several unique mappings from triplets of mechanical signals at the whisker base to the three-dimensional whisker-object contact point. We then used high speed video to record whisker deflections as an awake rat whisked against a peg, and used the mechanics resulting from those deflections to extract the contact points along the peg surface. These results demonstrate that measurement of specific mechanical triplets at the base of a biological whisker can enable 3D contact point determination during natural whisking behavior. The approach is viable even though the biological whisker has non-ideal, non-planar curvature, and even given the rat’s real-world choices of whisking parameters. Visual intuition for the quality of the approach is provided in a video that shows the contour of the peg gradually emerging during active whisking behavior.

STDP and the distribution of preferred phases in the whisker system

Rats and mice use their whiskers to probe the environment. By rhythmically swiping their whiskers back and forth they can detect the existence of an object, locate it, and identify its texture. Localization can be accomplished by inferring the whisker’s position. Rhythmic neurons that track the phase of the whisking cycle encode information about the azimuthal location of the whisker. These neurons are characterized by preferred phases of firing that are narrowly distributed. Consequently, pooling the rhythmic signal from several upstream neurons is expected to result in a much narrower distribution of preferred phases in the downstream population, which however has not been observed empirically. Here, we show how spike timing dependent plasticity (STDP) can provide a solution to this conundrum. We investigated the effect of STDP on the utility of a neural population to transmit rhythmic information downstream using the framework of a modeling study. We found that under a wide range of parameters, STDP facilitated the transfer of rhythmic information despite the fact that all the synaptic weights remained dynamic. As a result, the preferred phase of the downstream neuron was not fixed, but rather drifted in time at a drift velocity that depended on the preferred phase, thus inducing a distribution of preferred phases. We further analyzed how the STDP rule governs the distribution of preferred phases in the downstream population. This link between the STDP rule and the distribution of preferred phases constitutes a natural test for our theory.

The distribution of preferred phases of whisking neurons in the somatosensory system of rats and mice presents a conundrum: a simple pooling model predicts a distribution that is an order of magnitude narrower than what is observed empirically. Here, we suggest that this non-trivial distribution may result from activity-dependent plasticity in the form of spike timing dependent plasticity (STDP). We show that under STDP, the synaptic weights do not converge to a fixed value, but rather remain dynamic. As a result, the preferred phases of the whisking neurons vary in time, hence inducing a non-trivial distribution of preferred phases, which is governed by the STDP rule. Our results imply that the considerable synaptic volatility which has long been viewed as a difficulty that needs to be overcome, may actually be an underlying principle of the organization of the central nervous system.

Continuous, multidimensional coding of 3D complex tactile stimuli by primary sensory neurons of the vibrissal system

Across all sensory modalities, first-stage sensory neurons are an information bottleneck: they must convey all information available for an animal to perceive and act in its environment. Our understanding of coding properties of primary sensory neurons in the auditory and visual systems has been aided by the use of increasingly complex, naturalistic stimulus sets. By comparison, encoding properties of primary somatosensory afferents are poorly understood. Here, we use the rodent whisker system to examine how tactile information is represented in primary sensory neurons of the trigeminal ganglion (Vg). Vg neurons have long been thought to segregate into functional classes associated with separate streams of information processing. However, this view is based on Vg responses to restricted stimulus sets which potentially underreport the coding capabilities of these neurons. In contrast, the current study records Vg responses to complex three-dimensional (3D) stimulation while quantifying the complete 3D whisker shape and mechanics, thereby beginning to reveal their full representational capabilities. The results show that individual Vg neurons simultaneously represent multiple mechanical features of a stimulus, do not preferentially encode principal components of the stimuli, and represent continuous and tiled variations of all available mechanical information. These results directly contrast with proposed codes in which subpopulations of Vg neurons encode select stimulus features. Instead, individual Vg neurons likely overcome the information bottleneck by encoding large regions of a complex sensory space. This proposed tiled and multidimensional representation at the Vg directly constrains the computations performed by more central neurons of the vibrissotrigeminal pathway.

Sensorimotor strategies and neuronal representations for shape discrimination

Humans and other animals can identify objects by active touch, requiring the coordination of exploratory motion and tactile sensation. Both the motor strategies and neural representations employed could depend on the subject's goals. We developed a shape discrimination task that challenged head-fixed mice to discriminate concave from convex shapes. Behavioral decoding revealed that mice did this by comparing contacts across whiskers. In contrast, a separate group of mice performing a shape detection task simply summed up contacts over whiskers. We recorded populations of neurons in the barrel cortex, which processes whisker input, and found that individual neurons across the cortical layers encoded touch, whisker motion, and task-related signals. Sensory representations were task-specific: during shape discrimination, but not detection, neurons responded most to behaviorally relevant whiskers, overriding somatotopy. Thus, sensory cortex employs task-specific representations compatible with behaviorally relevant computations.

Of mice and monkeys: Somatosensory processing in two prominent animal models

Our understanding of the neural basis of somatosensation is based largely on studies of the whisker system of mice and rats and the hands of macaque monkeys. Results across these animal models are often interpreted as providing direct insight into human somatosensation. Work on these systems has proceeded in parallel, capitalizing on the strengths of each model, but has rarely been considered as a whole. This lack of integration promotes a piecemeal understanding of somatosensation. Here, we examine the functions and morphologies of whiskers of mice and rats, the hands of macaque monkeys, and the somatosensory neuraxes of these three species. We then discuss how somatosensory information is encoded in their respective nervous systems, highlighting similarities and differences. We reflect on the limitations of these models of human somatosensation and consider key gaps in our understanding of the neural basis of somatosensation.

Functional analysis of information rates conveyed by rat whisker-related trigeminal nuclei neurons

The rat whisker system connects the tactile environment with the somatosensory thalamocortical system using only two synaptic stages. Encoding properties of the first stage, the primary afferents with somas in the trigeminal ganglion (TG), has been well studied, whereas much less is known from the second stage, the brainstem trigeminal nuclei (TN). The TN are a computational hub giving rise to parallel ascending tactile pathways and receiving feedback from many brain sites. We asked the question, whether encoding properties of TG neurons are kept by two trigeminal nuclei, the principalis (Pr5) and the spinalis interpolaris (Sp5i), respectively giving rise to two "lemniscal" and two "nonlemniscal" pathways. Single units were recorded in anesthetized rats while a single whisker was deflected on a band-limited white noise trajectory. Using information theoretic methods and spike-triggered mixture models (STM), we found that both nuclei encode the stimulus locally in time, i.e., stimulus features more than 10 ms in the past do not significantly influence spike generation. They further encode stimulus kinematics in multiple, distinct response fields, indicating encoding characteristics beyond previously described directional responses. Compared with TG, Pr5 and Sp5i gave rise to lower spike and information rates, but information rate per spike was on par with TG. Importantly, both brainstem nuclei were found to largely keep encoding properties of primary afferents, i.e. local encoding and kinematic response fields. The preservation of encoding properties in channels assumed to serve different functions seems surprising. We discuss the possibility that it might reflect specific constraints of frictional whisker contact with object surfaces.NEW & NOTEWORTHY We studied two trigeminal nuclei containing the second neuron on the tactile pathway of whisker-related tactile information in rats. We found that the subnuclei, traditionally assumed to give rise to functional tactile channels, nevertheless transfer primary afferent information with quite similar properties in terms of integration time and kinematic profile. We discuss whether such commonality may be due the requirement to adapt to physical constraints of frictional whisker contact.

Gradient of tactile properties in the rat whisker pad

The array of vibrissae on a rat's face is the first stage in a high-resolution tactile sensing system. Progressing from rostral to caudal in any vibrissae row results in an increase in whisker length and thickness. This may, in turn, provide a systematic map of separate tactile channels governed by the mechanical properties of the whiskers. To examine whether this map is expressed in a location-dependent transformation of tactile signals into whisker vibrations and neuronal responses, we monitored whiskers' movements across various surfaces and edges. We found a robust rostral-caudal (R-C) gradient of tactile information transmission in which rostral shorter vibrissae displayed a higher sensitivity and bigger differences in response to different textures, whereas longer caudal vibrissae were less sensitive. This gradient is evident in several dynamic properties of vibrissae trajectories. As rodents sample the environment with multiple vibrissae, we found that combining tactile signals from multiple vibrissae resulted in an increased sensitivity and bigger differences in response to the different textures. Nonetheless, we found that texture identity is not represented spatially across the whisker pad. Based on the responses of first-order sensory neurons, we found that they adhere to the tactile information conveyed by the vibrissae. That is, neurons innervating rostral vibrissae were better suited for texture discrimination, whereas neurons innervating caudal vibrissae were more suited for edge detection. These results suggest that the whisker array in rodents forms a sensory structure in which different facets of tactile information are transmitted through location-dependent gradient of vibrissae on the rat's face.

An elaborate sweep-stick code in rat barrel cortex

In rat barrel cortex, feature encoding schemes uncovered during broadband whisker stimulation are hard to reconcile with the simple stick-slip code observed during natural tactile behaviors, and this has hindered the development of a generalized computational framework. By designing broadband artificial stimuli to sample the inputs encoded under natural conditions, we resolve this disparity while markedly increasing the percentage of deep layer neurons found to encode whisker movements, as well as the diversity of these encoded features. Deep layer neurons encode two main types of events, sticks and sweeps, corresponding to high angular velocity bumps and large angular displacements with high velocity, respectively. Neurons can exclusively encode sticks or sweeps, or they can encode both, with or without direction selectivity. Beyond unifying coding theories from naturalistic and artificial stimulation studies, these findings delineate a simple and generalizable set of whisker movement features that can support a range of perceptual processes.

Measuring the Frequency-Specific Functional Connectivity Using Wavelet Coherence Analysis in Stroke Rats Based on Intrinsic Signals

Optical intrinsic signal imaging (OISi) method is an optical technique to evaluate the functional connectivity (FC) of the cortex in animals. Already, using OISi, the FC of the cortex has been measured in time or frequency domain separately, and at frequencies below 0.08 Hz, which is not in the frequency range of hemodynamic oscillations which are able to track fast cortical events, including neurogenic, myogenic, cardiac and respiratory activities. In the current work, we calculated the wavelet coherence (WC) transform of the OISi time series to evaluate the cerebral response changes in the stroke rats. Utilizing WC, we measured FC at frequencies up to 4.5 Hz, and could monitor the time and frequency dependency of the FC simultaneously. The results showed that the WC of the brain diminished significantly in ischemic motor and somatosensory cortices. According to the statistical results, the signal amplitude, responsive area size, correlation, and wavelet coherence of the motor and the somatosensory cortices for stroke hemisphere were found to be significantly lower compared to the healthy hemisphere. The obtained results confirm that the OISi-based WC analysis is an efficient method to diagnose the relative severity of infarction and the size of the infarcted region after ischemic stroke.

The Cellular and Mechanical Basis for Response Characteristics of Identified Primary Afferents in the Rat Vibrissal System

Compared to our understanding of the response properties of receptors in the auditory and visual systems, we have only a limited understanding of the mechanoreceptor responses that underlie tactile sensation. Here, we exploit the stereotyped morphology of the rat vibrissal (whisker) array to investigate coding and transduction properties of identified primary tactile afferents. We performed in vivo intra-axonal recording and labeling experiments to quantify response characteristics of four different types of identified mechanoreceptors in the vibrissal follicle: ring-sinus Merkel; lanceolate; clublike; and rete-ridge collar Merkel. Of these types, only ring-sinus Merkel endings exhibited slowly adapting properties. A weak inverse relationship between response magnitude and onset response latency was found across all types. All afferents exhibited strong "angular tuning," i.e., their response magnitude and latency depended on the whisker's deflection angle. Although previous studies suggested that this tuning should be aligned with the angular location of the mechanoreceptor in the follicle, such alignment was observed only for Merkel afferents; angular tuning of the other afferent types showed no clear alignment with mechanoreceptor location. Biomechanical modeling suggested that this tuning difference might be explained by mechanoreceptors' differential sensitivity to the force directed along the whisker length. Electron microscopic investigations of Merkel endings and lanceolate endings at the level of the ring sinus revealed unique anatomical features that may promote these differential sensitivities. The present study systematically integrates biomechanical principles with the anatomical and morphological characterization of primary afferent endings to describe the physical and cellular processing that shapes the neural representation of touch.

Somatosensation: The Cellular and Physical Basis of Tactile Experience

A fundamental question in sensory neuroscience is how perceptual experience arises from the cellular properties of sensory neurons. A new, tour de force study has dissected out the functional properties of identified mechanosensory nerve endings that innervate whisker follicles.

A system for tracking whisker kinematics and whisker shape in three dimensions

Quantification of behaviour is essential for biology. Since the whisker system is a popular model, it is important to have methods for measuring whisker movements from behaving animals. Here, we developed a high-speed imaging system that measures whisker movements simultaneously from two vantage points. We developed a whisker tracker algorithm that automatically reconstructs 3D whisker information directly from the ‘stereo’ video data. The tracker is controlled via a Graphical User Interface that also allows user-friendly curation. The algorithm tracks whiskers, by fitting a 3D Bezier curve to the basal section of each target whisker. By using prior knowledge of natural whisker motion and natural whisker shape to constrain the fits and by minimising the number of fitted parameters, the algorithm is able to track multiple whiskers in parallel with low error rate. We used the output of the tracker to produce a 3D description of each tracked whisker, including its 3D orientation and 3D shape, as well as bending-related mechanical force. In conclusion, we present a non-invasive, automatic system to track whiskers in 3D from high-speed video, creating the opportunity for comprehensive 3D analysis of sensorimotor behaviour and its neural basis.

The great ethologist Niko Tinbergen described a crucial challenge in biology to measure the “total movements made by the intact animal”[1]. Advances in high-speed video and machine analysis of such data have made it possible to make profound advances. Here, we target the whisker system. The whisker system is a major experimental model in neurobiology and, since the whiskers are readily imageable, the system is ideally suited to machine vision. Rats and mice explore their environment by sweeping their whiskers to and fro. It is important to measure whisker movements in 3D, since whiskers move in 3D and since the mechanical forces that act on them are 3D. However, the computational problem of automatically tracking whiskers in 3D from video has generally been regarded as prohibitively difficult. Our innovation here is to extract 3D information about whiskers using a two-camera, high-speed imaging system and to develop computational methods to reconstruct 3D whisker state from the imaging data. Our hope is that this study will facilitate comprehensive, 3D analysis of whisker behaviour and, more generally, contribute new insight into brain mechanisms of perception and behaviour.

The Euler spiral of rat whiskers

This paper reports on an analytical study of the intrinsic shapes of 523 whiskers from 15 rats. We show that the variety of whiskers on a rat's cheek, each of which has different lengths and shapes, can be described by a simple mathematical equation such that each whisker is represented as an interval on the Euler spiral. When all the representative curves of mystacial vibrissae for a single rat are assembled together, they span an interval extending from one coiled domain of the Euler spiral to the other. We additionally find that each whisker makes nearly the same angle of 47^∘ with the normal to the spherical virtual surface formed by the tips of whiskers, which constitutes the rat's tactile sensory shroud or "search space." The implications of the linear curvature model for gaining insight into relationships between growth, form, and function are discussed.

Generalization of Object Localization From Whiskers to Other Body Parts in Freely Moving Rats

Rats can be trained to associate relative spatial locations of objects with the spatial location of rewards. Here we ask whether rats can localize static silent objects with other body parts in the dark, and if so with what resolution. We addressed these questions in trained rats, whose interactions with the objects were tracked at high-resolution before and after whisker trimming. We found that rats can use other body parts, such as trunk and ears, to localize objects. Localization resolution with non-whisking body parts (henceforth, ‘body’) was poorer than that obtained with whiskers, even when left with a single whisker at each side. Part of the superiority of whiskers was obtained via the use of multiple contacts. Transfer from whisker to body localization occurred within one session, provided that body contacts with the objects occurred before whisker trimming, or in the next session otherwise. This transfer occurred whether temporal cues were used for discrimination or when discrimination was based on spatial cues alone. Rats’ decision in each trial was based on the sensory cues acquired in that trial and on decisions and reward locations in previous trials. When sensory cues were acquired by body contacts, rat decisions relied more on the reward location in previous trials. Overall, the results suggest that rats can generalize the idea of relative object location across different body parts, while preferring to rely on whiskers-based localization, which occurs earlier and conveys higher resolution.

Sensorimotor Transformations in the Zebrafish Auditory System

Organisms use their sensory systems to acquire information from their environment and integrate this information to produce relevant behaviors. Nevertheless, how sensory information is converted into adequate motor patterns in the brain remains an open question. Here, we addressed this question using two-photon and light-sheet calcium imaging in intact, behaving zebrafish larvae. We monitored neural activity elicited by auditory stimuli while simultaneously recording tail movements. We observed a spatial organization of neural activity according to four different response profiles (frequency tuning curves), suggesting a low-dimensional representation of frequency information, maintained throughout the development of the larvae. Low frequencies (150-450 Hz) were locally processed in the hindbrain and elicited motor behaviors. In contrast, higher frequencies (900-1,000 Hz) rarely induced motor behaviors and were also represented in the midbrain. Finally, we found that the sensorimotor transformations in the zebrafish auditory system are a continuous and gradual process that involves the temporal integration of the sensory response in order to generate a motor behavior.

Mechanical coupling through the skin affects whisker movements and tactile information encoding

Rats use their whiskers to extract sensory information from their environment. While exploring, they analyze peripheral stimuli distributed over several whiskers. Previous studies have reported cross-whisker integration of information at several levels of the neuronal pathways from whisker follicles to the somatosensory cortex. In the present study, we investigated the possible coupling between whiskers at a preneuronal level, transmitted by the skin and muscles between follicles. First, we quantified the movement induced on one whisker by deflecting another whisker. Our results show significant mechanical coupling, predominantly when a given whisker's caudal neighbor in the same row is deflected. The magnitude of the effect was correlated with the diameter of the deflected whisker. In addition to changes in whisker angle, we observed curvature changes when the whisker shaft was constrained distally from the base. Second, we found that trigeminal ganglion neurons innervating a given whisker follicle fire action potentials in response to high-magnitude deflections of an adjacent whisker. This functional coupling also shows a bias toward the caudal neighbor located in the same row. Finally, we designed a two-whisker biomechanical model to investigate transmission of forces across follicles. Analysis of the whisker-follicle contact forces suggests that activation of mechanoreceptors in the ring sinus region could account for our electrophysiological results. The model can fully explain the observed caudal bias by the gradient in whisker diameter, with possible contribution of the intrinsic muscles connecting follicles. Overall, our study demonstrates the functional relevance of mechanical coupling on early information processing in the whisker system.NEW & NOTEWORTHY Rodents explore their environment actively by touching objects with their whiskers. A major challenge is to understand how sensory inputs from different whiskers are merged together to form a coherent tactile percept. We demonstrate that external sensory events on one whisker can influence the position of another whisker and, importantly, that they can trigger the activity of mechanoreceptors at its base. This cross-whisker interaction occurs pre-neuronally, through mechanical transmission of forces in the skin.

The Sensorimotor Basis of Whisker-Guided Anteroposterior Object Localization in Head-Fixed Mice

Active tactile perception combines directed motion with sensory signals to generate mental representations of objects in space. Competing models exist for how mice use these signals to determine the precise location of objects along their face. We tested six of these models using behavioral manipulations and statistical learning in head-fixed mice. Trained mice used a whisker to locate a pole in a continuous range of locations along the anteroposterior axis. Mice discriminated locations to ≤0.5 mm (<2°) resolution. Their motor program was noisy, adaptive to touch, and directed to the rewarded range. This exploration produced several sets of sensorimotor features that could discriminate location. Integration of two features, touch count and whisking midpoint at touch, was the simplest model that explained behavior best. These results show how mice locate objects at hyperacute resolution using a learned motor strategy and minimal set of mentally accessible sensorimotor features.

Recruitment of GABAergic Interneurons in the Barrel Cortex during Active Tactile Behavior

Neural computation involves diverse types of GABAergic inhibitory interneurons that are integrated with excitatory (E) neurons into precisely structured circuits. To understand how each neuron type shapes sensory representations, we measured firing patterns of defined types of neurons in the barrel cortex while mice performed an active, whisker-dependent object localization task. Touch excited fast-spiking (FS) interneurons at short latency, followed by activation of E neurons and somatostatin-expressing (SST) interneurons. Touch only weakly modulated vasoactive intestinal polypeptide-expressing (VIP) interneurons. Voluntary whisker movement activated FS neurons in the ventral posteromedial nucleus (VPM) target layers, a subset of SST neurons and a majority of VIP neurons. Together, FS neurons track thalamic input, mediating feedforward inhibition. SST neurons monitor local excitation, providing feedback inhibition. VIP neurons are activated by non-sensory inputs, disinhibiting E and FS neurons. Our data reveal rules of recruitment for interneuron types during behavior, providing foundations for understanding computation in cortical microcircuits.

Sensorimotor processing in the rodent barrel cortex

Tactile sensory information from facial whiskers provides nocturnal tunnel-dwelling rodents, including mice and rats, with important spatial and textural information about their immediate surroundings. Whiskers are moved back and forth to scan the environment (whisking), and touch signals from each whisker evoke sparse patterns of neuronal activity in whisker-related primary somatosensory cortex (wS1; barrel cortex). Whisking is accompanied by desynchronized brain states and cell-type-specific changes in spontaneous and evoked neuronal activity. Tactile information, including object texture and location, appears to be computed in wS1 through integration of motor and sensory signals. wS1 also directly controls whisker movements and contributes to learned, whisker-dependent, goal-directed behaviours. The cell-type-specific neuronal circuitry in wS1 that contributes to whisker sensory perception is beginning to be defined.

Data-driven models in human neuroscience and neuroengineering

Discoveries in modern human neuroscience are increasingly driven by quantitative understanding of complex data. Data-intensive approaches to modeling have promise to dramatically advance our understanding of the brain and critically enable neuroengineering capabilities. In this review, we provide an accessible primer to modern modeling approaches and highlight recent data-driven discoveries in the domains of neuroimaging, single-neuron and neuronal population responses, and device neuroengineering. Further, we suggest that meaningful progress requires the community to tackle open challenges in the realms of model interpretability and generalizability, training pipelines of data-fluent human neuroscientists, and integrated consideration of data ethics.

Whisker Vibrations and the Activity of Trigeminal Primary Afferents in Response to Airflow

Rodents are the most commonly studied model system in neuroscience, but surprisingly few studies investigate the natural sensory stimuli that rodent nervous systems evolved to interpret. Even fewer studies examine neural responses to these natural stimuli. Decades of research have investigated the rat vibrissal (whisker) system in the context of direct touch and tactile stimulation, but recent work has shown that rats also use their whiskers to help detect and localize airflow. The present study investigates the neural basis for this ability as dictated by the mechanical response of whiskers to airflow. Mechanical experiments show that a whisker's vibration magnitude depends on airspeed and the intrinsic shape of the whisker. Surprisingly, the direction of the whisker's vibration changes as a function of airflow speed: vibrations transition from parallel to perpendicular with respect to the airflow as airspeed increases. Recordings from primary sensory trigeminal ganglion neurons show that these neurons exhibit responses consistent with those that would be predicted from direct touch. Trigeminal neuron firing rate increases with airspeed, is modulated by the orientation of the whisker relative to the airflow, and is influenced by the whisker's resonant frequencies. We develop a simple model to describe how a population of neurons could leverage mechanical relationships to decode both airspeed and direction. These results open new avenues for studying vibrissotactile regions of the brain in the context of evolutionarily important airflow-sensing behaviors and olfactory search. Although this study used only female rats, all results are expected to generalize to male rats.SIGNIFICANCE STATEMENT The rodent vibrissal (whisker) system has been studied for decades in the context of direct tactile sensation, but recent work has indicated that rats also use whiskers to help localize airflow. Neural circuits in somatosensory regions of the rodent brain thus likely evolved in part to process airflow information. This study investigates the whiskers' mechanical response to airflow and the associated neural response. Airspeed affects the magnitude of whisker vibration and the response magnitude of whisker-sensitive primary sensory neurons in the trigeminal ganglion. Surprisingly, the direction of vibration and the associated directionally dependent neural response changes with airspeed. These findings suggest a population code for airflow speed and direction and open new avenues for studying vibrissotactile regions of the brain.

Diverse tuning underlies sparse activity in layer 2/3 vibrissal cortex of awake mice

KEY POINTS

Sparse population activity is a common feature observed across cortical areas, yet the implications for sensory coding are not clear. We recorded single neuron activity in the vibrissal somatosensory cortex of awake head-fixed mice using the cell-attached technique. Unlike the anaesthetised condition, in awake mice a high-velocity, piezo-controlled whisker deflection excited only a small fraction of neurons. Manual probing of whiskers revealed that the majority of these silent neurons could be activated by specific forms of whisker-object contact. Our results suggest that sparse coding in vibrissal cortex may be due to high dimensionality of the stimulus space and narrow tuning of individual neurons.

ABSTRACT

It is widely reported that superficial layers of the somatosensory cortex exhibit sparse firing. This sparseness could reflect weak feedforward sensory inputs that are not sufficient to generate action potentials in these layers. Alternatively, sparseness might reflect tuning to unknown or higher-level complex features that are not fully explored in the stimulus space. Here, we examined these hypotheses by applying a range of vibrotactile and manual vibrissal stimuli in awake, head-fixed mice while performing loose-seal cell-attached recordings from the vibrissal primary somatosensory (vS1) cortex. A high-velocity stimulus delivered by a piezo-electric actuator evoked activity in a small fraction of regular spiking supragranular neurons (23%) in the awake condition. However, a majority of the supragranular regular spiking neurons (84%) were driven by manual stimulation of whiskers. Our results suggest that most neurons in the superficial layers of vS1 cortex contribute to coding in the awake condition when neurons may encounter their preferred feature(s) during whisker-object interactions.

Prediction of Choice from Competing Mechanosensory and Choice-Memory Cues during Active Tactile Decision Making

Perceptual decision making is an active process where animals move their sense organs to extract task-relevant information. To investigate how the brain translates sensory input into decisions during active sensation, we developed a mouse active touch task where the mechanosensory input can be precisely measured and that challenges animals to use multiple mechanosensory cues. Male mice were trained to localize a pole using a single whisker and to report their decision by selecting one of three choices. Using high-speed imaging and machine vision, we estimated whisker-object mechanical forces at millisecond resolution. Mice solved the task by a sensory-motor strategy where both the strength and direction of whisker bending were informative cues to pole location. We found competing influences of immediate sensory input and choice memory on mouse choice. On correct trials, choice could be predicted from the direction and strength of whisker bending, but not from previous choice. In contrast, on error trials, choice could be predicted from previous choice but not from whisker bending. This study shows that animal choices during active tactile decision making can be predicted from mechanosensory and choice-memory signals, and provides a new task well suited for the future study of the neural basis of active perceptual decisions.SIGNIFICANCE STATEMENT Due to the difficulty of measuring the sensory input to moving sense organs, active perceptual decision making remains poorly understood. The whisker system provides a way forward since it is now possible to measure the mechanical forces due to whisker-object contact during behavior. Here we train mice in a novel behavioral task that challenges them to use rich mechanosensory cues but can be performed using one whisker and enables task-relevant mechanical forces to be precisely estimated. This approach enables rigorous study of how sensory cues translate into action during active, perceptual decision making. Our findings provide new insight into active touch and how sensory/internal signals interact to determine behavioral choices.

Coding of whisker motion across the mouse face

Haptic perception synthesizes touch with proprioception, the sense of body position. Humans and mice alike experience rich active touch of the face. Because most facial muscles lack proprioceptor endings, the sensory basis of facial proprioception remains unsolved. Facial proprioception may instead rely on mechanoreceptors that encode both touch and self-motion. In rodents, whisker mechanoreceptors provide a signal that informs the brain about whisker position. Whisking involves coordinated orofacial movements, so mechanoreceptors innervating facial regions other than whiskers could also provide information about whisking. To define all sources of sensory information about whisking available to the brain, we recorded spikes from mechanoreceptors innervating diverse parts of the face. Whisker motion was encoded best by whisker mechanoreceptors, but also by those innervating whisker pad hairy skin and supraorbital vibrissae. Redundant self-motion responses may provide the brain with a stable proprioceptive signal despite mechanical perturbations during active touch.

Computational mechanisms of curiosity and goal-directed exploration

Successful behaviour depends on the right balance between maximising reward and soliciting information about the world. Here, we show how different types of information-gain emerge when casting behaviour as surprise minimisation. We present two distinct mechanisms for goal-directed exploration that express separable profiles of active sampling to reduce uncertainty. 'Hidden state' exploration motivates agents to sample unambiguous observations to accurately infer the (hidden) state of the world. Conversely, 'model parameter' exploration, compels agents to sample outcomes associated with high uncertainty, if they are informative for their representation of the task structure. We illustrate the emergence of these types of information-gain, termed active inference and active learning, and show how these forms of exploration induce distinct patterns of 'Bayes-optimal' behaviour. Our findings provide a computational framework for understanding how distinct levels of uncertainty systematically affect the exploration-exploitation trade-off in decision-making.

Deficits in Behavioral Functions of Intact Barrel Cortex Following Lesions of Homotopic Contralateral Cortex

Focal unilateral injuries to the somatosensory whisker barrel cortex have been shown cause long-lasting deficits in the activity and experience-dependent plasticity of neurons in the intact contralateral barrel cortex. However, the long-term effect of these deficits on behavioral functions of the intact contralesional cortex is not clear. In this study, we used the “Gap-crossing task” a barrel cortex-dependent, whisker-sensitive, tactile behavior to test the hypothesis that unilateral lesions of the somatosensory cortex would affect behavioral functions of the intact somatosensory cortex and degrade the execution of a bilaterally learnt behavior. Adult rats were trained to perform the Gap-crossing task using whiskers on both sides of the face. The barrel cortex was then lesioned unilaterally by subpial aspiration. As observed in other studies, when rats used whiskers that directly projected to the lesioned hemisphere the performance of Gap-crossing was drastically compromised, perhaps due to direct effect of lesion. Significant and persistent deficits were present when the lesioned rats performed Gap-crossing task using whiskers that projected to the intact cortex. The deficits were specific to performance of the task at the highest levels of sensitivity. Comparable deficits were seen when normal, bilaterally trained, rats performed the Gap-crossing task with only the whiskers on one side of the face or when they used only two rows of whiskers (D row and E row) intact on both side of the face. These findings indicate that the prolonged impairment in execution of the learnt task by rats with unilateral lesions of somatosensory cortex could be because sensory inputs from one set of whiskers to the intact cortex is insufficient to provide adequate sensory information at higher thresholds of detection. Our data suggest that optimal performance of somatosensory behavior requires dynamic activity-driven interhemispheric interactions from the entire somatosensory inputs between homotopic areas of the cerebral cortex. These results imply that focal unilateral cortical injuries, including those in humans, are likely to have widespread bilateral effects on information processing including in intact areas of the cortex.

Effects of Adaptation on Discrimination of Whisker Deflection Velocity and Angular Direction in a Model of the Barrel Cortex

Two important stimulus features represented within the rodent barrel cortex are velocity and angular direction of whisker deflection. Each cortical barrel receives information from thalamocortical (TC) cells that relay information from a single whisker, and TC input is decoded by barrel regular-spiking (RS) cells through a feedforward inhibitory architecture (with inhibition delivered by cortical fast-spiking or FS cells). TC cells encode deflection velocity through population synchrony, while deflection direction is encoded through the distribution of spike counts across the TC population. Barrel RS cells encode both deflection direction and velocity with spike rate, and are divided into functional domains by direction preference. Following repetitive whisker stimulation, system adaptation causes a weakening of synaptic inputs to RS cells and diminishes RS cell spike responses, though evidence suggests that stimulus discrimination may improve following adaptation. In this work, I construct a model of the TC, FS, and RS cells comprising a single barrel system—the model incorporates realistic synaptic connectivity and dynamics and simulates both angular direction (through the spatial pattern of TC activation) and velocity (through synchrony of the TC population spikes) of a deflection of the primary whisker, and I use the model to examine direction and velocity selectivity of barrel RS cells before and after adaptation. I find that velocity and direction selectivity of individual RS cells (measured over multiple trials) sharpens following adaptation, but stimulus discrimination using a simple linear classifier by the RS population response during a single trial (a more biologically meaningful measure than single cell discrimination over multiple trials) exhibits strikingly different behavior—velocity discrimination is similar both before and after adaptation, while direction classification improves substantially following adaptation. This is the first model, to my knowledge, that simulates both whisker deflection velocity and angular direction and examines the ability of the RS population response to pinpoint both stimulus features within the context of adaptation.

Interspersed Distribution of Selectivity to Kinematic Stimulus Features in Supragranular Layers of Mouse Barrel Cortex

Neurons in the primary sensory regions of neocortex have heterogeneous response properties. The spatial arrangement of neurons with particular response properties is a key aspect of population representations and can shed light on how local circuits are wired. Here, we investigated how neurons with sensitivity to different kinematic features of whisker stimuli are distributed across local circuits in supragranular layers of the barrel cortex. Using 2-photon calcium population imaging in anesthetized mice, we found that nearby neurons represent diverse kinematic features, providing a rich population representation at the local scale. Neurons interspersed in space therefore responded differently to a common stimulus kinematic feature. Conversely, neurons with similar feature selectivity were located no closer to each other than predicted by a random distribution null hypothesis. This finding relied on defining a null hypothesis that was specific for testing the spatial distribution of tuning across neurons. We also measured how neurons sensitive to specific features were distributed relative to barrel boundaries, and found no systematic organization. Our results are compatible with randomly distributed selectivity to kinematic features, with no systematic ordering superimposed upon the whisker map.

Dynamic cues for whisker-based object localization: An analytical solution to vibration during active whisker touch

Vibrations are important cues for tactile perception across species. Whisker-based sensation in mice is a powerful model system for investigating mechanisms of tactile perception. However, the role vibration plays in whisker-based sensation remains unsettled, in part due to difficulties in modeling the vibration of whiskers. Here, we develop an analytical approach to calculate the vibrations of whiskers striking objects. We use this approach to quantify vibration forces during active whisker touch at a range of locations along the whisker. The frequency and amplitude of vibrations evoked by contact are strongly dependent on the position of contact along the whisker. The magnitude of vibrational shear force and bending moment is comparable to quasi-static forces. The fundamental vibration frequencies are in a detectable range for mechanoreceptor properties and below the maximum spike rates of primary sensory afferents. These results suggest two dynamic cues exist that rodents can use for object localization: vibration frequency and comparison of vibrational to quasi-static force magnitude. These complement the use of quasi-static force angle as a distance cue, particularly for touches close to the follicle, where whiskers are stiff and force angles hardly change during touch. Our approach also provides a general solution to calculation of whisker vibrations in other sensing tasks.

Vibrations play an important role in the sense of touch in many species, but exactly how they influence touch perception remains mysterious. An important reason for this mystery is the difficulty in measuring vibrations during touch. Mice are a powerful model system for investigating touch perception because they actively sweep their whiskers into objects and the resulting bending from touch can be video recorded. However, vibrations of the whiskers during touch are usually too small and fast to be seen. To overcome this limitation, we develop a new mathematical approach to calculating whisker vibrations from the speed at impact, maximum whisker bending during touch, and location of contact along a whisker, which is more easily observed. We find that vibration frequency and amplitude is strongly dependent on the location of contact along the whisker, which mice may use to deduce the distance between their face and touched objects. We confirm our calculations with high-speed imaging of whisker vibration during touch.

Neuronal Assemblies Evidence Distributed Interactions within a Tactile Discrimination Task in Rats

Accumulating evidence suggests that neural interactions are distributed and relate to animal behavior, but many open questions remain. The neural assembly hypothesis, formulated by Hebb, states that synchronously active single neurons may transiently organize into functional neural circuits-neuronal assemblies (NAs)-and that would constitute the fundamental unit of information processing in the brain. However, the formation, vanishing, and temporal evolution of NAs are not fully understood. In particular, characterizing NAs in multiple brain regions over the course of behavioral tasks is relevant to assess the highly distributed nature of brain processing. In the context of NA characterization, active tactile discrimination tasks with rats are elucidative because they engage several cortical areas in the processing of information that are otherwise masked in passive or anesthetized scenarios. In this work, we investigate the dynamic formation of NAs within and among four different cortical regions in long-range fronto-parieto-occipital networks (primary somatosensory, primary visual, prefrontal, and posterior parietal cortices), simultaneously recorded from seven rats engaged in an active tactile discrimination task. Our results first confirm that task-related neuronal firing rate dynamics in all four regions is significantly modulated. Notably, a support vector machine decoder reveals that neural populations contain more information about the tactile stimulus than the majority of single neurons alone. Then, over the course of the task, we identify the emergence and vanishing of NAs whose participating neurons are shown to contain more information about animal behavior than randomly chosen neurons. Taken together, our results further support the role of multiple and distributed neurons as the functional unit of information processing in the brain (NA hypothesis) and their link to active animal behavior.

What Do Sensory Organs Tell the Brain?

Understanding how perception emerges depends on the understanding of sensory acquisition by sensory organs. In this issue of Neuron, Severson et al. (2017) present a brilliant leap towards understanding active sensory coding by mechanoreceptors.

Organization of sensory feature selectivity in the whisker system

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Neurons in the whisker system are selective to spatial and dynamical properties – features – of sensory stimuli.

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At each stage of the pathway, different neurons encode distinct features, generating a rich population representation.

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Whisker touch is robustly represented; neurons respond to touch-driven fast fluctuations in forces at the whisker base.

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Cortical neurons have more complex and context-dependent selectivity than subcortical, e.g., to collective whisker motion.

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Understanding how these signals are integrated to construct whisker-mediated percepts requires further research.

Our sensory receptors are faced with an onslaught of different environmental inputs. Each sensory event or encounter with an object involves a distinct combination of physical energy sources impinging upon receptors. In the rodent whisker system, each primary afferent neuron located in the trigeminal ganglion innervates and responds to a single whisker and encodes a distinct set of physical stimulus properties – features – corresponding to changes in whisker angle and shape and the consequent forces acting on the whisker follicle. Here we review the nature of the features encoded by successive stages of processing along the whisker pathway. At each stage different neurons respond to distinct features, such that the population as a whole represents diverse properties. Different neuronal types also have distinct feature selectivity. Thus, neurons at the same stage of processing and responding to the same whisker nevertheless play different roles in representing objects contacted by the whisker. This diversity, combined with the precise timing and high reliability of responses, enables populations at each stage to represent a wide range of stimuli. Cortical neurons respond to more complex stimulus properties – such as correlated motion across whiskers – than those at early subcortical stages. Temporal integration along the pathway is comparatively weak: neurons up to barrel cortex (BC) are sensitive mainly to fast (tens of milliseconds) fluctuations in whisker motion. The topographic organization of whisker sensitivity is paralleled by systematic organization of neuronal selectivity to certain other physical features, but selectivity to touch and to dynamic stimulus properties is distributed in “salt-and-pepper” fashion.

What the whiskers tell the brain

A fundamental question in the investigation of any sensory system is what physical signals drive its sensory neurons during natural behavior. Surprisingly, in the whisker system, it is only recently that answers to this question have emerged. Here, we review the key developments, focussing mainly on the first stage of the ascending pathway - the primary whisker afferents (PWAs). We first consider a biomechanical framework, which describes the fundamental mechanical forces acting on the whiskers during active sensation. We then discuss technical progress that has allowed such mechanical variables to be estimated in awake, behaving animals. We discuss past electrophysiological evidence concerning how PWAs function and reinterpret it within the biomechanical framework. Finally, we consider recent studies of PWAs in awake, behaving animals and compare the results to related studies of the cortex. We argue that understanding 'what the whiskers tell the brain' sheds valuable light on the computational functions of downstream neural circuits, in particular, the barrel cortex.

Representation of tactile scenes in the rodent barrel cortex

After half a century of research, the sensory features coded by neurons of the rodent barrel cortex remain poorly understood. Still, views of the sensory representation of whisker information are increasingly shifting from a labeled line representation of single-whisker deflections to a selectivity for specific elements of the complex statistics of the multi-whisker deflection patterns that take place during spontaneous rodent behavior - so called natural tactile scenes. Here we review the current knowledge regarding the coding of patterns of whisker stimuli by barrel cortex neurons, from responses to single-whisker deflections to the representation of complex tactile scenes. A number of multi-whisker tunings have already been identified, including center-surround feature extraction, angular tuning during edge-like multi-whisker deflections, and even tuning to specific statistical properties of the tactile scene such as the level of correlation across whiskers. However, a more general model of the representation of multi-whisker information in the barrel cortex is still missing. This is in part because of the lack of a human intuition regarding the perception emerging from a whisker system, but also because in contrast to other primary sensory cortices such as the visual cortex, the spatial feature selectivity of barrel cortex neurons rests on highly nonlinear interactions that remained hidden to classical receptive field approaches.

Learning and recognition of tactile temporal sequences by mice and humans

The world around us is replete with stimuli that unfold over time. When we hear an auditory stream like music or speech or scan a texture with our fingertip, physical features in the stimulus are concatenated in a particular order. This temporal patterning is critical to interpreting the stimulus. To explore the capacity of mice and humans to learn tactile sequences, we developed a task in which subjects had to recognise a continuous modulated noise sequence delivered to whiskers or fingertips, defined by its temporal patterning over hundreds of milliseconds. GO and NO-GO sequences differed only in that the order of their constituent noise modulation segments was temporally scrambled. Both mice and humans efficiently learned tactile sequences. Mouse sequence recognition depended on detecting transitions in noise amplitude; animals could base their decision on the earliest information available. Humans appeared to use additional cues, including the duration of noise modulation segments.

DOI:http://dx.doi.org/10.7554/eLife.27333.001

Organization of orientation-specific whisker deflection responses in layer 2/3 of mouse somatosensory cortex

The rodent whisker-barrel system is characterized by its patterned somatotopic mapping between the sensory periphery and multiple regions of the brain. While somatotopy in the whisker system is established, we know far less about how preferences for stimulus orientation or other features are organized. Mouse somatosensation is an increasingly popular model for circuit-based dissection of perceptual decision making and learning, yet our understanding of how stimulus feature representations are organized in the cortex is incomplete. Here, we used in vivo two-photon calcium imaging to monitor activity of populations of layer (L) 2/3 neurons in the mouse primary somatosensory cortex during deflections of a single whisker in two orthogonal orientations (azimuthal or elevational). We split the population response to whisker deflections into an orientation-specific component and a non-specific component that reflected overall excitability in response to deflection of a single whisker. Orientation-specific responses were organized in a locally heterogeneous and spatially distributed manner. Correlations in the stimulus-independent trial-to-trial variability of pairs of neurons were higher among neurons that preferred the same orientation. These correlations depended on similarity in both orientation-specific and non-specific components of responses to single-whisker deflections. Our results shed light on L2/3 organization in mouse somatosensory cortex, and lay a foundation for dissecting circuit mechanisms of perceptual learning and decision-making during orientation discrimination tasks.

Does layer 4 in the barrel cortex function as a balanced circuit when responding to whisker movements?

Neurons in one barrel in layer 4 (L4) in the mouse vibrissa somatosensory cortex are innervated mostly by neurons from the VPM nucleus and by other neurons within the same barrel. During quiet wakefulness or whisking in air, thalamic inputs vary slowly in time, and excitatory neurons rarely fire. A barrel in L4 contains a modest amount of neurons; the synaptic conductances are not very strong and connections are not sparse. Are the dynamical properties of the L4 circuit similar to those expected from fluctuation-dominated, balanced networks observed for large, strongly coupled and sparse cortical circuits? To resolve this question, we analyze a network of 150 inhibitory parvalbumin-expressing fast-spiking inhibitory interneurons innervated by the VPM thalamus with random connectivity, without or with 1600 low-firing excitatory neurons. Above threshold, the population-average firing rate of inhibitory cortical neurons increases linearly with the thalamic firing rate. The coefficient of variation CV is somewhat less than 1. Moderate levels of synchrony are induced by converging VPM inputs and by inhibitory interaction among neurons. The strengths of excitatory and inhibitory currents during whisking are about three times larger than threshold. We identify values of numbers of presynaptic neurons, synaptic delays between inhibitory neurons, and electrical coupling within the experimentally plausible ranges for which spike synchrony levels are low. Heterogeneity in in-degrees increases the width of the firing rate distribution to the experimentally observed value. We conclude that an L4 circuit in the low-synchrony regime exhibits qualitative dynamical properties similar to those of balanced networks.

Radial Distance Estimation with Tapered Whisker Sensors

Rats use their whiskers as tactile sensors to sense their environment. Active whisking, moving whiskers back and forth continuously, is one of prominent features observed in rodents. They can discriminate different textures or extract features of a nearby object such as size, shape and distance through active whisking. There have been studies to localize objects with artificial whiskers inspired by rat whiskers. The linear whisker model based on beam theory has been used to estimate the radial distance, that is, the distance between the base of the whisker and a target object. In this paper, we investigate deflection angle measurements instead of forces or moments, based on a linear tapered whisker model to see the role of tapered whiskers found in real animals. We analyze how accurately this model estimates the radial distance, and quantify the estimation errors and noise sensitivity. We also compare the linear model simulation and nonlinear numerical solutions. It is shown that the radial distance can be estimated using deflection angles at two different positions on the tapered whisker. We argue that the tapered whisker has an advantage of estimating the radial distance better, as compared to an untapered whisker, and active sensing allows that estimation without the whisker’s material property and thickness or the moment at base. In addition, we investigate the potential of passive sensing for tactile localization.

Vibrissa sensory neurons: Linking distinct morphology to specific physiology and function

Rodents use an array of long tactile facial hairs, the vibrissae, to locate and discriminate objects. Each vibrissa is densely innervated by multiple different types of trigeminal (TG) sensory neurons. Based on the sensory ending morphology, there are at least six types of vibrissa innervating neurons; whereas based on electrophysiological recordings, vibrissa neurons are generally classified as rapidly adapting (RA) and slowly adapting (SA), and show different responses to whisking movement and/or touch. There is a clear missing link between the morphologically defined neuronal types and their exact physiological properties and functions. We briefly summarize recent advances and consider single-cell transcriptome profiling, together with optogenetics-assisted in vivo electrophysiology, as a way to fill this major gap in our knowledge of the vibrissa sensory system.

Tactile Sensing with Whiskers of Various Shapes: Determining the Three-Dimensional Location of Object Contact Based on Mechanical Signals at the Whisker Base

Almost all mammals use their mystacial vibrissae (whiskers) as important tactile sensors. There are no sensors along the length of a whisker: all sensing is performed by mechanoreceptors at the whisker base. To use artificial whiskers as a sensing tool in robotics, it is essential to be able to determine the three-dimensional (3D) location at which a whisker has made contact with an object. With the assumption of quasistatic, frictionless, single-point contact, previous work demonstrated that the 3D contact point can be uniquely determined if all six components of force and moment are measured at the whisker base, but these measurements require a six-axis load cell. Here, we perform simulations to investigate the extent to which each of the 20 possible "triplet" combinations of the six mechanical signals at the whisker base uniquely determine 3D contact point location. We perform this analysis for four different whisker profiles (shapes): tapered with and without intrinsic curvature, and cylindrical with and without intrinsic curvature. We show that whisker profile has a strong influence on the particular triplet(s) of signals that uniquely map to the 3D contact point. The triplet of bending moment, bending moment direction, and axial force produces unique mappings for tapered whiskers. Four different mappings are unique for a cylindrical whisker without intrinsic curvature, but only when large deflections are excluded. These results inform the neuroscience of vibrissotactile sensing and represent an important step toward the development of artificial whiskers for robotic applications.

Active Touch and Self-Motion Encoding by Merkel Cell-Associated Afferents

Touch perception depends on integrating signals from multiple types of peripheral mechanoreceptors. Merkel-cell associated afferents are thought to play a major role in form perception by encoding surface features of touched objects. However, activity of Merkel afferents during active touch has not been directly measured. Here, we show that Merkel and unidentified slowly adapting afferents in the whisker system of behaving mice respond to both self-motion and active touch. Touch responses were dominated by sensitivity to bending moment (torque) at the base of the whisker and its rate of change and largely explained by a simple mechanical model. Self-motion responses encoded whisker position within a whisk cycle (phase), not absolute whisker angle, and arose from stresses reflecting whisker inertia and activity of specific muscles. Thus, Merkel afferents send to the brain multiplexed information about whisker position and surface features, suggesting that proprioception and touch converge at the earliest neural level.

Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper

Many rodents tactually sense the world through active motions of their vibrissae (whiskers), which are regularly arranged in rows and columns (arcs) on the face. The present study quantifies several geometric parameters of rat whiskers that determine the tactile information acquired. Findings include the following. 1) A meta-analysis of seven studies shows that whisker base diameter varies with arc length with a surprisingly strong dependence on the whisker's row position within the array. 2) The length of the whisker medulla varies linearly with whisker length, and the medulla's base diameter varies linearly with whisker base diameter. 3) Two parameters are required to characterize whisker "taper": radius ratio (base radius divided by tip radius) and radius slope (the difference between base and tip radius, divided by arc length). A meta-analysis of five studies shows that radius ratio exhibits large variability due to variations in tip radius, while radius slope varies systematically across the array. 4) Within the resolution of the present study, radius slope does not differ between the proximal and distal segments of the whisker, where "proximal" is defined by the presence of the medulla. 5) Radius slope of the medulla is offset by a constant value from radius slope of the proximal portion of the whisker. We conclude with equations for all geometric parameters as functions of row and column position.NEW & NOTEWORTHY Rats tactually explore their world by brushing and tapping their whiskers against objects. Each whisker's geometry will have a large influence on its mechanics and thus on the tactile signals the rat obtains. We performed a meta-analysis of seven studies to generate equations that describe systematic variations in whisker geometry across the rat's face. We also quantified the geometry of the whisker medulla. A database provides access to geometric parameters of over 500 rat whiskers.