Modality-Independent Effect of Gravity in Shaping the Internal Representation of 3D Space for Visual and Haptic Object Perception.

Visual and haptic perceptions of 3D shape are plagued by distortions, which are influenced by nonvisual factors, such as gravitational vestibular signals. Whether gravity acts directly on the visual or haptic systems or at a higher, modality-independent level of information processing remains unknown. To test these hypotheses, we examined visual and haptic 3D shape perception by asking male and female human subjects to perform a "squaring" task in upright and supine postures and in microgravity. Subjects adjusted one edge of a 3D object to match the length of another in each of the three canonical reference planes, and we recorded the matching errors to obtain a characterization of the perceived 3D shape. The results show opposing, body-centered patterns of errors for visual and haptic modalities, whose amplitudes are negatively correlated, suggesting that they arise in distinct, modality-specific representations that are nevertheless linked at some level. On the other hand, weightlessness significantly modulated both visual and haptic perceptual distortions in the same way, indicating a common, modality-independent origin for gravity's effects. Overall, our findings show a link between modality-specific visual and haptic perceptual distortions and demonstrate a role of gravity-related signals on a modality-independent internal representation of the body and peripersonal 3D space used to interpret incoming sensory inputs.

The visual encoding of purely proprioceptive intermanual tasks is due to the need of transforming joint signals, not to their interhemispheric transfer.

To perform goal-oriented hand movement, humans combine multiple sensory signals (e.g., vision and proprioception) that can be encoded in various reference frames (body centered and/or exo-centered). In a previous study (Tagliabue M, McIntyre J. PLoS One 8: e68438, 2013), we showed that, when aligning a hand to a remembered target orientation, the brain encodes both target and response in visual space when the target is sensed by one hand and the response is performed by the other, even though both are sensed only through proprioception. Here we ask whether such visual encoding is due 1) to the necessity of transferring sensory information across the brain hemispheres, or 2) to the necessity, due to the arms' anatomical mirror symmetry, of transforming the joint signals of one limb into the reference frame of the other. To answer this question, we asked subjects to perform purely proprioceptive tasks in different conditions: Intra, the same arm sensing the target and performing the movement; Inter/Parallel, one arm sensing the target and the other reproducing its orientation; and Inter/Mirror, one arm sensing the target and the other mirroring its orientation. Performance was very similar between Intra and Inter/Mirror (conditions not requiring joint-signal transformations), while both differed from Inter/Parallel. Manipulation of the visual scene in a virtual reality paradigm showed visual encoding of proprioceptive information only in the latter condition. These results suggest that the visual encoding of purely proprioceptive tasks is not due to interhemispheric transfer of the proprioceptive information per se, but to the necessity of transforming joint signals between mirror-symmetric limbs.NEW & NOTEWORTHY Why does the brain encode goal-oriented, intermanual tasks in a visual space, even in the absence of visual feedback about the target and the hand? We show that the visual encoding is not due to the transfer of proprioceptive signals between brain hemispheres per se, but to the need, due to the mirror symmetry of the two limbs, of transforming joint angle signals of one arm in different joint signals of the other.

Perception of affordances during long-term exposure to weightlessness in the International Space station.

On Earth, visual eye height (VEH)--the distance from the observer's line of gaze to the ground in the visual scene--constitutes an effective cue in perceiving affordance such as the passability through apertures, based on the assumption that one's feet are on the ground. In the present study, we questioned whether an observer continues to use VEH to estimate the width of apertures during long-term exposure to weightlessness, where contact with the floor is not required. Ten astronauts were tested in preflight, inflight in the International Space Station, and postflight sessions. They were asked to adjust the opening of a virtual doorway displayed on a laptop device until it was perceived to be just wide enough to pass through (i.e., the critical aperture). We manipulated VEH by raising and lowering the level of the floor in the visual scene. We observed an effect of VEH manipulation on the critical aperture. When VEH decreased, the critical aperture decreased too, suggesting that widths relative to the body were perceived to be larger when VEH was smaller. There was no overall significant session effect, but the analysis of between-subjects variability revealed two participant profile groups. The effect of weightlessness was different for these two groups even though the VEH strategy remained operational during spaceflight. This study shows that the VEH strategy appears to be very robust and can be used, if necessary, in inappropriate circumstances such as free-floating, perhaps promoted by the nature of the visual scene.

Constrained motion control on a hemispherical surface: path planning.

Surface-constrained motion, i.e., motion constraint by a rigid surface, is commonly found in daily activities. The current work investigates the choice of hand paths constrained to a concave hemispherical surface. To gain insight regarding paths and their relationship with task dynamics, we simulated various control policies. The simulations demonstrated that following a geodesic path (the shortest path between 2 points on a sphere) is advantageous not only in terms of path length but also in terms of motor planning and sensitivity to motor command errors. These stem from the fact that the applied forces lie in a single plane (that of the geodesic path). To test whether human subjects indeed follow the geodesic, and to see how such motion compares to other paths, we recorded movements in a virtual haptic-visual environment from 11 healthy subjects. The task comprised point-to-point motion between targets at two elevations (30° and 60°). Three typical choices of paths were observed from a frontal plane projection of the paths: circular arcs, straight lines, and arcs close to the geodesic path for each elevation. Based on the measured hand paths, we applied k-means blind separation to divide the subjects into three groups and compared performance indicators. The analysis confirmed that subjects who followed paths closest to the geodesic produced faster and smoother movements compared with the others. The "better" performance reflects the dynamical advantages of following the geodesic path and may also reflect invariant features of control policies used to produce such a surface-constrained motion.

Chimpanzees (Pan troglodytes) can wait, when they choose to: a study with the hybrid delay task.

Self-control has been studied in nonhuman animals using a variety of tasks. The inter-temporal choice (ITC) task presents choices between smaller-sooner (SS) and larger-later (LL) options. Using food amounts as rewards, this presents two problems: (a) choices of the LL option could either reflect self-control or instead result from animals' difficulty with pointing to smaller amounts of food; (b) there is no way to verify whether the subjects would not revert their choice for the LL option, if given the opportunity to do so during the ensuing delay. To address these problems, we have recently introduced a new protocol, the hybrid delay task, which combines an initial ITC with a subsequent accumulation phase in which selection of the SS option leads to its immediate delivery, but choice of the LL option then leads to one-by-one presentation of those items that continues only as long as the subject does not eat any of the accumulated items. The choice of the LL option therefore only reflects self-control when the number of items obtained from LL choices during the accumulation phase is higher than what could be received in the SS option. Previous research with capuchin monkeys demonstrated that their apparent self-control responses in the ITC task may have overestimated their general self-control abilities, given their poor performance in the hybrid delay task. Here, chimpanzees instead demonstrated that their choices for the LL option in the ITC phase of the hybrid delay task were confirmed by their ability to sustain long delays during accumulation of LL rewards.

When up is down in 0g: how gravity sensing affects the timing of interceptive actions.

Humans are known to regulate the timing of interceptive actions by modeling, in a simplified way, Newtonian mechanics. Specifically, when intercepting an approaching ball, humans trigger their movements a bit earlier when the target arrives from above than from below. This bias occurs regardless of the ball's true kinetics, and thus appears to reflect an a priori expectation that a downward moving object will accelerate. We postulate that gravito-inertial information is used to tune visuomotor responses to match the target's most likely acceleration. Here we used the peculiar conditions of parabolic flight--where gravity's effects change every 20 s--to test this hypothesis. We found a striking reversal in the timing of interceptive responses performed in weightlessness compared with trials performed on ground, indicating a role of gravity sensing in the tuning of this response. Parallels between these observations and the properties of otolith receptors suggest that vestibular signals themselves might plausibly provide the critical input. Thus, in addition to its acknowledged importance for postural control, gaze stabilization, and spatial navigation, we propose that detecting the direction of gravity's pull plays a role in coordinating quick reactions intended to intercept a fast-moving visual target.

Weightlessness alters up/down asymmetries in the perception of self-motion.

In the present study, we investigated the effect of weightlessness on the ability to perceive and remember self-motion when passing through virtual 3D tunnels that curve in different direction (up, down, left, right). We asked cosmonaut subjects to perform the experiment before, during and after long-duration space flight aboard the International Space Station (ISS), and we manipulated vestibular versus haptic cues by having subjects perform the task either in a rigidly fixed posture with respect to the space station or during free-floating, in weightlessness. Subjects were driven passively at constant speed through the virtual 3D tunnels containing a single turn in the middle of a linear segment, either in pitch or in yaw, in increments of 12.5°. After exiting each tunnel, subjects were asked to report their perception of the turn's angular magnitude by adjusting, with a trackball, the angular bend in a rod symbolizing the outside view of the tunnel. We demonstrate that the strong asymmetry between downward and upward pitch turns observed on Earth showed an immediate and significant reduction when free-floating in weightlessness and a delayed reduction when the cosmonauts were firmly in contact with the floor of the station. These effects of weightlessness on the early processing stages (vestibular and optokinetics) that underlie the perception of self-motion did not stem from a change in alertness or any other uncontrolled factor in the ISS, as evidenced by the fact that weightlessness had no effect on the perception of yaw turns. That the effects on the perception of pitch may be partially overcome by haptic cues reflects the fusion of multisensory cues and top-down influences on visual perception.

Necessity is the mother of invention: reconstructing missing sensory information in multiple, concurrent reference frames for eye-hand coordination.

When aligning the hand to grasp an object, the CNS combines multiple sensory inputs encoded in multiple reference frames. Previous studies suggest that when a direct comparison of target and hand is possible via a single sensory modality, the CNS avoids performing unnecessary coordinate transformations that add noise. But when target and hand do not share a common sensory modality (e.g., aligning the unseen hand to a visual target), at least one coordinate transformation is required. Similarly, body movements may occur between target acquisition and manual response, requiring that egocentric target information be updated or transformed to external reference frames to compensate. Here, we asked subjects to align the hand to an external target, where the target could be presented visually or kinesthetically and feedback about the hand was visual, kinesthetic, or both. We used a novel technique of imposing conflict between external visual and gravito-kinesthetic reference frames when subjects tilted the head during an instructed memory delay. By comparing experimental results to analytical models based on principles of maximum likelihood, we showed that multiple transformations above the strict minimum may be performed, but only if the task precludes a unimodal comparison of egocentric target and hand information. Thus, for cross-modal tasks, or when head movements are involved, the CNS creates and uses both kinesthetic and visual representations. We conclude that the necessity of producing at least one coordinate transformation activates multiple, concurrent internal representations, the functionality of which depends on the alignment of the head with respect to gravity.

American High School Students' Knowledge and Beliefs about Parenting and Early Childhood Development.

Income-based achievement gaps in cognitive skills are already large when children enter Kindergarten. By adopting a preventative approach that considers the efficacy of providing parenting knowledge to individuals before they become parents while they are still in secondary school, we may be able to reduce achievement gaps. In this study, we examined adolescents' knowledge and understanding of parenting and child development by creating and validating the Adolescent Parenting Knowledge and Attitudes Survey and administering it to over 1000 US high school students. This study shows that while many high school students hold beliefs consistent with successful outcomes for young children and their learning, there is much room for increasing their knowledge. The findings are discussed as presenting a potential opportunity to use high school as a site to improve adolescents' knowledge and attitudes related to child rearing and development.

How Tilting the Head Interferes With Eye-Hand Coordination: The Role of Gravity in Visuo-Proprioceptive, Cross-Modal Sensory Transformations.

To correctly position the hand with respect to the spatial location and orientation of an object to be reached/grasped, visual information about the target and proprioceptive information from the hand must be compared. Since visual and proprioceptive sensory modalities are inherently encoded in a retinal and musculo-skeletal reference frame, respectively, this comparison requires cross-modal sensory transformations. Previous studies have shown that lateral tilts of the head interfere with the visuo-proprioceptive transformations. It is unclear, however, whether this phenomenon is related to the neck flexion or to the head-gravity misalignment. To answer to this question, we performed three virtual reality experiments in which we compared a grasping-like movement with lateral neck flexions executed in an upright seated position and while lying supine. In the main experiment, the task requires cross-modal transformations, because the target information is visually acquired, and the hand is sensed through proprioception only. In the other two control experiments, the task is unimodal, because both target and hand are sensed through one, and the same, sensory channel (vision and proprioception, respectively), and, hence, cross-modal processing is unnecessary. The results show that lateral neck flexions have considerably different effects in the seated and supine posture, but only for the cross-modal task. More precisely, the subjects' response variability and the importance associated to the visual encoding of the information significantly increased when supine. We show that these findings are consistent with the idea that head-gravity misalignment interferes with the visuo-proprioceptive cross-modal processing. Indeed, the principle of statistical optimality in multisensory integration predicts the observed results if the noise associated to the visuo-proprioceptive transformations is assumed to be affected by gravitational signals, and not by neck proprioceptive signals per se. This finding is also consistent with the observation of otolithic projections in the posterior parietal cortex, which is involved in the visuo-proprioceptive processing. Altogether these findings represent a clear evidence of the theorized central role of gravity in spatial perception. More precisely, otolithic signals would contribute to reciprocally align the reference frames in which the available sensory information can be encoded.

Real-Time Control of a Multi-Degree-of-Freedom Mirror Myoelectric Interface During Functional Task Training.

Motor learning mediated by motor training has in the past been explored for rehabilitation. Myoelectric interfaces together with exoskeletons allow patients to receive real-time feedback about their muscle activity. However, the number of degrees of freedom that can be simultaneously controlled is limited, which hinders the training of functional tasks and the effectiveness of the rehabilitation therapy. The objective of this study was to develop a myoelectric interface that would allow multi-degree-of-freedom control of an exoskeleton involving arm, wrist and hand joints, with an eye toward rehabilitation. We tested the effectiveness of a myoelectric decoder trained with data from one upper limb and mirrored to control a multi-degree-of-freedom exoskeleton with the opposite upper limb (i.e., mirror myoelectric interface) in 10 healthy participants. We demonstrated successful simultaneous control of multiple upper-limb joints by all participants. We showed evidence that subjects learned the mirror myoelectric model within the span of a five-session experiment, as reflected by a significant decrease in the time to execute trials and in the number of failed trials. These results are the necessary precursor to evaluating if a decoder trained with EMG from the healthy limb could foster learning of natural EMG patterns and lead to motor rehabilitation in stroke patients.

A robotic model to investigate human motor control.

The role of the mechanical properties of the neuromuscular system in motor control has been investigated for a long time in both human and animal subjects, mainly through the application of mechanical perturbations to the limb during natural movements and the observation of its corrective responses. These methods have provided a wealth of insight into how the central nervous system controls the limb. They suffer, however, from the fact that it is almost impossible to separate the active and passive components of the measured arm stiffness and that the measurement may themselves alter the stiffness characteristic of the arm. As a complement to these analyses, the implementation of a given neuroscientific hypothesis on a real mechanical system could overcome these measurement artifact and provide a tool that is, under full control of the experimenter, able to replicate the relevant functional features of the human arm. In this article, we introduce the NEURARM platform, a robotic arm intended to test hypotheses on the human motor control system. As such, NEURARM satisfies two key requirements. First, its kinematic parameters and inertia are similar to that of the human arm. Second, NEURARM mimics the main physical features of the human actuation system, specifically, the use of tendons to transfer force, the presence of antagonistic muscle pairs, the passive elasticity of muscles in the absence of any neural feedback and the non-linear elastic behaviour. This article presents the design and characterization of the NEURARM actuation system. The resulting mechanical behaviour, which has been tested in joint and Cartesian space under static and dynamic conditions, proves that the NEURARM platform can be exploited as a robotic model of the human arm, and could thus represent a powerful tool for neuroscience investigations.

Persistent deterioration of visuospatial performance in spaceflight.

Although human adaptation to spaceflight has been studied for decades, little is known about its long-term effects on brain and behavior. The present study investigated visuospatial performance and associated electrophysiological responses in astronauts before, during, and after an approximately half-year long mission to the International Space Station. Here we report findings demonstrating that cognitive performance can suffer marked decrements during spaceflight. Astronauts were slower and more error-prone on orbit than on Earth, while event-related brain potentials reflected diminished attentional resources. Our study is the first to provide evidence for impaired performance during both the initial (~ 8 days) and later (~ 50 days) stages of spaceflight, without any signs of adaptation. Results indicate restricted adaptability to spaceflight conditions and calls for new research prior to deep space explorations.

Egocentric and allocentric reference frames for catching a falling object.

When programming movement, one must account for gravitational acceleration. This is particularly important when catching a falling object because the task requires a precise estimate of time-to-contact. Knowledge of gravity's effects is intimately linked to our definition of 'up' and 'down'. Both directions can be described in an allocentric reference frame, based on visual and/or gravitational cues, or in an egocentric reference frame in which the body axis is taken as vertical. To test which frame humans use to predict gravity's effect, we asked participants to intercept virtual balls approaching from above or below with artificially controlled acceleration that could be congruent or not with gravity. To dissociate between these frames, subjects were seated upright (trunk parallel to gravity) or lying down (body axis orthogonal to the gravitational axis). We report data in line with the use of an allocentric reference frame and discuss its relevance depending on available gravity-related cues.

The relation between anthropometric and physiological variables and bat velocity of high-school baseball players before and after 12 weeks of training.

The purpose of this article was to investigate the relation between anthropometric and physiological variables to linear bat swing velocity (BV) of 2 groups of high-school baseball players before and after completing a 12-week periodized resistance exercise program. Participants were randomly assigned to 1 of 2 training groups using a stratified sampling technique. Group 1 (n = 24) and group 2 (n = 25) both performed a stepwise periodized resistance exercise program and took 100 swings a day, 3 d·wk-1, for 12 weeks with their normal game bat. Group 2 performed additional rotational and full-body medicine ball exercises 3 d·wk-1 for 12 weeks. Fourteen variables were measured or calculated before and after 12 weeks of training. Anthropometric and physiological variables tested were height, body mass, percent body fat, lean body mass (LBM), dominant torso rotational strength (DTRS) and nondominant torso rotational strength (NDTRS), sequential hip-torso-arm rotational strength measured by a medicine ball hitter's throw (MBHT), estimated 1 repetition maximum parallel squat (PS) and bench press (BP), vertical jump (VJ), estimated peak power, angular hip velocity (AHV), and angular shoulder velocity (ASV). The baseball-specific skill of linear BV was also measured. Statistical analysis indicated a significant moderately high positive relationship (p ≤ 0.05) between prelinear BV and pre-NDTRS for group 1, pre-LBM, DTRS, NDTRS, peak power, and ASV for group 2; moderate positive relationship between prelinear BV and preheight, LBM, DTRS, peak power, BP, PS, and ASV for group 1, preheight, body mass, MBHT, BP, and PS for group 2. Significantly high positive relationships were indicated between postlinear BV and post-NDTRS for group 1, post-DTRS and NDTRS for group 2; moderately high positive relationships between postlinear BV and post-LBM, DTRS, peak power, BP, and PS for group 1, postheight, LBM, VJ, peak power for group 2; moderate positive relationships between postlinear BV and postheight, body mass, MBHT, and VJ for group 1, postbody mass, MBHT, BP, PS, and ASV for group 2. Significantly low positive relationships were indicated between prelinear BV and prebody mass, MBHT, and VJ for group 1, pre-VJ and AHV for group 2; postlinear BV and post-AHV for group 2. These data show that significant relationships do exist between height, body mass, LBM, rotational power, rotational strength, lower body power, upper and lower body strength, AHV, and ASV to linear BV of high-school baseball players. Strength coaches may want to consider using this information when designing a resistance training program for high-school baseball players. Those recruiting or scouting baseball players may want to use this information to further develop ways of identifying talented players. However, one should be cautious when interpreting this information when designing strength training programs for high-school baseball players to increase linear BV.

Central processes amplify and transform anisotropies of the visual system in a test of visual-haptic coordination.

The CNS may use multimodal reference frames to combine proprioceptive, visual, and gravitational information. Indeed, spatial information could be encoded simultaneously with respect to egocentric and allocentric references such as the body axis and gravity, respectively. It has further been proposed that gravity might serve to align reference frames between different sensory modalities. We performed a series of experiments in which human subjects matched the orientation of a visual stimulus to a visual reference (visual-visual), a haptic stimulus to a haptic reference (haptic-haptic), or a visual stimulus to a haptic reference (visual-haptic). These tests were performed in a normal upright posture, with the body tilted with respect to gravity, and in the weightless environment of Earth orbit. We found systematic patterns of errors in the matching of stimulus orientations. For an upright posture on Earth, a classic oblique effect appeared in the visual-visual comparison, which was then amplified in the haptic-visual task. Leftward or rightward whole-body tilt on Earth abolished both of these effects, yet each persisted in the absence of gravity. Leftward and rightward tilt also produced asymmetric biases in the visual-haptic but not in the visual-visual or haptic-haptic responses. These results illustrate how spatial anisotropy can be molded by sensorimotor transformations in the CNS. Furthermore, the results indicate that gravity plays a significant, but nonessential role in defining the reference frames for these tasks. These results provide insight into how the nervous system processes spatial information between different sensory modalities.

Visuo-motor coordination and internal models for object interception.

Intercepting and avoiding collisions with moving objects are fundamental skills in daily life. Anticipatory behavior is required because of significant delays in transforming sensory information about target and body motion into a timed motor response. The ability to predict the kinematics and kinetics of interception or avoidance hundreds of milliseconds before the event may depend on several different sources of information and on different strategies of sensory-motor coordination. What are exactly the sources of spatio-temporal information and what are the control strategies remain controversial issues. Indeed, these topics have been the battlefield of contrasting views on how the brain interprets visual information to guide movement. Here we attempt a synthetic overview of the vast literature on interception. We discuss in detail the behavioral and neurophysiological aspects of interception of targets falling under gravity, as this topic has received special attention in recent years. We show that visual cues alone are insufficient to predict the time and place of interception or avoidance, and they need to be supplemented by prior knowledge (or internal models) about several features of the dynamic interaction with the moving object.

Does the brain make waves to improve stability?

In many ways, roboticians and the human brain are faced with the same problem: How does one control movement from a distance? In both cases, delays in the transmission of information play an important role, either because the distances to be covered are long (imagine controlling a robot arm on the moon from a command center on Earth), or because the underlying hardware is slow (nerves transmit information much more slowly than wires, radio waves or light). Delays have a debilitating effect on feedback control systems; causes and effects can bounce back and forth between distant sites, resulting in oscillatory behavior that can grow without bound. Control engineers have developed the concept of wave variables to combat this problem-by mimicking a flexible rod, wave variables constrain movement of the master and slave during the delay, ensuring stable overall behavior [G. Niemeyer, J.J.E. Slotine, Stable adaptive teleoperation, IEEE J. Ocean Eng. 16 (1991) 152-162; G. Niemeyer, J.J.E. Slotine, Toward bilateral internet teleoperation, in: Beyond Webcams, an Introduction to Online Robots, MIT Press, 2002]. Mother Nature may, however, deserve the patent on this solution. As we show here, the properties of nerves, muscles and sensory organs combine to form a natural wave variable control system that is immune to the problems of feedback delays.

Internal models and prediction of visual gravitational motion.

Baurès et al. [Baurès, R., Benguigui, N., Amorim, M.-A., & Siegler, I. A. (2007). Intercepting free falling objects: Better use Occam's razor than internalize Newton's law. Vision Research, 47, 2982-2991] rejected the hypothesis that free-falling objects are intercepted using a predictive model of gravity. They argued instead for "a continuous guide for action timing" based on visual information updated till target capture. Here we show that their arguments are flawed, because they fail to consider the impact of sensori-motor delays on interception behaviour and the need for neural compensation of such delays. When intercepting a free-falling object, the delays can be overcome by a predictive model of the effects of gravity on target motion.

Multimodal reference frame for the planning of vertical arms movements.

In this study we investigated the reference frames used to plan arm movements. Specifically, we asked whether the body axis, visual cues and graviception can each play a role in defining "up" and "down" in the planning and execution of movements along the vertical axis. Horizontal and vertical pointing movements were tested in two postures (upright and reclined) and two visual conditions (with and without vision) to identify possible effects of each of these cues on kinematics of movement. Movements were recorded using an optical 3D tracking system and analysis was conducted on velocity profiles of the hand. Despite a major effect of gravity, our analysis shows an effect of the movement direction with respect to the body axis when subjects were reclined with eyes closed. These results suggest that our CNS takes into account multimodal information about vertical in order to compute an optimal motor command that anticipates the effects of gravity.