A theory of brain-computer interface learning via low-dimensional control

A remarkable demonstration of the flexibility of mammalian motor systems is primates' ability to learn to control brain-computer interfaces (BCIs). This constitutes a completely novel motor behavior, yet primates are capable of learning to control BCIs under a wide range of conditions. BCIs with carefully calibrated decoders, for example, can be learned with only minutes to hours of practice. With a few weeks of practice, even BCIs with randomly constructed decoders can be learned. What are the biological substrates of this learning process? Here, we develop a theory based on a re-aiming strategy, whereby learning operates within a low-dimensional subspace of task-relevant inputs driving the local population of recorded neurons. Through comprehensive numerical and formal analysis, we demonstrate that this theory can provide a unifying explanation for disparate phenomena previously reported in three different BCI learning tasks, and we derive a novel experimental prediction that we verify with previously published data. By explicitly modeling the underlying neural circuitry, the theory reveals an interpretation of these phenomena in terms of biological constraints on neural activity.

Learning leaves a memory trace in motor cortex

How are we able to learn new behaviors without disrupting previously learned ones? To understand how the brain achieves this, we used a brain-computer interface (BCI) learning paradigm, which enables us to detect the presence of a memory of one behavior while performing another. We found that learning to use a new BCI map altered the neural activity that monkeys produced when they returned to using a familiar BCI map in a way that was specific to the learning experience. That is, learning left a "memory trace" in the primary motor cortex. This memory trace coexisted with proficient performance under the familiar map, primarily by altering neural activity in dimensions that did not impact behavior. Forming memory traces might be how the brain is able to provide for the joint learning of multiple behaviors without interference.

Dissociating the Influence of Limb Posture and Visual Feedback Shifts on the Adaptation to Novel Movement Dynamics

Accurate movements of the upper limb require the integration of various forms of sensory feedback (e.g., visual and postural information). The influence of these different sensory modalities on reaching movements has been largely studied by assessing endpoint errors after selectively perturbing sensory estimates of hand location. These studies have demonstrated that both vision and proprioception make key contributions in determining the reach endpoint. However, their influence on motor output throughout movement remains unclear. Here we used separate perturbations of posture and visual information to dissociate their effects on reaching dynamics and temporal force profiles during point-to-point reaching movements. We tested human subjects (N = 32) and found that vision and posture modulate select aspects of reaching dynamics. Specifically, altering arm posture influences the relationship between temporal force patterns and the motion-state variables of hand position and acceleration, whereas dissociating visual feedback influences the relationship between force patterns and the motion-state variables of velocity and acceleration. Next, we examined the extent these baseline motion-state relationships influence motor adaptation based on perturbations of movement dynamics. We trained subjects using a velocity-dependent force-field to probe the extent arm posture-dependent influences persisted after exposure to a motion-state dependent perturbation. Changes in the temporal force profiles due to variations in arm posture were not reduced by adaptation to novel movement dynamics, but persisted throughout learning. These results suggest that vision and posture differentially influence the internal estimation of limb state throughout movement and play distinct roles in forming the response to external perturbations during movement.

Motor cortex retains and reorients neural dynamics during motor imagery

The most prominent characteristic of motor cortex is its activation during movement execution, but it is also active when we simply imagine movements in the absence of actual motor output. Despite decades of behavioural and imaging studies, it is unknown how the specific activity patterns and temporal dynamics in motor cortex during covert motor imagery relate to those during motor execution. Here we recorded intracortical activity from the motor cortex of two people who retain some residual wrist function following incomplete spinal cord injury as they performed both actual and imagined isometric wrist extensions. We found that we could decompose the population activity into three orthogonal subspaces, where one was similarly active during both action and imagery, and the others were active only during a single task type-action or imagery. Although they inhabited orthogonal neural dimensions, the action-unique and imagery-unique subspaces contained a strikingly similar set of dynamic features. Our results suggest that during motor imagery, motor cortex maintains the same overall population dynamics as during execution by reorienting the components related to motor output and/or feedback into a unique, output-null imagery subspace.

A neural basis of choking under pressure

Incentives tend to drive improvements in performance. But when incentives get too high, we can "choke under pressure" and underperform when it matters most. What neural processes might lead to choking under pressure? We studied Rhesus monkeys performing a challenging reaching task in which they underperform when an unusually large "jackpot" reward is at stake. We observed a collapse in neural information about upcoming movements for jackpot rewards: in the motor cortex, neural planning signals became less distinguishable for different reach directions when a jackpot reward was made available. We conclude that neural signals of reward and motor planning interact in the motor cortex in a manner that can explain why we choke under pressure.

One-Sentence Summary

In response to exceptionally large reward cues, animals can "choke under pressure", and this corresponds to a collapse in the neural information about upcoming movements.

Motor cortex retains and reorients neural dynamics during motor imagery

The most prominent role of motor cortex is generating patterns of neural activity that lead to movement, but it is also active when we simply imagine movements in the absence of actual motor output. Despite decades of behavioral and imaging studies, it is unknown how the specific activity patterns and temporal dynamics within motor cortex during covert motor imagery relate to those during motor execution. Here we recorded intracortical activity from the motor cortex of two people with residual wrist function following incomplete spinal cord injury as they performed both actual and imagined isometric wrist extensions. We found that we could decompose the population-level activity into orthogonal subspaces such that one set of components was similarly active during both action and imagery, and others were only active during a single task typeâ€"action or imagery. Although they inhabited orthogonal neural dimensions, the action-unique and imagery-unique subspaces contained a strikingly similar set of dynamical features. Our results suggest that during motor imagery, motor cortex maintains the same overall population dynamics as during execution by recreating the missing components related to motor output and/or feedback within a unique imagery-only subspace.

Dimensionality reduction of calcium-imaged neuronal population activity

Calcium imaging has been widely adopted for its ability to record from large neuronal populations. To summarize the time course of neural activity, dimensionality reduction methods, which have been applied extensively to population spiking activity, may be particularly useful. However, it is unclear if the dimensionality reduction methods applied to spiking activity are appropriate for calcium imaging. We thus carried out a systematic study of design choices based on standard dimensionality reduction methods. We also developed a method to perform deconvolution and dimensionality reduction simultaneously (Calcium Imaging Linear Dynamical System, CILDS). CILDS most accurately recovered the single-trial, low-dimensional time courses from simulated calcium imaging data. CILDS also outperformed the other methods on calcium imaging recordings from larval zebrafish and mice. More broadly, this study represents a foundation for summarizing calcium imaging recordings of large neuronal populations using dimensionality reduction in diverse experimental settings.

Visual experience has opposing influences on the quality of stimulus representation in adult primary visual cortex

Transient dark exposure, typically 7–10 days in duration, followed by light reintroduction is an emerging treatment for improving the restoration of vision in amblyopic subjects whose occlusion is removed in adulthood. Dark exposure initiates homeostatic mechanisms that together with light-induced changes in cellular signaling pathways result in the re-engagement of juvenile-like plasticity in the adult such that previously deprived inputs can gain cortical territory. It is possible that dark exposure itself degrades visual responses, and this could place constraints on the optimal duration of dark exposure treatment. To determine whether eight days of dark exposure has a lasting negative impact on responses to classic grating stimuli, neural activity was recorded before and after dark exposure in awake head-fixed mice using two-photon calcium imaging. Neural discriminability, assessed using classifiers, was transiently reduced following dark exposure; a decrease in response reliability across a broad range of spatial frequencies likely contributed to the disruption. Both discriminability and reliability recovered. Fixed classifiers were used to demonstrate that stimulus representation rebounded to the original, pre-deprivation state, thus dark exposure did not appear to have a lasting negative impact on visual processing. Unexpectedly, we found that dark exposure significantly stabilized orientation preference and signal correlation. Our results reveal that natural vision exerts a disrupting influence on the stability of stimulus preference for classic grating stimuli and, at the same time, improves neural discriminability for both low and high-spatial frequency stimuli.

How learning unfolds in the brain: toward an optimization view

How do changes in the brain lead to learning? To answer this question, consider an artificial neural network (ANN), where learning proceeds by optimizing a given objective or cost function. This "optimization framework" may provide new insights into how the brain learns, as many idiosyncratic features of neural activity can be recapitulated by an ANN trained to perform the same task. Nevertheless, there are key features of how neural population activity changes throughout learning that cannot be readily explained in terms of optimization and are not typically features of ANNs. Here we detail three of these features: (1) the inflexibility of neural variability throughout learning, (2) the use of multiple learning processes even during simple tasks, and (3) the presence of large task-nonspecific activity changes. We propose that understanding the role of these features in the brain will be key to describing biological learning using an optimization framework.

Distinct Kinematic Adjustments over Multiple Timescales Accompany Locomotor Skill Development in Mice

Robust locomotion is critical to many species' survival, yet the mechanisms by which efficient locomotion is learned and maintained are poorly understood. In mice, a common paradigm for assaying locomotor learning is the rotarod task, in which mice learn to maintain balance atop of an accelerating rod. However, the standard metric for learning in this task is improvements in latency to fall, which gives little insight into the rich kinematic adjustments that accompany locomotor learning. In this study, we developed a rotarod-like task called the RotaWheel in which changes in paw kinematics are tracked using high-speed cameras as mice learn to stay atop an accelerating wheel. Using this device, we found that learning was accompanied by stereotyped progressions of paw kinematics that correlated with early, intermediate, and late stages of performance. Within the first day, mice sharpened their interlimb coordination using a timed pause in the forward swing of their forepaws. Over the next several days, mice reduced their stride length and took shorter, quicker steps. By the second week of training, mice began to use a more variable locomotor strategy, where consecutive overshoots or undershoots in strides were selected across paws to drive forward and backward exploration of the wheel. Collectively, our results suggest that mouse locomotor learning occurs through multiple mechanisms evolving over separate time courses and involving distinct corrective actions. These data provide insights into the kinematic strategies that accompany locomotor learning and establish an experimental platform for studying locomotor skill learning in mice.

Learning is shaped by abrupt changes in neural engagement

Internal states such as arousal, attention and motivation modulate brain-wide neural activity, but how these processes interact with learning is not well understood. During learning, the brain modifies its neural activity to improve behavior. How do internal states affect this process? Using a brain-computer interface learning paradigm in monkeys, we identified large, abrupt fluctuations in neural population activity in motor cortex indicative of arousal-like internal state changes, which we term 'neural engagement.' In a brain-computer interface, the causal relationship between neural activity and behavior is known, allowing us to understand how neural engagement impacted behavioral performance for different task goals. We observed stereotyped changes in neural engagement that occurred regardless of how they impacted performance. This allowed us to predict how quickly different task goals were learned. These results suggest that changes in internal states, even those seemingly unrelated to goal-seeking behavior, can systematically influence how behavior improves with learning.

Development of Natural Scene Representation in Primary Visual Cortex Requires Early Postnatal Experience

The development of the visual system is known to be shaped by early-life experience. To identify response properties that contribute to enhanced natural scene representation, we performed calcium imaging of excitatory neurons in the primary visual cortex (V1) of awake mice raised in three different conditions (standard-reared, dark-reared, and delayed-visual experience) and compared neuronal responses to natural scene features in relation to simpler grating stimuli that varied in orientation and spatial frequency. We assessed population selectivity in the V1 by using decoding methods and found that natural scene discriminability increased by 75% between the ages of 4 and 6 weeks. Both natural scene and grating discriminability were higher in standard-reared animals than in those raised in the dark. This increase in discriminability was accompanied by a reduction in the number of neurons that responded to low-spatial-frequency gratings. At the same time, there was an increase in neuronal preference for natural scenes. Light exposure restricted to a 2- to 4-week window during adulthood did not induce improvements in natural scene or in grating stimulus discriminability. Our results demonstrate that experience reduces the number of neurons needed to effectively encode grating stimuli and that early visual experience enhances natural scene discriminability by directly increasing responsiveness to natural scene features.

Temporally Segmented Directionality in the Motor Cortex

Developing models of the dynamic and complex patterns of information processing that take place during behavior is a major thrust of systems neuroscience. An underlying assumption of many models is that the same set of rules applies across different conditions. This has been the case for directional tuning during volitional movement; a single cosine function has been remarkably robust for describing the encoding of movement direction in different types of neurons, in many locations of the nervous system, and even across species. However, detailed examination of the tuning time course in motor cortex suggests that direction coding may be labile. Here, we show that there are discrete time epochs within single reaches, between which individual neurons change their tuning. Our findings suggest that motor cortical activity patterns may reflect consistent changes in the state of the control system during center-out reaching. These transitions are likely linked to different behavioral components, suggesting that the task defines changes in the operational structure of the control system.

Distinct types of neural reorganization during long-term learning

What are the neural mechanisms of skill acquisition? Many studies find that long-term practice is associated with a functional reorganization of cortical neural activity. However, the link between these changes in neural activity and the behavioral improvements that occur is not well understood, especially for long-term learning that takes place over several weeks. To probe this link in detail, we leveraged a brain-computer interface (BCI) paradigm in which rhesus monkeys learned to master nonintuitive mappings between neural spiking in primary motor cortex and computer cursor movement. Critically, these BCI mappings were designed to disambiguate several different possible types of neural reorganization. We found that during the initial phase of learning, lasting minutes to hours, rapid changes in neural activity common to all neurons led to a fast suppression of motor error. In parallel, local changes to individual neurons gradually accrued over several weeks of training. This slower timescale cortical reorganization persisted long after the movement errors had decreased to asymptote and was associated with more efficient control of movement. We conclude that long-term practice evokes two distinct neural reorganization processes with vastly different timescales, leading to different aspects of improvement in motor behavior. NEW & NOTEWORTHY We leveraged a brain-computer interface learning paradigm to track the neural reorganization occurring throughout the full time course of motor skill learning lasting several weeks. We report on two distinct types of neural reorganization that mirror distinct phases of behavioral improvement: a fast phase, in which global reorganization of neural recruitment leads to a quick suppression of motor error, and a slow phase, in which local changes in individual tuning lead to improvements in movement efficiency.

Feature selectivity is stable in primary visual cortex across a range of spatial frequencies

Reliable perception of environmental signals is a critical first step to generating appropriate responses and actions in awake behaving animals. The extent to which stimulus features are stably represented at the level of individual neurons is not well understood. To address this issue, we investigated the persistence of stimulus response tuning over the course of 1–2 weeks in the primary visual cortex of awake, adult mice. Using 2-photon calcium imaging, we directly compared tuning stability to two stimulus features (orientation and spatial frequency) within the same neurons, specifically in layer 2/3 excitatory neurons. The majority of neurons that were tracked and tuned on consecutive imaging sessions maintained stable orientation and spatial frequency preferences (83% and 76% of the population, respectively) over a 2-week period. Selectivity, measured as orientation and spatial frequency bandwidth, was also stable. Taking into account all 4 parameters, we found that the proportion of stable neurons was less than two thirds (57%). Thus, a substantial fraction of neurons (43%) were unstable in at least one parameter. Furthermore, we found that instability of orientation preference was not predictive of instability of spatial frequency preference within the same neurons. Population analysis revealed that noise correlation values were stable well beyond the estimated decline in monosynaptic connectivity (~250–300 microns). Our results demonstrate that orientation preference is stable across a range of spatial frequencies and that the tuning of distinct stimulus features can be independently maintained within a single neuron.

Constraints on neural redundancy

Millions of neurons drive the activity of hundreds of muscles, meaning many different neural population activity patterns could generate the same movement. Studies have suggested that these redundant (i.e. behaviorally equivalent) activity patterns may be beneficial for neural computation. However, it is unknown what constraints may limit the selection of different redundant activity patterns. We leveraged a brain-computer interface, allowing us to define precisely which neural activity patterns were redundant. Rhesus monkeys made cursor movements by modulating neural activity in primary motor cortex. We attempted to predict the observed distribution of redundant neural activity. Principles inspired by work on muscular redundancy did not accurately predict these distributions. Surprisingly, the distributions of redundant neural activity and task-relevant activity were coupled, which enabled accurate predictions of the distributions of redundant activity. This suggests limits on the extent to which redundancy may be exploited by the brain for computation.

When you swing a tennis racket, muscles in your arm contract in a specific sequence. For this to happen, millions of neurons in your brain and spinal cord must fire to make those muscles contract. If you swing the racket a second time, the same muscles in your arm will contract again. But the firing pattern of the underlying neurons will probably be different. This phenomenon, in which different patterns of neural activity generate the same outcome, is called neural redundancy.

Neural redundancy allows a set of neurons to perform multiple tasks at once. For example, the same neurons may drive an arm movement while simultaneously planning the next activity. But does performing a given task constrain how often different patterns of neural activity can be produced? If so, this would limit whether other tasks could be carried out at the same time. To address this, Hennig et al. trained macaque monkeys to use a brain-computer interface (BCI). This is a device that reads out electrical brain activity and converts it into signals that can be used to control another device. The key advantage of a BCI is that the redundant activity patterns are precisely known. The monkeys learned to use their brain activity, via the BCI, to move a cursor on a computer screen in different directions.

The results revealed that monkeys could only produce a limited number of different patterns of brain activity for a given BCI cursor movement. This suggests that the ability of a group of neurons to multitask is restricted. For example, if the same set of neurons is involved in both planning and performing movements, then an animal’s ability to plan a future movement will depend on the one it is currently performing.

BCIs can help patients who have suffered stroke or paralysis. They enable patients to use their brain activity to control a computer or even robotic limbs. Understanding how the brain controls BCIs will help us improve their performance and deepen our knowledge of how the brain plans and performs movements. This might include designing BCIs that allow users to multitask more effectively.

Learning by neural reassociation

Behavior is driven by coordinated activity across a population of neurons. Learning requires the brain to change the neural population activity produced to achieve a given behavioral goal. How does population activity reorganize during learning? We studied intracortical population activity in the primary motor cortex of rhesus macaques during short-term learning in a brain-computer interface (BCI) task. In a BCI, the mapping between neural activity and behavior is exactly known, enabling us to rigorously define hypotheses about neural reorganization during learning. We found that changes in population activity followed a suboptimal neural strategy of Reassociation: animals relied on a fixed repertoire of activity patterns and associated those patterns with different movements after learning. These results indicate that the activity patterns that a neural population can generate are even more constrained than previously thought and might explain why it is often difficult to quickly learn to a high level of proficiency.

Dynamic range adaptation in primary motor cortical populations

Neural populations from various sensory regions demonstrate dynamic range adaptation in response to changes in the statistical distribution of their input stimuli. These adaptations help optimize the transmission of information about sensory inputs. Here, we show a similar effect in the firing rates of primary motor cortical cells. We trained monkeys to operate a brain-computer interface in both two- and three-dimensional virtual environments. We found that neurons in primary motor cortex exhibited a change in the amplitude of their directional tuning curves between the two tasks. We then leveraged the simultaneous nature of the recordings to test several hypotheses about the population-based mechanisms driving these changes and found that the results are most consistent with dynamic range adaptation. Our results demonstrate that dynamic range adaptation is neither limited to sensory regions nor to rescaling of monotonic stimulus intensity tuning curves, but may rather represent a canonical feature of neural encoding.

DOI:http://dx.doi.org/10.7554/eLife.21409.001

Most cameras are equipped with an auto-contrast feature that enables them to take high quality pictures in a wide range of lighting conditions. Auto-contrast works by increasing the sensitivity of the camera to light in dimly lit surroundings, but reducing it in bright conditions to ensure that images do not become saturated. Our visual system is equipped with a similar feature. Neurons in the visual system increase or decrease their sensitivity to light as appropriate to enable us to see in both dimly lit rooms and dazzling sunshine.

This process, which is known as dynamic range adaptation, also occurs in neurons that are sensitive to sound or touch. Rasmussen et al. therefore wondered whether the same might hold true for neurons that encode non-sensory stimuli such as the direction of movement. Would these neurons change their sensitivity to direction if presented with a wide range of possible directions instead of a narrow range? If so, this would suggest that dynamic range adaptation occurs throughout the nervous system.

To find out, Rasmussen et al. trained two rhesus macaque monkeys to use their brain activity to move a cursor on a virtual reality screen in either 2D or 3D. Studying this brain activity showed that neurons became less sensitive to the cursor’s direction of movement when the task switched from 2D to 3D. This makes sense because in a 3D task, which also features depth, the neurons have a greater range of possible movement directions to encode. Conversely, the neurons became more sensitive to the direction of movement when the task switched from 3D to 2D. Under these circumstances the neurons can use activity that was previously dedicated to encoding depth to instead represent the 2D space in finer detail.

These results presented by Rasmussen et al. raise several additional questions. Are the mechanisms that support dynamic range adaptation the same in sensory and motor neurons? If these neurons also encode other aspects of movement, such as speed, would these also be included in the same range as direction or is the adaptation process segregated by specific parameter categories? And how do these changes in sensitivity affect the movements that animals produce?

DOI:http://dx.doi.org/10.7554/eLife.21409.002

Workshops of the Sixth International Brain-Computer Interface Meeting: brain-computer interfaces past, present, and future

The Sixth International Brain-Computer Interface (BCI) Meeting was held 30 May-3 June 2016 at the Asilomar Conference Grounds, Pacific Grove, California, USA. The conference included 28 workshops covering topics in BCI and brain-machine interface research. Topics included BCI for specific populations or applications, advancing BCI research through use of specific signals or technological advances, and translational and commercial issues to bring both implanted and non-invasive BCIs to market. BCI research is growing and expanding in the breadth of its applications, the depth of knowledge it can produce, and the practical benefit it can provide both for those with physical impairments and the general public. Here we provide summaries of each workshop, illustrating the breadth and depth of BCI research and highlighting important issues and calls for action to support future research and development.

Extracellular voltage threshold settings can be tuned for optimal encoding of movement and stimulus parameters

OBJECTIVE

A traditional goal of neural recording with extracellular electrodes is to isolate action potential waveforms of an individual neuron. Recently, in brain-computer interfaces (BCIs), it has been recognized that threshold crossing events of the voltage waveform also convey rich information. To date, the threshold for detecting threshold crossings has been selected to preserve single-neuron isolation. However, the optimal threshold for single-neuron identification is not necessarily the optimal threshold for information extraction. Here we introduce a procedure to determine the best threshold for extracting information from extracellular recordings. We apply this procedure in two distinct contexts: the encoding of kinematic parameters from neural activity in primary motor cortex (M1), and visual stimulus parameters from neural activity in primary visual cortex (V1).

APPROACH

We record extracellularly from multi-electrode arrays implanted in M1 or V1 in monkeys. Then, we systematically sweep the voltage detection threshold and quantify the information conveyed by the corresponding threshold crossings.

MAIN RESULTS

The optimal threshold depends on the desired information. In M1, velocity is optimally encoded at higher thresholds than speed; in both cases the optimal thresholds are lower than are typically used in BCI applications. In V1, information about the orientation of a visual stimulus is optimally encoded at higher thresholds than is visual contrast. A conceptual model explains these results as a consequence of cortical topography.

SIGNIFICANCE

How neural signals are processed impacts the information that can be extracted from them. Both the type and quality of information contained in threshold crossings depend on the threshold setting. There is more information available in these signals than is typically extracted. Adjusting the detection threshold to the parameter of interest in a BCI context should improve our ability to decode motor intent, and thus enhance BCI control. Further, by sweeping the detection threshold, one can gain insights into the topographic organization of the nearby neural tissue.

Brain-computer interfaces for dissecting cognitive processes underlying sensorimotor control

Sensorimotor control engages cognitive processes such as prediction, learning, and multisensory integration. Understanding the neural mechanisms underlying these cognitive processes with arm reaching is challenging because we currently record only a fraction of the relevant neurons, the arm has nonlinear dynamics, and multiple modalities of sensory feedback contribute to control. A brain-computer interface (BCI) is a well-defined sensorimotor loop with key simplifying advantages that address each of these challenges, while engaging similar cognitive processes. As a result, BCI is becoming recognized as a powerful tool for basic scientific studies of sensorimotor control. Here, we describe the benefits of BCI for basic scientific inquiries and review recent BCI studies that have uncovered new insights into the neural mechanisms underlying sensorimotor control.

Internal models for interpreting neural population activity during sensorimotor control

To successfully guide limb movements, the brain takes in sensory information about the limb, internally tracks the state of the limb, and produces appropriate motor commands. It is widely believed that this process uses an internal model, which describes our prior beliefs about how the limb responds to motor commands. Here, we leveraged a brain-machine interface (BMI) paradigm in rhesus monkeys and novel statistical analyses of neural population activity to gain insight into moment-by-moment internal model computations. We discovered that a mismatch between subjects’ internal models and the actual BMI explains roughly 65% of movement errors, as well as long-standing deficiencies in BMI speed control. We then used the internal models to characterize how the neural population activity changes during BMI learning. More broadly, this work provides an approach for interpreting neural population activity in the context of how prior beliefs guide the transformation of sensory input to motor output.

DOI:http://dx.doi.org/10.7554/eLife.10015.001

The human brain is widely hypothesized to construct “inner beliefs” about how the world works. It is thought that we need this conception to coordinate our movements and anticipate rapid events that go on around us. A driver, for example, needs to predict how the car should behave in response to every turn of the steering wheel and every tap on the brake. But on icy roads, these predictions will often not reflect how the car would behave. Applying the brakes sharply in these conditions could send the car skidding uncontrollably rather than stopping. In general, a mismatch between one’s inner beliefs and reality is thought to cause errors and accidents. Yet this compelling hypothesis has not yet been fully investigated.

Golub et al. investigated this hypothesis by conducting a “brain-machine interface” experiment. In this experiment, neural signals from the brains of two rhesus macaques were recorded using arrays of electrodes and translated into movements of a cursor on a computer screen. The monkeys were then trained to mentally move the cursor to hit targets on the screen.

The monkeys’ cursor movements were remarkably precise. In fact, the experiment showed that the monkeys could internally predict their cursor movements just as a driver predicts how a car will move when turning the steering wheel. These findings indicate that the monkeys have likely developed inner beliefs to predict how their neural signals drive the cursor, and that these beliefs helped coordinate their performance.

In addition, when the monkeys did make mistakes, their neural signals were not entirely wrong—in fact they were typically consistent with the monkeys’ inner beliefs about how the cursor moves. A mismatch between these inner beliefs and reality explained most of the monkeys’ mistakes.

The brain constructs such inner beliefs over time through experience and learning. To study this learning process, Golub et al. next conducted an experiment in which the cursor moved in a way that was substantially different from the monkey’s inner beliefs. This experiment uncovered that, during the course of learning, the monkey’s inner beliefs realigned to better match the movements of the new cursor. Taken together, this work provides a framework for understanding how the brain transforms sensory information into instructions for movement. The findings could also help improve the performance of brain-machine interfaces and suggest how we can learn new skills more rapidly and proficiently in everyday life.

DOI:http://dx.doi.org/10.7554/eLife.10015.002

Direction and speed tuning of motor-cortex multi-unit activity and local field potentials during reaching movements

Primary motor-cortex multi-unit activity (MUA) and local-field potentials (LFPs) have both been suggested as potential control signals for brain-computer interfaces (BCIs) aimed at movement restoration. Some studies report that LFP-based decoding is comparable to spiking-based decoding, while others offer contradicting evidence. Differences in experimental paradigms, tuning models and decoding techniques make it hard to directly compare these results. Here, we use regression and mutual information analyses to study how MUA and LFP encode various kinematic parameters during reaching movements. We find that in addition to previously reported directional tuning, MUA also contains prominent speed tuning. LFP activity in low-frequency bands (15-40Hz, LFPL) is primarily speed tuned, and contains more speed information than both high-frequency LFP (100-300Hz, LFPH) and MUA. LFPH contains more directional information compared to LFPL, but less information when compared with MUA. Our results suggest that a velocity and speed encoding model is most appropriate for both MUA and LFPH, whereas a speed only encoding model is adequate for LFPL.

Recasting brain-machine interface design from a physical control system perspective

With the goal of improving the quality of life for people suffering from various motor control disorders, brain-machine interfaces provide direct neural control of prosthetic devices by translating neural signals into control signals. These systems act by reading motor intent signals directly from the brain and using them to control, for example, the movement of a cursor on a computer screen. Over the past two decades, much attention has been devoted to the decoding problem: how should recorded neural activity be translated into the movement of the cursor? Most approaches have focused on this problem from an estimation standpoint, i.e., decoders are designed to return the best estimate of motor intent possible, under various sets of assumptions about how the recorded neural signals represent motor intent. Here we recast the decoder design problem from a physical control system perspective, and investigate how various classes of decoders lead to different types of physical systems for the subject to control. This framework leads to new interpretations of why certain types of decoders have been shown to perform better than others. These results have implications for understanding how motor neurons are recruited to perform various tasks, and may lend insight into the brain's ability to conceptualize artificial systems.

Single-unit activity, threshold crossings, and local field potentials in motor cortex differentially encode reach kinematics

A diversity of signals can be recorded with extracellular electrodes. It remains unclear whether different signal types convey similar or different information and whether they capture the same or different underlying neural phenomena. Some researchers focus on spiking activity, while others examine local field potentials, and still others posit that these are fundamentally the same signals. We examined the similarities and differences in the information contained in four signal types recorded simultaneously from multielectrode arrays implanted in primary motor cortex: well-isolated action potentials from putative single units, multiunit threshold crossings, and local field potentials (LFPs) at two distinct frequency bands. We quantified the tuning of these signal types to kinematic parameters of reaching movements. We found 1) threshold crossing activity is not a proxy for single-unit activity; 2) when examined on individual electrodes, threshold crossing activity more closely resembles LFP activity at frequencies between 100 and 300 Hz than it does single-unit activity; 3) when examined across multiple electrodes, threshold crossing activity and LFP integrate neural activity at different spatial scales; and 4) LFP power in the "beta band" (between 10 and 40 Hz) is a reliable indicator of movement onset but does not encode kinematic features on an instant-by-instant basis. These results show that the diverse signals recorded from extracellular electrodes provide somewhat distinct and complementary information. It may be that these signal types arise from biological phenomena that are partially distinct. These results also have practical implications for harnessing richer signals to improve brain-machine interface control.

Comprehensive chronic laminar single-unit, multi-unit, and local field potential recording performance with planar single shank electrode arrays

BACKGROUND

Intracortical electrode arrays that can record extracellular action potentials from small, targeted groups of neurons are critical for basic neuroscience research and emerging clinical applications. In general, these electrode devices suffer from reliability and variability issues, which have led to comparative studies of existing and emerging electrode designs to optimize performance. Comparisons of different chronic recording devices have been limited to single-unit (SU) activity and employed a bulk averaging approach treating brain architecture as homogeneous with respect to electrode distribution.

NEW METHOD

In this study, we optimize the methods and parameters to quantify evoked multi-unit (MU) and local field potential (LFP) recordings in eight mice visual cortices.

RESULTS

These findings quantify the large recording differences stemming from anatomical differences in depth and the layer dependent relative changes to SU and MU recording performance over 6-months. For example, performance metrics in Layer V and stratum pyramidale were initially higher than Layer II/III, but decrease more rapidly. On the other hand, Layer II/III maintained recording metrics longer. In addition, chronic changes at the level of layer IV are evaluated using visually evoked current source density.

COMPARISON WITH EXISTING METHOD(S)

The use of MU and LFP activity for evaluation and tracking biological depth provides a more comprehensive characterization of the electrophysiological performance landscape of microelectrodes.

CONCLUSIONS

A more extensive spatial and temporal insight into the chronic electrophysiological performance over time will help uncover the biological and mechanical failure mechanisms of the neural electrodes and direct future research toward the elucidation of design optimization for specific applications.

Motor cortical control of movement speed with implications for brain-machine interface control

Motor cortex plays a substantial role in driving movement, yet the details underlying this control remain unresolved. We analyzed the extent to which movement-related information could be extracted from single-trial motor cortical activity recorded while monkeys performed center-out reaching. Using information theoretic techniques, we found that single units carry relatively little speed-related information compared with direction-related information. This result is not mitigated at the population level: simultaneously recorded population activity predicted speed with significantly lower accuracy relative to direction predictions. Furthermore, a unit-dropping analysis revealed that speed accuracy would likely remain lower than direction accuracy, even given larger populations. These results suggest that the instantaneous details of single-trial movement speed are difficult to extract using commonly assumed coding schemes. This apparent paucity of speed information takes particular importance in the context of brain-machine interfaces (BMIs), which rely on extracting kinematic information from motor cortex. Previous studies have highlighted subjects' difficulties in holding a BMI cursor stable at targets. These studies, along with our finding of relatively little speed information in motor cortex, inspired a speed-dampening Kalman filter (SDKF) that automatically slows the cursor upon detecting changes in decoded movement direction. Effectively, SDKF enhances speed control by using prevalent directional signals, rather than requiring speed to be directly decoded from neural activity. SDKF improved success rates by a factor of 1.7 relative to a standard Kalman filter in a closed-loop BMI task requiring stable stops at targets. BMI systems enabling stable stops will be more effective and user-friendly when translated into clinical applications.

Internal models engaged by brain-computer interface control

Internal models have been proposed to explain the brain's ability to compensate for sensory feedback delays by predicting the sensory consequences of movement commands. Single-neuron studies in the oculomotor and vestibulo-ocular systems have provided evidence of internal models, as have behavioral studies in the skeletomotor system. Here, we present evidence of internal models from simultaneously recorded population activity underlying closed-loop brain-computer interface (BCI) control. We studied cursor-based BCI control by a nonhuman primate implanted with a multi-electrode array in motor cortex. Using a novel BCI task, we measured the visual feedback processing delay to be about 130 milliseconds. By examining the task-based appropriateness of the population activity at different time lags, we found evidence that the subject compensates for the feedback delay by predicting upcoming cursor positions, suggesting the use of an internal forward model. Lastly, we examined the time course of internal model adaptation after altering the mapping between population activity and cursor movements. This study suggests that closed-loop BCI experiments combined with novel statistical analyses can provide insight into the neural substrates of feedback motor control and motor learning.

Learning an Internal Dynamics Model from Control Demonstration

Much work in optimal control and inverse control has assumed that the controller has perfect knowledge of plant dynamics. However, if the controller is a human or animal subject, the subject's internal dynamics model may differ from the true plant dynamics. Here, we consider the problem of learning the subject's internal model from demonstrations of control and knowledge of task goals. Due to sensory feedback delay, the subject uses an internal model to generate an internal prediction of the current plant state, which may differ from the actual plant state. We develop a probabilistic framework and exact EM algorithm to jointly estimate the internal model, internal state trajectories, and feedback delay. We applied this framework to demonstrations by a nonhuman primate of brain-machine interface (BMI) control. We discovered that the subject's internal model deviated from the true BMI plant dynamics and provided significantly better explanation of the recorded neural control signals than did the true plant dynamics.

Behavioral and neural correlates of visuomotor adaptation observed through a brain-computer interface in primary motor cortex

Brain-computer interfaces (BCIs) provide a defined link between neural activity and devices, allowing a detailed study of the neural adaptive responses generating behavioral output. We trained monkeys to perform two-dimensional center-out movements of a computer cursor using a BCI. We then applied a perturbation by randomly selecting a subset of the recorded units and rotating their directional contributions to cursor movement by a consistent angle. Globally, this perturbation mimics a visuomotor transformation, and in the first part of this article we characterize the psychophysical indications of motor adaptation and compare them with known results from adaptation of natural reaching movements. Locally, however, only a subset of the neurons in the population actually contributes to error, allowing us to probe for signatures of neural adaptation that might be specific to the subset of neurons we perturbed. One compensation strategy would be to selectively adapt the subset of cells responsible for the error. An alternate strategy would be to globally adapt the entire population to correct the error. Using a recently developed mathematical technique that allows us to differentiate these two mechanisms, we found evidence of both strategies in the neural responses. The dominant strategy we observed was global, accounting for ∼86% of the total error reduction. The remaining 14% came from local changes in the tuning functions of the perturbed units. Interestingly, these local changes were specific to the details of the applied rotation: in particular, changes in the depth of tuning were only observed when the percentage of perturbed cells was small. These results imply that there may be constraints on the network's adaptive capabilities, at least for perturbations lasting only a few hundreds of trials.

Inference from populations: going beyond models

How are abstract signals, like intent, represented in neural populations? By creating a direct link between neural activity and behavior, brain-computer interfaces (BCIs) can help answer this question. Early instantiations of these devices sought mainly to mimic arm movements: by building models of arm tuning for the neurons, desired arm movements could be read out and used to control various prosthetic devices. However, as the functionality of these devices increases, a more general approach that relies less on endogenous control signals may be required. Here we review some of the current, model-based approaches for finding volitional control signals for spiking-based BCIs, and present some new approaches for finding control signals without resorting to parametric models of neural activity.

Comparison of brain-computer interface decoding algorithms in open-loop and closed-loop control

Neuroprosthetic devices such as a computer cursor can be controlled by the activity of cortical neurons when an appropriate algorithm is used to decode motor intention. Algorithms which have been proposed for this purpose range from the simple population vector algorithm (PVA) and optimal linear estimator (OLE) to various versions of Bayesian decoders. Although Bayesian decoders typically provide the most accurate off-line reconstructions, it is not known which model assumptions in these algorithms are critical for improving decoding performance. Furthermore, it is not necessarily true that improvements (or deficits) in off-line reconstruction will translate into improvements (or deficits) in on-line control, as the subject might compensate for the specifics of the decoder in use at the time. Here we show that by comparing the performance of nine decoders, assumptions about uniformly distributed preferred directions and the way the cursor trajectories are smoothed have the most impact on decoder performance in off-line reconstruction, while assumptions about tuning curve linearity and spike count variance play relatively minor roles. In on-line control, subjects compensate for directional biases caused by non-uniformly distributed preferred directions, leaving cursor smoothing differences as the largest single algorithmic difference driving decoder performance.

Control of a brain-computer interface without spike sorting

Two rhesus monkeys were trained to move a cursor using neural activity recorded with silicon arrays of 96 microelectrodes implanted in the primary motor cortex. We have developed a method to extract movement information from the recorded single and multi-unit activity in the absence of spike sorting. By setting a single threshold across all channels and fitting the resultant events with a spline tuning function, a control signal was extracted from this population using a Bayesian particle-filter extraction algorithm. The animals achieved high-quality control comparable to the performance of decoding schemes based on sorted spikes. Our results suggest that even the simplest signal processing is sufficient for high-quality neuroprosthetic control.

Functional network reorganization in motor cortex can be explained by reward-modulated Hebbian learning

The control of neuroprosthetic devices from the activity of motor cortex neurons benefits from learning effects where the function of these neurons is adapted to the control task. It was recently shown that tuning properties of neurons in monkey motor cortex are adapted selectively in order to compensate for an erroneous interpretation of their activity. In particular, it was shown that the tuning curves of those neurons whose preferred directions had been misinterpreted changed more than those of other neurons. In this article, we show that the experimentally observed self-tuning properties of the system can be explained on the basis of a simple learning rule. This learning rule utilizes neuronal noise for exploration and performs Hebbian weight updates that are modulated by a global reward signal. In contrast to most previously proposed reward-modulated Hebbian learning rules, this rule does not require extraneous knowledge about what is noise and what is signal. The learning rule is able to optimize the performance of the model system within biologically realistic periods of time and under high noise levels. When the neuronal noise is fitted to experimental data, the model produces learning effects similar to those found in monkey experiments.

Cues for Sound Localization Are Encoded in Multiple Aspects of Spike Trains in the Inferior Colliculus

To localize sound, information from three cues—interaural timing differences (ITDs), interaural level differences (ILDs), and spectral notch cues (SNs)—must be properly integrated. The inferior colliculus (IC) receives convergent input from neurons encoding all three cues. Using virtual space stimuli and information theoretic techniques, we investigated the coding of the various localization cues in single neurons of the IC under different encoding schemes. Here we focus on the analysis of information encoded by first-spike latency, in comparison to previous results on discharge rate and ongoing spike timing. The results show that the localization cues converge to different degrees in particular neurons. ITD information is conveyed most strongly by spike rate, with small amounts of independent information in latency and ongoing spike timing. ILD information shows a similar pattern, with larger mutual information values for all three cues. For these cues, ongoing spike timing does not typically contribute independent information over that captured by a joint rate/first-spike latency code. SNs are coded by both rate and first-spike latency, but ongoing spike timing significantly enhances their representation in a best frequency–dependent manner, as long as the temporal envelope of the stimulus can be used in the decoder. The differential coding of the localization cues suggests that information about multiple cues could be multiplexed onto the responses of single neurons.

First-spike latency information in single neurons increases when referenced to population onset

It is well known that many stimulus parameters, such as sound location in the auditory system or contrast in the visual system, can modulate the timing of the first spike in sensory neurons. Could first-spike latency be a candidate neural code? Most studies measuring first-spike latency information assume that the brain has an independent reference for stimulus onset from which to extract latency. This assumption creates an obvious confound that casts doubt on the feasibility of first-spike latency codes. If latency is measured relative to an internal reference of stimulus onset calculated from the responses of the neural population, the information conveyed by the latency of single neurons might decrease because of correlated changes in latency across the population. Here we assess the effects of a realistic model of stimulus onset detection on the first-spike latency information conveyed by single neurons in the auditory system. Contrary to expectation, we find that on average, the information contained in single neurons does not decrease; in fact, the majority of neurons show a slight increase in the information conveyed by latency referenced to a population onset. Our results show that first-spike latency codes are a feasible mechanism for information transfer even when biologically plausible estimates of stimulus onset are taken into account.

Spike-timing codes enhance the representation of multiple simultaneous sound-localization cues in the inferior colliculus

To preserve multiple streams of independent information that converge onto a neuron, the information must be re-represented more efficiently in the neural response. Here we analyze the increase in the representational capacity of spike timing over rate codes using sound localization cues as an example. The inferior colliculus receives convergent input from multiple auditory brainstem nuclei, including sound localization information such as interaural level differences (ILDs), interaural timing differences (ITDs), and spectral cues. Virtual space techniques were used to create stimulus sets varying in two sound-localization parameters each. Information about the cues was quantified using a spike distance metric that allows one to separate contributions to the information arising from spike rate and spike timing. Spike timing enhances the representation of spectral and ILD cues at timescales averaging 12 ms. ITD information, however, is carried by a rate code. Comparing responses to frozen and random noise shows that the temporal information is mainly attributable to phase locking to temporal stimulus features, with an additional first-spike latency component. With rate-based codes, there is significant confounding of information about two cues presented simultaneously, meaning that the cues cannot be decoded independently. Spike-timing-based codes reduce this confounded information. Furthermore, the relative representation of the cues often changes as a function of the time resolution of the code, implying that information about multiple cues can be multiplexed onto individual spike trains.

Limited segregation of different types of sound localization information among classes of units in the inferior colliculus

The auditory system uses three cues to decode sound location: interaural time differences (ITDs), interaural level differences (ILDs), and spectral notches (SNs). Initial processing of these cues is done in separate brainstem nuclei, with ITDs in the medial superior olive, ILDs in the lateral superior olive, and SNs in the dorsal cochlear nucleus. This work addresses the nature of the convergence of localization information in the central nucleus of the inferior colliculus (ICC). Ramachandran et al. (1999) argued that ICC neurons of types V, I, and O, respectively, receive their predominant inputs from ITD-, ILD-, and SN-sensitive brainstem nuclei, suggesting that these ICC response types should be differentially sensitive to localization cues. Here, single-unit responses to simultaneous manipulation of pairs of localization cues were recorded, and the mutual information between discharge rate and individual cues was quantified. Although rate responses to cue variation were generally consistent with those expected from the hypothesized anatomical connections, the differences in information were not as large as expected. Type I units provide the most information, especially about SNs in the physiologically useful range. Type I and O units provide information about ILDs, even at low frequencies at which actual ILDs are very small. ITD information is provided by a subset of all low-frequency neurons. Type V neurons provide information mainly about ITDs and the average binaural intensity. These results are the first to quantify the relative representation of cues in terms of information and suggest a variety of degrees of cue integration in the ICC.

A controlled, prospective study to evaluate the effectiveness of a back school in the relief of chronic low back pain

Ninety-two chronic low back pain patients were randomly allocated to two groups to evaluate the effectiveness of a back school compared with an exercise-only regimen according to specified outcome variables. The data from 78 patients with 7 years mean duration of symptoms was analyzed. Three assessments were made: before treatment and 6 and 16 weeks after treatment. Changes in patients' levels of pain, functional disability, and other related variables were compared in the two groups. Almost all variables showed an improvement at 6 weeks. At 16 weeks, functional disability and pain levels showed a significant difference. Back school patients continued to make an improvement. This method of managing low back pain makes maximal use of limited resources and appears to be effective, especially in the longer term.