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

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

Bilateral Discrimination of Tactile Patterns without Whisking in Freely Running Rats.

A majority of whisker discrimination tasks in rodents are performed on head-fixed animals to facilitate tracking or control of the sensory inputs. However, head fixation critically restrains the behavior and thus the incoming stimuli compared with those occurring in natural conditions. In this study, we investigated whether freely behaving rats can discriminate fine tactile patterns while running, in particular when stimuli are presented simultaneously on both sides of the snout. We developed a two-alternative forced-choice task in an automated modified T-maze. Stimuli were either a surface with no bars (smooth) or with vertical bars spaced irregularly or regularly. While running at full speed, rats encountered simultaneously the two discriminanda placed on the two sides of the central aisle. Rats learned to recognize regular bars versus a smooth surface in 8 weeks. They solved the task while running at an average speed of 1 m/s, so that the contact with the stimulus lasted <1 typical whisking cycle, precluding the use of active whisking. Whisker-tracking analysis revealed an asymmetry in the position of the whiskers: they oriented toward the rewarded stimulus during successful trials as early as 60 ms after the first possible contact. We showed that the whiskers and activity in the primary somatosensory cortex are involved during the discrimination process. Finally, we identified irregular patterns of bars that the rats can discriminate from the regular one. This novel task shows that freely moving rodents can make simultaneous bilateral tactile discrimination without whisking.SIGNIFICANCE STATEMENT The whisker system of rodents is a widely used model to study tactile processing. Rats show remarkable abilities in discriminating surfaces by actively moving their whiskers (whisking) against stimuli, typically sampling them several times. This motor strategy affects considerably the way that tactile information is acquired and thus the way that neuronal networks process the information. However, when rats run at high speed, they protract their whiskers in front of the snout without large movements. Here, we investigated whether rats are able to discriminate regular and irregular patterns of vertical bars while running without whisking. We found that the animals can perform a bilateral simultaneous discrimination without whisking and that this involves both whiskers and barrel cortex activity.

"Master" neurons induced by operant conditioning in rat motor cortex during a brain-machine interface task.

Operant control of a prosthesis by neuronal cortical activity is one of the successful strategies for implementing brain-machine interfaces (BMI), by which the subject learns to exert a volitional control of goal-directed movements. However, it remains unknown if the induced brain circuit reorganization affects preferentially the conditioned neurons whose activity controlled the BMI actuator during training. Here, multiple extracellular single-units were recorded simultaneously in the motor cortex of head-fixed behaving rats. The firing rate of a single neuron was used to control the position of a one-dimensional actuator. Each time the firing rate crossed a predefined threshold, a water bottle moved toward the rat, until the cumulative displacement of the bottle allowed the animal to drink. After a learning period, most (88%) conditioned neurons raised their activity during the trials, such that the time to reward decreased across sessions: the conditioned neuron fired strongly, reliably and swiftly after trial onset, although no explicit instruction in the learning rule imposed a fast neuronal response. Moreover, the conditioned neuron fired significantly earlier and more strongly than nonconditioned neighboring neurons. During the first training sessions, an increase in firing rate variability was seen only for the highly conditionable neurons. This variability then decreased while the conditioning effect increased. These findings suggest that modifications during training target preferentially the neuron chosen to control the BMI, which acts then as a "master" neuron, leading in time the reconfiguration of activity in the local cortical network.

Coding of apparent motion in the thalamic nucleus of the rat vibrissal somatosensory system.

While exploring objects, rats make multiple contacts using their whiskers, thereby generating complex patterns of sensory information. The cerebral structures that process this information in the somatosensory system show discrete patterns of anatomically distinct units, each corresponding to one whisker. Moreover, the feedforward and feedback connections are remarkably topographic, with little cross-whisker divergence before reaching the cortical network. Despite this parallel design, information processing from several whiskers has been reported in subcortical nuclei. Here, we explored whether sensory neurons in the ventral posterior medial nucleus (VPM) of the thalamus encode emergent properties of complex multiwhisker stimulations. Using a 24-whisker stimulator, we tested the responses of VPM neurons to sequences of caudal deflections that generated an apparent motion in eight different directions across the whiskerpad. Overall, 45% of neurons exhibited an evoked increase in firing rate significantly selective to the direction of apparent motion of the global stimulus. Periods of suppression of firing rate were often observed, but were generally not selective. Global motion selectivity of VPM neurons could occur regardless of the extent and spatial organization of their receptive fields, and of their selectivity for the direction of motion of their principal whisker. To investigate whether the global selectivity could be due to corticothalamic feedback connections, we inactivated the barrel cortex while repeating the stimulation protocol. For most VPM neurons, the direction selectivity decreased but was still present. These results suggest that nonlinear processing of stimuli from different whiskers emerges in subcortical nuclei and is amplified by the corticofugal feedback.

Brain-machine interface learning is facilitated by specific patterning of distributed cortical feedback.

Neuroprosthetics offer great hope for motor-impaired patients. One obstacle is that fine motor control requires near-instantaneous, rich somatosensory feedback. Such distributed feedback may be recreated in a brain-machine interface using distributed artificial stimulation across the cortical surface. Here, we hypothesized that neuronal stimulation must be contiguous in its spatiotemporal dynamics to be efficiently integrated by sensorimotor circuits. Using a closed-loop brain-machine interface, we trained head-fixed mice to control a virtual cursor by modulating the activity of motor cortex neurons. We provided artificial feedback in real time with distributed optogenetic stimulation patterns in the primary somatosensory cortex. Mice developed a specific motor strategy and succeeded to learn the task only when the optogenetic feedback pattern was spatially and temporally contiguous while it moved across the topography of the somatosensory cortex. These results reveal spatiotemporal properties of the sensorimotor cortical integration that set constraints on the design of neuroprosthetics.

Continuity within the somatosensory cortical map facilitates learning.

The topographic organization is a prominent feature of sensory cortices, but its functional role remains controversial. Particularly, it is not well determined how integration of activity within a cortical area depends on its topography during sensory-guided behavior. Here, we train mice expressing channelrhodopsin in excitatory neurons to track a photostimulation bar that rotated smoothly over the topographic whisker representation of the primary somatosensory cortex. Mice learn to discriminate angular positions of the light bar to obtain a reward. They fail not only when the spatiotemporal continuity of the photostimulation is disrupted in this area but also when cortical areas displaying map discontinuities, such as the trunk and legs, or areas without topographic map, such as the posterior parietal cortex, are photostimulated. In contrast, when cortical topographic continuity enables to predict future sensory activation, mice demonstrate anticipation of reward availability. These findings could be helpful for optimizing feedback while designing cortical neuroprostheses.

Learning in a closed-loop brain-machine interface with distributed optogenetic cortical feedback.

Objective.Distributed microstimulations at the cortical surface can efficiently deliver feedback to a subject during the manipulation of a prosthesis through a brain-machine interface (BMI). Such feedback can convey vast amounts of information to the prosthesis user and may be key to obtain an accurate control and embodiment of the prosthesis. However, so far little is known of the physiological constraints on the decoding of such patterns. Here, we aimed to test a rotary optogenetic feedback that was designed to encode efficiently the 360° movements of the robotic actuators used in prosthetics. We sought to assess its use by mice that controlled a prosthesis joint through a closed-loop BMI.Approach.We tested the ability of mice to optimize the trajectory of a virtual prosthesis joint in order to solve a rewarded reaching task. They could control the speed of the joint by modulating the activity of individual neurons in the primary motor cortex. During the task, the patterned optogenetic stimulation projected on the primary somatosensory cortex continuously delivered information to the mouse about the position of the joint.Main results.We showed that mice are able to exploit the continuous, rotating cortical feedback in the active behaving context of the task. Mice achieved better control than in the absence of feedback by detecting reward opportunities more often, and also by moving the joint faster towards the reward angular zone, and by maintaining it longer in the reward zone. Mice controlling acceleration rather than speed of the joint failed to improve motor control.Significance.These findings suggest that in the context of a closed-loop BMI, distributed cortical feedback with optimized shapes and topology can be exploited to control movement. Our study has direct applications on the closed-loop control of rotary joints that are frequently encountered in robotic prostheses.

Disruption of ripple-associated hippocampal activity during rest impairs spatial learning in the rat.

The hippocampus plays a key role in the acquisition of new memories for places and events. Evidence suggests that the consolidation of these memories is enhanced during sleep. At the neuronal level, reactivation of awake experience in the hippocampus during sharp-wave ripple events, characteristic of slow-wave sleep, has been proposed as a neural mechanism for sleep-dependent memory consolidation. However, a causal relation between sleep reactivation and memory consolidation has not been established. Here we show that disrupting neuronal activity during ripple events impairs spatial learning. We trained rats daily in two identical spatial navigation tasks followed each by a 1-hour rest period. After one of the tasks, stimulation of hippocampal afferents selectively disrupted neuronal activity associated with ripple events without changing the sleep-wake structure. Rats learned the control task significantly faster than the task followed by rest stimulation, indicating that interfering with hippocampal processing during sleep led to decreased learning.

Representation of tactile scenes in the rodent barrel cortex.

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

A fast intracortical brain-machine interface with patterned optogenetic feedback.

OBJECTIVE: The development of brain-machine interfaces (BMIs) brings new prospects to patients with a loss of autonomy. By combining online recordings of brain activity with a decoding algorithm, patients can learn to control a robotic arm in order to perform simple actions. However, in contrast to the vast amounts of somatosensory information channeled by limbs to the brain, current BMIs are devoid of touch and force sensors. Patients must therefore rely solely on vision and audition, which are maladapted to the control of a prosthesis. In contrast, in a healthy limb, somatosensory inputs alone can efficiently guide the handling of a fragile object, or ensure a smooth trajectory. We have developed a BMI in the mouse that includes a rich artificial somatosensory-like cortical feedback. APPROACH: Our setup includes online recordings of the activity of multiple neurons in the whisker primary motor cortex (vM1) and delivers feedback simultaneously via a low-latency, high-refresh-rate, spatially structured photo-stimulation of the whisker primary somatosensory cortex (vS1), based on a mapping obtained by intrinsic imaging. MAIN RESULTS: We demonstrate the operation of the loop and show that mice can detect the neuronal spiking in vS1 triggered by the photo-stimulations. Finally, we show that the mice can learn a behavioral task relying solely on the artificial inputs and outputs of the closed-loop BMI. SIGNIFICANCE: This is the first motor BMI that includes a short-latency, intracortical, somatosensory-like feedback. It will be a useful platform to discover efficient cortical feedback schemes towards future human BMI applications.

Acetylcholine-dependent potentiation of temporal frequency representation in the barrel cortex does not depend on response magnitude during conditioning.

The response properties of neurons of the postero-medial barrel sub-field of the somatosensory cortex (the cortical structure receiving information from the mystacial vibrissae can be modified as a consequence of peripheral manipulations of the afferent activity. This plasticity depends on the integrity of the cortical cholinergic innervation, which originates at the nucleus basalis magnocellularis (NBM). The activity of the NBM is related to the behavioral state of the animal and the putative cholinergic neurons are activated by specific events, such as reward-related signals, during behavioral learning. Experimental studies on acetylcholine (ACh)-dependent cortical plasticity have shown that ACh is needed for both the induction and the expression of plastic modifications induced by sensory-cholinergic pairings. Here we review and discuss ACh-dependent plasticity and activity-dependent plasticity and ask whether these two mechanisms are linked. To address this question, we analyzed our data and tested whether changes mediated by ACh were activity-dependent. We show that ACh-dependent potentiation of response in the barrel cortex of rats observed after sensory-cholinergic pairing was not correlated to the changes in activity induced during pairing. Since these results suggest that the effect of ACh during pairing is not exerted through a direct control of the post-synaptic activity, we propose that ACh might induce its effect either pre- or post-synaptically through activation of second messenger cascades.

Bidirectional control of a one-dimensional robotic actuator by operant conditioning of a single unit in rat motor cortex.

The design of efficient neuroprosthetic devices has become a major challenge for the long-term goal of restoring autonomy to motor-impaired patients. One approach for brain control of actuators consists in decoding the activity pattern obtained by simultaneously recording large neuronal ensembles in order to predict in real-time the subject's intention, and move the prosthesis accordingly. An alternative way is to assign the output of one or a few neurons by operant conditioning to control the prosthesis with rules defined by the experimenter, and rely on the functional adaptation of these neurons during learning to reach the desired behavioral outcome. Here, several motor cortex neurons were recorded simultaneously in head-fixed awake rats and were conditioned, one at a time, to modulate their firing rate up and down in order to control the speed and direction of a one-dimensional actuator carrying a water bottle. The goal was to maintain the bottle in front of the rat's mouth, allowing it to drink. After learning, all conditioned neurons modulated their firing rate, effectively controlling the bottle position so that the drinking time was increased relative to chance. The mean firing rate averaged over all bottle trajectories depended non-linearly on position, so that the mouth position operated as an attractor. Some modifications of mean firing rate were observed in the surrounding neurons, but to a lesser extent. Notably, the conditioned neuron reacted faster and led to a better control than surrounding neurons, as calculated by using the activity of those neurons to generate simulated bottle trajectories. Our study demonstrates the feasibility, even in the rodent, of using a motor cortex neuron to control a prosthesis in real-time bidirectionally. The learning process includes modifications of the activity of neighboring cortical neurons, while the conditioned neuron selectively leads the activity patterns associated with the prosthesis control.

Emergent properties of tactile scenes selectively activate barrel cortex neurons.

Rats discriminate objects by scanning their surface with the facial vibrissae, producing spatiotemporally complex sequences of tactile contacts. The way in which the somatosensory cortex responds to these complex multivibrissal stimuli has not been explored. It is unclear yet whether contextual information from across the entire whisker pad influences cortical responses. Here, we delivered tactile stimuli to the rat vibrissae using a new 24 whisker stimulator. We tested sequences of rostrocaudal whisker deflections that generate multivibrissal motion patterns in different directions across the mystacial pad, allowing to disambiguate local from global sensory integration. Unitary electrophysiological recordings from different layers of the barrel cortex showed that a majority of neurons has direction selectivity for the multivibrissal stimulus. The selectivity resulted from nonlinear integration of responses across the mystacial pad. Our results indicate that the system extracts collective properties of a tactile scene.

Spatial selectivity and theta phase precession in CA1 interneurons.

Traditionally, most of the information processing of neural networks is thought to be carried out by excitatory cells. Likewise, recent evidence for temporal coding comes from the study of the detailed firing patterns of excitatory neurons. In the CA1 region of the rat hippocampus, pyramidal cells discharge selectively when the animal is in specific locations in its environment, and exhibit a precise relationship with the ongoing rhythmic activity of the network (phase precession). We demonstrate that during a spatial exploratory behavior on a linear track, inhibitory interneurons also show spatial selectivity and phase precession dynamics. We found that the firing rate of interneurons is modulated reliably up and down around an ongoing baseline activity level for specific locations in the environment, producing robust place-specific increases or decreases in discharge. On some sections of the track, the range of theta phases shifts progressively to earlier parts of the theta cycle as the rat advances, so that a negative correlation between phase and position could be demonstrated. Unlike pyramidal cells, phase and rate were not strongly correlated. We discuss the influence of the intrinsic firing properties of interneurons on a model of phase precession, as well as the influence of the detailed shape of the inhibitory oscillation. These results indicate that spatial selectivity and phase precession in CA1 are not properties restricted to pyramidal cells. Rather, they may be a more general expression of a common interaction between the different inputs impinging on both excitatory and inhibitory cells in CA1 and the intrinsic characteristics of those cells. Furthermore, they suggest that the role of interneurons may extend beyond a global damping of the network by participating in a finely-tuned local processing with the pyramidal cells.

Spatiotemporal characteristics of neuronal sensory integration in the barrel cortex of the rat.

In primary sensory cortices, neuronal responses to a stimulus presented as part of a rapid sequence often differ from responses to an isolated stimulus. It has been reported that sequential stimulation of two whiskers produces facilitatory modulations of barrel cortex neuronal responses. These results are at odds with the well-known suppressive interaction that has been usually described. Herein, we have examined the dependency of response modulation on the spatiotemporal pattern of stimulation by varying the spatial arrangement of the deflected vibrissae, the temporal frequency of stimulation, and the time interval between whisker deflections. Extracellular recordings were made from primary somatosensory cortex of anesthetized rats. Two contralateral whiskers were stimulated at 0.5 and 8 Hz at intervals ranging from 0 to +/-30 ms. Response interactions were assessed during stimulation of the principal and adjacent whiskers, first from the same row and second from the same arc. When tested at 0.5 Hz, 59% of single units showed a statistically significant suppressive interaction, whereas response facilitation was found in only 6% of cells. In contrast, at 8 Hz, a significant supralinear summation was observed in 19% of the cells, particularly for stimulations along an arc rather than along a row. Multi-unit recordings showed similar results. These observations indicate that most of the interactions in the barrel cortex during two-whisker stimulation are suppressive. However, facilitation can be revealed when stimuli are applied at a physiological frequency and could be the basis for internal representations of the spatiotemporal pattern of the stimulus.