Primate Primary Somatosensory Cortex Research Articles

Robotic Homunculus: Learning of Artificial Skin Representation in a Humanoid Robot Motivated by Primary Somatosensory Cortex

Using the iCub humanoid robot with an artificial pressure-sensitive skin, we investigate how representations of the whole skin surface resembling those found in primate primary somatosensory cortex can be formed from local tactile stimulations traversing the body of the physical robot. We employ the well-known self-organizing map algorithm and introduce its modification that makes it possible to restrict the maximum receptive field (MRF) size of neuron groups at the output layer. This is motivated by findings from biology where basic somatotopy of the cortical sheet seems to be prescribed genetically and connections are localized to particular regions. We explore different settings of the MRF and the effect of activity-independent (input-output connections constraints implemented by MRF) and activity-dependent (learning from skin stimulations) mechanisms on the formation of the tactile map. The framework conveniently allows one to specify prior knowledge regarding the skin topology and thus to effectively seed a particular representation that training shapes further. Furthermore, we show that the MRF modification facilitates learning in situations when concurrent stimulation at nonadjacent places occurs (“multitouch”). The procedure was sufficiently robust and not intensive on the data collection and can be applied to any robots where representation of their “skin” is desirable.

Tactile texture signals in primate primary somatosensory cortex and their relation to subjective roughness intensity.

This study investigated the hypothesis that a simple intensive code, based on mean firing rate, could explain the cortical representation of subjective roughness intensity and its invariance with scanning speed. We examined the sensitivity of neurons in the cutaneous, finger representation of primary somatosensory cortex (S1) to a wide range of textures [1 mm high, raised-dot surfaces; spatial periods (SPs), 1.5-8.5 mm], scanned under the digit tips at different speeds (40-115 mm/s). Since subjective roughness estimates show a monotonic increase over this range and are independent of speed, we predicted that the mean firing rate of a subgroup of S1 neurons would share these properties. Single-unit recordings were made in four alert macaques (areas 3b, 1 and 2). Cells whose discharge rate showed a monotonic increase with SP, independent of speed, were particularly concentrated in area 3b. Area 2 was characterized by a high proportion of cells sensitive to speed, with or without texture sensitivity. Area 1 had intermediate properties. We suggest that area 3b and most likely area 1 play a key role in signaling roughness intensity, and that a mean rate code, signaled by both slowly and rapidly adapting neurons, is present at the level of area 3b. Finally, the substantial proportion of neurons that showed a monotonic change in discharge limited to a small range of SPs (often independent of response saturation) could play a role in discriminating smaller changes in SP.

Modular Processing in the Hand Representation of Primate Primary Somatosensory Cortex Coexists With Widespread Activation

Neurons in the hand representation of primary somatosensory cortex (area 3b) are known to have discretely localized receptive fields; and these neurons form modules that can be visualized histologically as distinct digit and palm representations. Despite these indicators of the importance of local processing in area 3b, widespread interactions between stimuli presented to locations across the hand have been reported. We investigated the relationship of neuron firing rate with distance from the site of maximum activation in cortex by recording from a 100-electrode array with electrodes spaced 400 μm apart, implanted into the area 3b hand representation in anesthetized owl monkeys. For each stimulated location on the hand, the electrode site where neurons had the highest peak firing rate was defined as the peak activation site. The lesser firing rates of neurons at all other electrode sites in the grid were compared with the firing rates of neurons at the peak activation site. On average, peak firing rates of neurons decreased rapidly with distance away from the peak activation site. The effect of distance on the variance of firing rates was highly significant (P < 0.0001). However, individual neurons retained high firing rates for distances over 3 mm. The clear decline in firing rate with distance from the most activated location indicates that local processing is emphasized in area 3b, while the distance of neurons with reduced but maintained firing rates ≤3-4 mm from the site of best activation demonstrated widespread activation in primary somatosensory cortex.

Bodily Illusions Modulate Tactile Perception

Touch differs from other exteroceptive senses in that the body itself forms part of the tactile percept. Interactions between proprioception and touch provide a powerful way to investigate the implicit body representation underlying touch. Here, we demonstrate that an intrinsic primary quality of a tactile object, for example its size, is directly affected by the perceived size of the body part touching it. We elicited proprioceptive illusions that the left index finger was either elongating or shrinking by vibrating the biceps or triceps tendon of the right arm while subjects grasped the tip of their left index finger. Subjects estimated the distance between two simultaneous tactile contacts on the left finger during tendon vibration. We found that tactile distances feel bigger when the touched body part feels elongated. Control tests showed that the modulation of touch was linked to the perceived index-finger size induced by tendon vibration. Vibrations that did not produce proprioceptive illusion had no effect on touch. Our results show that the perception of tactile objects is referenced to an implicit body representation and that proprioception contributes to this body representation. We also provide, for the first time, a quantitative, implicit measure of distortions of body size.

Pain and the primary somatosensory cortex: Is its role in pain overrated?

Dr. Backonja raises some interesting questions concerning the role of the primary somatosen­ sory cortex (81) in pain perception. He exam­ ines three basic questions concerning the involvement of 81 in pain perception. Is 81 necessary for pain perception? Is it a pain center? Why do so few neurons respond to noxious stimulation? This commen­ tary addresses some of the issues, from the perspec­ tive of experiments on primate primary somatosensory cortex performed in my laboratory.

Proprioceptive activity in primate primary somatosensory cortex during active arm reaching movements

1. We studied the activity of 254 cells in the primary somatosensory cortex (SI) responding to inputs from peripheral proprioceptors in a variety of tasks requiring active reaching movements of the contralateral arm. 2. The majority of cells with receptive fields on the proximal arm (shoulder and elbow) were broadly and unimodally tuned for movement direction, often with approximately sinusoidal tuning curves similar to those seen in motor and parietal cortex. 3. The predominant temporal response profiles were directionally tuned phasic bursts during movement and tonic activity that varied with different arm postures. 4. Most cells showed both phasic and tonic response components to differing degrees, and the population formed a continuum from purely phasic to purely tonic cells with no evidence of separate distinct phasic and tonic populations. This indicates that the initial cortical neuronal correlates of the introspectively distinguishable sensations of movement and position are represented in an overlapping or distributed manner in SI. 5. The directional tuning of the phasic and tonic response components of most cells was generally similar, although rarely identical. 6. We tested 62 cells during similar active and passive arm movements. Many cells showed large differences in their responses in the two conditions, presumably due to changes in peripheral receptor discharge during active muscle contractions. 7. We tested 86 cells in a convergent movement task in which monkeys made reaching movements to a single central target from eight peripheral starting positions. A majority of the cells (46 of 86, 53.5%) showed a movement direction-related hysteresis in which their tonic activity after movement to the central target varied with the direction by which the arm moved to the target. The directionality of this hysteresis was coupled with the movement-related directional tuning of the cells. 8. We recorded the discharge of 93 cells as the monkeys performed the task while compensating for loads in different directions. The large majority of cells showed a statistically significant modulation of activity as a function of load direction, which was qualitatively similar to that seen in motor cortex under similar task conditions. Quantitatively, however, the sensitivity of SI proprioceptive cells to loads was less than that seen in motor cortex but greater than in parietal cortex. 9. We interpret these results in terms of their implications for the central representation of the spatiotemporal form ("kinematics") of arm movements and postures. Most importantly, the results emphasize the important influence of muscle contractile activity on the central proprioceptive representation of active movements.

Tactile activity in primate primary somatosensory cortex during active arm movements: cytoarchitectonic distribution

1. Cells were recorded in areas 3b and 1 of the primary somatosensory cortex (SI) of three monkeys during active arm movements. Successful reconstructions were made of 46 microelectrode penetrations, and 298 cells with tactile receptive fields (RFs) were located as to cytoarchitectonic area, lamina, or both. 2. Area 3b contained a greater proportion of cells with slowly adapting responses to tactile stimuli and fewer cells with deep modality inputs than did area 1. Area 3b also showed a greater level of movement-related modulation in tactile activity than area 1. Other cell properties were equally distributed in the two areas. 3. The distribution of cells with low-threshold tactile RFs that also responded to lateral stretch of the skin or to passive arm movements was skewed toward deeper laminae than for tactile cells that did not respond to those manipulations. 4. The variation of activity of tactile neurons during arm movements in different directions was weaker in the superficial laminae than in deeper cortical laminae. 5. Cells with only increases in activity during arm movements were preferentially but not exclusively located in middle and superficial layers. Cells with reciprocal responses were found mainly in laminae III and V, whereas cells with only decreases in activity were concentrated in lamina V. 6. Overall, active arm movements evoke directionally tuned tactile and "deep" activity in areas 3b and 1, in particular in the deeper cortical laminae that are the source of the descending output pathways from SI.

Tactile activity in primate primary somatosensory cortex during active arm movements: correlation with receptive field properties.

1. Five hundred ninety-five single neurons with tactile receptive fields (RFs) on the contralateral arm were isolated in the primary somatosensory cortex (SI) of awake, behaving monkeys. 2. Fifty-eight percent of the tactile cells showed significantly different levels of activity during active movements of the arm in eight directions or during active maintenance of the arm over the target endpoints. 3. The discharge of many of the active tactile cells was unimodally tuned with movement direction and the pattern of the tactile population activity varied in a meaningful fashion with arm movement direction and posture. 4. The intensity of the arm-movement-induced activity was typically less than that evoked by direct tactile stimulation of the cell's RF. 5. The probability of task-related activity was correlated with certain RF properties, in particular the sensitivity of the cell to lateral stretch of the skin and to passive arm movements that avoided direct contact of the RF on any surface. 6. This suggests that task-related activity results mainly from the activation of tactile receptors by mechanical deformation of the skin as the arm changes geometry during movement. 7. These results demonstrate that tactile activity containing potential proprioceptive information is generated in SI during active arm movements that avoid direct contact of the skin with external surfaces. Whether or not this input contributes to the kinesthetic sensations evoked by the movements cannot be resolved by this study.

The effect of bilateral cold block of the primate face primary somatosensory cortex on the performance of trained tongue-protrusion task and biting tasks.

1. Studies using ablation, intracortical microstimulation (ICMS) and surface stimulation, and single-neuron recordings have suggested that the primate primary somatosensory cortex (SI) may play an important role in movement control. Our aim was to determine whether bilateral inactivation of face SI would indeed interfere with the control of tongue or jaw-closing movements. 2. Effects of reversible inactivation by cooling of face SI was investigated in two monkeys trained to perform both a tongue-protrusion task and a biting task. The cooling experiments were carried out after the orofacial representation within SI was identified by systematically defining the mechanoreceptive field of single neurons recorded in face SI. The deficits in the tongue or jaw-closing movement were evaluated by the success rates for the monkeys' performance of both tasks and by the force and electromyographic (EMG) activity recorded from the masseter, genioglossus, and digastric muscles associated with the tasks. 3. During bilateral cooling of face SI, there was a statistically significant reduction in the success rates for the performance of the tongue-protrusion task in comparison with control series of trials while the thermodes used to cool face SI were kept at 37 degrees C. Detailed analyses of force and EMG activity showed that the principal deficit was the inability of the monkeys to maintain a steady tongue-protrusive force in the force holding period during each trial and to exert a consistent tongue-protrusion force between different trials. The task performance returned to control protocol levels at 4 min after commencement of rewarming. 4. Identical cooling conditions did not significantly affect the success rates for the performance of the biting task. Although the extent of the deficit was not severe enough to cause a significant reduction in successful rates for the biting task, cooling did significantly affect the ability of the monkeys to maintain a steady force in the holding period during each trial and to exert a consistent force between different trials. In one monkey the success rate of the biting task was also not affected by bilaterally cooling of face SI with a pair of larger thermodes placed on the dura over most of the face SI, face primary motor cortex (face MI), and adjacent cortical regions.(ABSTRACT TRUNCATED AT 400 WORDS)

Spatial integration of multiple-point stimuli in primary somatosensory cortical receptive fields of alert monkeys.

Spatial integration of multiple-point stimuli in primary somatosensory cortical receptive fields of alert monkeys.

Temporal integration of multiple-point stimuli in primary somatosensory cortical receptive fields of alert monkeys

Temporal integration of multiple-point stimuli in primary somatosensory cortical receptive fields of alert monkeys