Sensitivity derivatives for flexible sensorimotor learning.

To learn effectively, an adaptive controller needs to know its sensitivity derivatives--the variables that quantify how system performance depends on the commands from the controller. In the case of biological sensorimotor control, no one has explained how those derivatives themselves might be learned, and some authors suggest they are not learned at all but are known innately. Here we show that this knowledge cannot be solely innate, given the adaptive flexibility of neural systems. And we show how it could be learned using forms of information transport that are available in the brain. The mechanism, which we call implicit supervision, helps explain the flexibility and speed of sensorimotor learning and our ability to cope with high-dimensional work spaces and tools.

Neural and mechanical factors in eye control.

Soft tissue "pulleys" in the orbit alter the paths of the eye muscles in a way that may simplify the brain's work in implementing Listing's law, i.e., in holding ocular torsion at zero. But Listing's law does not apply to some oculomotor systems, such as the vestibuloocular reflex (VOR), which shows a different kinematic pattern. To explain this different pattern, some authors have assumed that the pulleys must adopt a different configuration, retracting along their muscles when the eye switches from Listing's law to VOR mode. The proposed retraction has not so far been observed, although the pulleys do move in other ways. We show that the hypothetical retraction of the pulleys would not in fact explain the full kinematic pattern seen in the VOR. But this pattern can be explained entirely on the basis of pulley positions and motions that have actually been observed. If one takes into account the neural processing within the VOR, specifically the fact that the reflex is weak in the torsional dimension, then a single mode of pulley action can serve both vestibuloocular kinematics and Listing's law.

The motor side of depth vision.

To achieve stereoscopic vision, the brain must search for corresponding image features on the two retinas. As long as the eyes stay still, corresponding features are confined to narrow bands called epipolar lines. But when the eyes change position, the epipolar lines migrate on the retinas. To find the matching features, the brain must either search different retinal bands depending on current eye position, or search retina-fixed zones that are large enough to cover all usual locations of the epipolar lines. Here we show, using a new type of stereogram in which the depth image vanishes at certain gaze elevations, that the search zones are retina-fixed. This being the case, motor control acquires a crucial function in depth vision: we show that the eyes twist about their lines of sight in a way that reduces the motion of the epipolar lines, allowing stereopsis to get by with smaller search zones and thereby lightening its computational load.

Stereopsis outweighs gravity in the control of the eyes.

The eyes are controlled by multiple brain circuits, some phylogenetically old and some new, whose aims may conflict. Old otolith reflexes counterroll the eyes when the head tilts relative to gravity. Newer vergence mechanisms coordinate the eyes to aid stereoptic vision. We show that counterroll hinders stereopsis, weakly when you look into the distance but strongly when you look near. The resolution of this conflict is that counterroll virtually vanishes when monkeys look close, i.e., stereopsis overrides gravity-driven reflexes but only on near gaze. This balance between gyroscopic and stereoptic mechanisms explains many other puzzling features of primate gaze control, such as the weakness of our otolith-ocular reflexes even during far viewing and the strange geometry of the primate counterpitch reflex, which rolls the eyes clockwise when monkeys look leftward while their heads are tipped nose up, but rolls them counterclockwise when the monkeys look rightward, and reverses this pattern when the head is tipped nose down.

Torsional dynamics and cross-coupling in the human vestibulo-ocular reflex during active head rotation.

Six subjects fixated an imagined space-fixed target in darkness, or a visible target against a structured visual background, while rotating their heads actively in yaw, pitch and roll at four different frequencies, from 0.3 to 2.4 Hz. We used search coils to measure the 3-dimensional rotations of the head and eye, and described the relation between them--the input-output function of the rotational vestibulo-ocular reflex (VOR)--using gain matrices. We found consistent cross-coupling in which torsional head rotation evoked horizontal eye rotation. The reason may be that the eyes are above the axis of torsional head rotation, and therefore may translate horizontally during the head motion, so the VOR rotates them horizontally to compensate. Torsional gain was lower than horizontal or vertical, more variable from subject to subject and decreased at low frequencies. One reason for the low gain may be that torsional head rotation produces little retinal slip near the fovea; hence little compensatory eye motion is needed, and so the VOR reduces its torsional gain to save energy or to approximate Listing's law by keeping ocular torsion near zero. In addition, the human VOR has little experience with purely torsional head rotations and so its adaptive networks may be poorly trained for such stimuli. The drop in torsional gain at low frequencies can be explained based on the leak in the neural integrator that helps convert torsional eye-velocity commands into eye-position commands.

Task-dependent constraints in motor control: pinhole goggles make the head move like an eye.

In the 19th century, Donders observed that only one three-dimensional eye orientation is used for each gaze direction. Listing's law further specifies that the full set of eye orientation vectors forms a plane, whereas the equivalent Donders' law for the head, the Fick strategy, specifies a twisted two-dimensional range. Surprisingly, despite considerable research and speculation, the biological reasons for choosing one such range over another remain obscure. In the current study, human subjects performed head-free gaze shifts between visual targets while wearing pinhole goggles. During fixations, the head orientation range still obeyed Donders' law, but in most subjects, it immediately changed from the twisted Fick-like range to a flattened Listing-like range. Further controls showed that this was not attributable to loss of binocular vision or increased range of head motion, nor was it attributable to blocked peripheral vision; when subjects pointed a helmet-mounted laser toward targets (a task with goggle-like motor demands but normal vision), the head followed Listing's law even more closely. Donders' law of the head only broke down (in favor of a "minimum-rotation strategy") when head motion was dissociated from gaze. These behaviors could not be modeled using current "Donders' operators" but were readily simulated nonholonomically, i.e., by modulating head velocity commands as a function of position and task. We conclude that the gaze control system uses such velocity rules to shape Donders' law on a moment-to-moment basis, not primarily to satisfy perceptual or anatomic demands, but rather for motor optimization; the Fick strategy optimizes the role of the head as a platform for eye movement, whereas Listing's law optimizes rapid control of the eye (or head) as a gaze pointer.

Prediction and compensation by an internal model for back forces during finger opening in an overarm throw.

Previous studies have indicated that timing of finger opening in an overarm throw is likely controlled centrally, possibly by means of an internal model of hand trajectory. The present objective was to extend the study of throwing to an examination of the dynamics of finger opening. Throwing a heavy ball and throwing a light ball presumably require different neural commands, because the weight of the ball affects the mechanics of the arm, and particularly, the mechanics of the finger. Yet finger control is critical to the accuracy of an overarm throw. We hypothesized that finger opening in an overarm throw is controlled by a central mechanism that uses an internal model to predict and compensate for movement-dependent back forces on the fingers. To test this idea we determined whether finger motion is affected by back forces, i.e., whether larger back forces cause larger finger extensions. Back forces were varied by having subjects throw, at the same fast speed, tennis-sized balls of different weights (14, 55, and 196 g). Arm- and finger-joint rotations were recorded with the search-coil technique; forces on the middle finger were measured with force transducers. Recordings showed that during ball release, the middle finger experienced larger back forces in throws with heavier balls. Nevertheless, most subjects showed proximal interphalangeal joint extensions that were unchanged or actually smaller with the heavier balls. This was the case for the first throw and for all subsequent throws with a ball of a new weight. This suggests that the finger flexors compensated for the larger back forces by exerting larger torques during finger extension. Supporting this view, at the moment of ball release, all finger joints flexed abruptly due to the now unopposed torques of the finger flexors, and the amplitude of this flexion was proportional to ball weight. We conclude that in overarm throws made with balls of different weights, the CNS predicts the different back forces from the balls and adjusts finger flexor torques accordingly. This is consistent with the view that finger opening in overarm throws is controlled by means of an internal model of the motor apparatus and the external load.

Non-commutativity in the brain.

In non-commutative algebra, order makes a difference to multiplication, so that a x b not equal to b x a. This feature is necessary for computing rotary motion, because order makes a difference to the combined effect of two rotations. It has therefore been proposed that there are non-commutative operators in the brain circuits that deal with rotations, including motor circuits that steer the eyes, head and limbs, and sensory circuits that handle spatial information. This idea is controversial: studies of eye and head control have revealed behaviours that are consistent with non-commutativity in the brain, but none that clearly rules out all commutative models. Here we demonstrate non-commutative computation in the vestibulo-ocular reflex. We show that subjects rotated in darkness can hold their gaze points stable in space, correctly computing different final eye-position commands when put through the same two rotations in different orders, in a way that is unattainable by any commutative system.

Disability and depressive symptoms in the elderly: the effects of instrumental support and its subjective appraisal.

This article explores the buffering effect of social support on depressive symptoms in a community sample of elderly with varying levels of disability. Baseline interviews were conducted in respondents' homes. Results show that higher levels of disability are associated with higher levels of depression. Instrumental support and subjective appraisal of the network are associated with depressive symptoms, but instrumental support has a weak positive correlation, while subjective appraisals show a negative relationship. Social support mitigates the depressive effect of disability only when the network's efforts are appraised positively. However, no such relationship is shown for instrumental support. One's perception of the network's helpfulness appears to be more potent than the actual help provided by friends and family.

Optimizing gaze control in three dimensions.

Horizontal and vertical movements of the human eye bring new objects to the center of the visual field, but torsional movements rotate the visual world about its center. Ocular torsion stays near zero during head-fixed gaze shifts, and eye movements to visual targets are thought to be driven by purely horizontal and vertical commands. Here, analysis of eye-head gaze shifts revealed that gaze commands were three-dimensional, with a separate neural control system for torsion. Active torsion optimized gaze control as no two-dimensional system could have, stabilizing the retinal image as quickly as possible when it would otherwise have spun around the fixation point.

Visual test of Listing's law during vergence.

A simple visual test was used to measure how much Listing's plane rotates as a function of the vergence angle. This test measured the elevation-dependent torsional disparity of horizontal and vertical lines during three tasks: vergence on a near target, vergence through prisms that remained fixed, and through prisms that rotated with eye elevation. Consistent with our previous search-coil measurements, the results here suggest that the angle between the Listing's planes of the two eyes is somewhat less than the vergence angle.

Neural constraints on eye motion in human eye-head saccades.

We examined two ways in which the neural control system for eye-head saccades constrains the motion of the eye in the head. The first constraint involves Listing's law, which holds ocular torsion at zero during head-fixed saccades. During eye-head saccades, does this law govern the eye's motion in space or in the head? Our subjects, instructed to saccade between space-fixed targets with the head held still in different positions, systematically violated Listing's law of the eye in space in a way that approximately, but not perfectly, preserved Listing's law of the eye in head. This finding implies that the brain does not compute desired eye position based on the desired gaze direction alone but also considers head position. The second constraint we studied was saturation, the process where desired-eye-position commands in the brain are "clipped" to keep them within an effective oculomotor range (EOMR), which is smaller than the mechanical range of eye motion. We studied the adaptability of the EOMR by asking subjects to make head-only saccades. As predicted by current eye-head models, subjects failed to hold their eyes still in their orbits. Unexpectedly, though, the range of eye-in-head motion in the horizontal-vertical plane was on average 31% smaller in area than during normal eye-head saccades, suggesting that the EOMR had been reduced by effort of will. Larger reductions were possible with altered visual input: when subjects donned pinhole glasses, the EOMR immediately shrank by 80%. But even with its reduced EOMR, the eye still moved into the "blind" region beyond the pinhole aperture during eye-head saccades. Then, as the head movement brought the saccade target toward the pinhole, the eyes reversed their motion, anticipating or roughly matching the target's motion even though it was still outside the pinhole and therefore invisible. This finding shows that the backward rotation of the eye is timed by internal computations, not by vision. When subjects wore slit glasses, their EOMRs shrank mostly in the direction perpendicular to the slit, showing that altered vision can change the shape as well as the size of the EOMR. A recent, three-dimensional model of eye-head coordination can explain all these findings if we add to it a mechanism for adjusting the EOMR.

Psychiatric morbidity and physician visits: lessons from Ontario.

OBJECTIVES: The authors examine the association between psychiatric morbidity and visits to general practitioners and family practitioners in Ontario, Canada. METHODS: A nested set of hypotheses were posed to account for different levels of use among persons with differing levels of psychiatric morbidity. The sample of 8,116 is drawn from a comprehensive household survey of physical and mental health that included the UM-CIDI standardized diagnostic interview. RESULTS: The findings suggest that persons with psychiatric disorders make more visits than can be accounted for by sociodemographic factors, medical status, access, or by intentional use of the general medical system for mental health treatment. CONCLUSIONS: Psychiatric morbidity is associated with higher rates of health service use. This effect is strongest among persons with multiple psychiatric disorders.

Using a synoptophore to test Listing's law during vergence in normal subjects and strabismic patients.

The synoptophore was used to measure torsional interocular disparity. This, in turn, was used to compute how much the angle between the Listing's plane (LP) of the two eyes changes as a function of the vergence angle. The ratio of these two angles was defined as G. We measured G in normals and in patients suffering from intermittent horizontal strabismus. Consistent with previous search-coil experiments and with our previous visual test measures, the results using the synoptophore suggest that, for normals, G is less than 1. In the patient group the mean G was similar in magnitude but more variable. The variations in G did not appear to be related to the patient's measurement of ocular deviation. This result suggests that the vergence-related rotation of LP in these patients may be related to other factors besides the effort required to fuse the lines of sight.

Visual-motor optimization in binocular control.

When we view objects at various depths, the 3-D rotations of our two eyes are neurally yoked in accordance with a recently discovered geometric rule, here called the binocular extension of Listing's law; or L2. This paper examines the visual and motor consequences of this rule. Although L2 is a generalization of Listing's original, monocular law, it does not follow from current theories of the latter's function, which involve minimizing muscle work or optimizing certain aspects of retinal image flow. This study shows that a new optimization strategy that combines stereo vision with motor efficiency does explain L2, and describes the predictions of this new theory. Contrary to recent suggestions in the literature, L2 does not ensure vision of lines orthogonal to the visual plane, but rather reduces cyclodisparity of the visual plane itself; and L2 does not arise because a single, conjugate angular velocity command is sent to both eyes, but actually requires that the two eyes rotate with different speeds and axes when scanning an isovergence surface. This study shows that L2 is compatible with a 1-D control system for vergence alone (because horizontal and torsional vergence are yoked) and a 3-D system for combined, head-fixed saccades and vergence.

Three-dimensional model of the human eye-head saccadic system.

Current theories of eye-head gaze shifts deal only with one-dimensional motion, and do not touch on three-dimensional (3-D) issues such as curvature and Donders' laws. I show that recent 3-D data can be explained by a model based on ideas that are well established from one-dimensional studies, with just one new assumption: that the eye is driven toward a 3-D orientation in space that has been chosen so that Listing's law of the eye in head will hold when the eye-head movement is complete. As in previous, one-dimensional models, the eye and head are feedback-guided and the commands specifying desired eye position eye pass through a neural "saturation" so as to stay within the effective oculomotor range. The model correctly predicts the complex, 3-D trajectories of the head, eye in space, and eye in head in a variety of saccade tasks. And when it moves repeatedly to the same target, varying the contributions of eye and head, the model lands in different eye-in-space positions, but these positions differ only in their cyclotorsion about the line of sight, so they all point that line at the target-a behavior also seen in real eye-head saccades. Between movements the model obeys Listing's law of the eye in head and Donders' law of the head on torso, but during certain gaze shifts involving large torsional head movements, it shows marked, 8 degrees deviations from Listing's law. These deviations are the most important untested predictions of the theory. Their experimental refutation would sink the model, whereas confirmation would strongly support its central claim that the eye moves toward a 3-D position in space chosen to obey Listing's law and, therefore, that a Listing operator exists upstream from the eye pulse generator.

Overarm throws with the nondominant arm: kinematics of accuracy.

1. Overarm throws made with the nondominant arm are usually less accurate than those made with the dominant arm. The objective was to determine the errors in the joint rotations associated with this inaccuracy, and thereby to gain insight into the neural mechanisms that contribute to skill in overarm throwing. 2. Overarm throws from both left and right arms were recorded on different occasions as six right-handed subjects sat with a fixed trunk and threw 150 tennis balls at about the same speed at a 6-cm square on a target grid 3 m away. Joint rotations at the shoulder, elbow, wrist, and finger, and arm translations, were computed from recordings of arm segment orientations made with the magnetic-field search-coil technique. 3. All subjects threw less accurately in this task with the left (nondominant) arm. For throws made with the left arm, the height of ball impact on the target grid was related to hand trajectory length and to hand orientation in space at ball release, but not to hand trajectory height. 4. Two hypotheses were proposed to explain the decreased ball accuracy in the high-low direction during throwing with the nondominant arm: that it was caused by increased variability in the velocity or timing of onset of rotations at proximal joints (which determine the path of the hand through space) or increased variability in the velocity or timing of onset of finger extension (which determine the moment of ball release). 5. A prediction of the first hypothesis was that proximal joint rotations should be more variable in throws with the left arm. This was the case for the majority of proximal joint rotations in the six subjects when variability was examined in joint space. However, some proximal joint rotations were more variable in the right arm. 6. The first hypothesis was directly tested by determining whether hand angular position in space (which represents the sum of all proximal joint rotations) was related to ball impact height on the target grid at a fixed translational position in the throw. No relation was found between these variables for throws with the left arm in four subjects, whereas a weak relation was found for two subjects. It was concluded that, considering all subjects, the first hypothesis could not explain the results. 7. In contrast, in agreement with the second hypothesis, a strong relation (P < 0.001) was found in all subjects between ball impact height on the target grid and time of ball release for throws with the left arm, and with time of onset of finger extension. 8. Across all six subjects the timing precision (windows) for 95% of the throws was (for ball release) right arm, 9.3 ms; left arm, 22.5 ms; (for onset of finger extension) right arm, 13.7 ms; left arm, 26.7 ms. 9. Timing of onset of finger extension was no less accurate than timing of onset of other joint rotations for both left and right arms. However, simulations of throws showed that, for the same error in timing, finger extension had twice as large an effect on ball direction as any other joint rotation. Timing errors at the fingers have a greater effect than errors at other joints because finger errors are scaled by the higher angular velocity of the hand in space rather than by the smaller angular velocities of the individual joints. 10. It is concluded that although rotations were in general more variable at both proximal and distal joints of the nondominant (left) arm, the major cause of its decreased throwing accuracy was increased variability at the distal joints, i.e., in the timing of onset of finger extension. This may be due to a lack of precision in the commands from the right hemisphere to the left fingers in right-handed throwers.

The Great Smoky Mountains Study of Youth. Goals, design, methods, and the prevalence of DSM-III-R disorders.

BACKGROUND: The Great Smoky Mountains Study of youth focuses on the relationship between the development of psychiatric disorder and the need for and use of mental health services. METHODS: A multistage, overlapping cohorts design was used, in which 4500 of the 11758 children aged 9, 11, and 13 years in an 11-county area of the southeastern United States were randomly selected for screening for psychiatric symptoms. Children who scored in the top 25% on the screening questionnaire, together with a 1 in 10 random sample of the rest, were recruited for 4 waves of intensive, annual interviews (n = 1015 at wave 1). In a parallel study, all American Indian children aged 9, 11, and 13 years were recruited (N = 323 at wave 1). RESULTS: The 3-month prevalence (+/-SE) of any DSM-III-R axis I disorder in the main sample, weighted to reflect population prevalence rates, was 20.3% +/- 1.7%. The most common diagnoses were anxiety disorders (5.7% +/- 1.0%), enuresis (5.1% +/- 1.0%), tic disorders (4.2% +/- 0.9%), conduct disorder (3.3% +/- 0.6%), oppositional defiant disorder (2.7% +/- 0.4%), and hyperactivity (1.9% +/- 0.4%). CONCLUSIONS: The prevalence of psychiatric disorder in this rural sample was similar to rates reported in other recent studies. Poverty was the strongest demographic correlate of diagnosis, in both urban and rural children.

The Great Smoky Mountains Study of Youth. Functional impairment and serious emotional disturbance.

BACKGROUND: Federal regulations require states to estimate the prevalence and incidence of serious emotional disturbance (SED) in children, defined as a DSM-III-R diagnosis in the presence of impaired functioning in 1 or more areas. We reviewed the published data on SED and examined rates and correlates of SED in an ongoing epidemiologic study of children. METHODS: Rates of DSM-III-R disorders, functional impairment, and their co-occurrence (SED) were examined in a representative population sample of 9-, 11-, and 13-year-olds from a predominantly rural area of North Carolina. Three measures of functional impairment were used, and their interrelationship and impact on rates of SED were examined. RESULTS: Serious emotional disturbance was identified in 4% to 8% of the study population, depending on the measure of impairment; the rate of DSM-III-R disorder ignoring impairment was 20.3%. One quarter of children identified as having SED on any measure were identified by all 3, and one half by 2 or more. Behavioral disorders, emotional disorders, and comorbidity were associated with a significant increase in the likelihood of SED; enuresis and tic disorders in the absence of comorbidity were not. Diagnosis and impairment made independent contributions to the increase in service use seen in children with SED. Poverty greatly increased the likelihood of SED. CONCLUSIONS: Specific areas of functional impairment should be examined when SED is assessed and treatment is planned. Plans to target mental health care resources to children with SED need to be accompanied by efforts to ensure access to those resources.

Interaction of smooth pursuit and the vestibuloocular reflex in three dimensions.

1. What is the neural mechanism of vestibuloocular reflex (VOR) cancellation when a subject fixates a target moving with the head? One theory is that the moving target evokes pursuit eye movements that add to and cancel the VOR. A recent finding with implications for this theory is that eye velocity vectors of both pursuit and the VOR vary with eye position, but in different ways, because pursuit follows Listing's law whereas the VOR obeys a "half-Listing" strategy. As a result, pursuit cannot exactly cancel the VOR in most eye positions, and so the pursuit superposition theory predicts an eye-position-dependent pattern of residual eye velocities during cancellation. To test these predictions, we measured eye velocity vectors in humans during VOR, pursuit, and cancellation in response to torsional, vertical, and horizontal stimuli with the eyes in different positions. 2. For example, if a subject is rolling clockwise (CW, frequency 0.3 Hz, maximum speed 37.5 deg/s) while looking 20 deg up, the VOR generates an eye velocity that is mainly counterclockwise (CCW), but also leftward. If we then turn on a small target light, located 20 deg up and moving with the subject, then pursuit superposition predicts that the CCW component of eye velocity will shrink and the horizontal component will reverse, from leftward to rightward. This pattern was seen in all subjects. 3. Velocities depended on eye position in the predicted way; e.g., when subjects looked 20 deg down, instead of 20 deg up, during CW roll, the reversal of horizontal eye velocity went the other way, from rightward to leftward. And when gaze was 20 deg right or left, analogous reversals occurred in the vertical eye velocity, again as predicted. 4. Analogous predictions for horizontal and vertical stimulation were also borne out by the data. For example, when subjects rotated rightward while looking 20 deg up, the VOR response was leftward and CCW. When the target light switched on, the torsional component of the response reversed, becoming CW. And analogous predictions for other eye positions and for vertical stimulation also held. 5. For all axes of stimulation and all eye positions, eye velocity during cancellation was roughly parallel with the gaze line. This alignment is predicted by pursuit superposition and has the effect of reducing retinal image slip over the fovea. 6. The fact that the complex dependence of eye velocity on the stimulation axis and eye position predicted by pursuit superposition was seen in all subjects and conditions suggests strongly that the VOR indeed is canceled additively by pursuit. However, eye velocities during cancellation were consistently smaller than predicted. This shrinkage indicates that a second mechanism, besides pursuit superposition, attenuates eye velocities during cancellation. The results can be explained if VOR gain is reduced by approximately 30%, and if, in addition, pursuit is driven by retinal slip rather than reconstructed target velocity in space.