Changes In Target Position Research Articles

The hand’s automatic pilot can update visual information while the eye is in motion

When participants reach for a target, their hand can adjust to a change in target position that occurs while their eyes are in motion (the hand's automatic pilot) even though they are not aware of the target's displacement (saccadic suppression of perceptual experience). However, previous studies of this effect have displayed the target without interruption, such that the new target position remains visible during the fixation that follows the saccade. Here we test whether a change in target position that begins and ends during the saccade can be used to update aiming movements. We also ask whether such information can be acquired from two targets at a time. The results showed that participants responded to single and double target jumps even when these targets were extinguished prior to saccade termination. The results imply that the hand's automatic pilot is updated with new visual information even when the eye is in motion.

O069 Fast responses to changes in target position are not impaired in childen with spastic hemiplegia

O069 Fast responses to changes in target position are not impaired in childen with spastic hemiplegia

Management of three-dimensional intrafraction motion through real-time DMLC tracking.

Tumor tracking using a dynamic multileaf collimator (DMLC) represents a promising approach for intrafraction motion management in thoracic and abdominal cancer radiotherapy. In this work, we develop, empirically demonstrate, and characterize a novel 3D tracking algorithm for real-time, conformal, intensity modulated radiotherapy (IMRT) and volumetric modulated arc therapy (VMAT)-based radiation delivery to targets moving in three dimensions. The algorithm obtains real-time information of target location from an independent position monitoring system and dynamically calculates MLC leaf positions to account for changes in target position. Initial studies were performed to evaluate the geometric accuracy of DMLC tracking of 3D target motion. In addition, dosimetric studies were performed on a clinical linac to evaluate the impact of real-time DMLC tracking for conformal, step-and-shoot (S-IMRT), dynamic (D-IMRT), and VMAT deliveries to a moving target. The efficiency of conformal and IMRT delivery in the presence of tracking was determined. Results show that submillimeter geometric accuracy in all three dimensions is achievable with DMLC tracking. Significant dosimetric improvements were observed in the presence of tracking for conformal and IMRT deliveries to moving targets. A gamma index evaluation with a 3%-3 mm criterion showed that deliveries without DMLC tracking exhibit between 1.7 (S-IMRT) and 4.8 (D-IMRT) times more dose points that fail the evaluation compared to corresponding deliveries with tracking. The efficiency of IMRT delivery, as measured in the lab, was observed to be significantly lower in case of tracking target motion perpendicular to MLC leaf travel compared to motion parallel to leaf travel. Nevertheless, these early results indicate that accurate, real-time DMLC tracking of 3D tumor motion is feasible and can potentially result in significant geometric and dosimetric advantages leading to more effective management of intrafraction motion.

The coordinate frame of pop-out learning

Saccades are ubiquitous in natural vision. One way to generate a coherent representation of a scene across saccades is to produce an extra-retinal coordinate frame (such as a head-based representation). We investigate this issue by behavioral means: Participants learned to detect a 3D-pop-out target in a fixed position. Next, target was relocated in one coordinate frame while maintaining it fixed in the others. Performance was severely affected only when the change in target position occurred in a retinotopic coordinate frame. This further suggests that perceptual learning occurs in retinotopic regions having receptive fields restricted within a hemifield.

Pursuit Responses to Target Steps During Ongoing Tracking

Brief smooth eye-velocity responses to target position steps have been reported during smooth pursuit. We investigated position-error responses in eight healthy human subjects, comparing the effects of a step-ramp change in target position when imposed on steady-state smooth pursuit, vestibuloocular reflex (VOR) slow phases, or fixation. During steady-state pursuit or VOR, the target performed a step-ramp movement in the same or in the opposite direction relative to ongoing eye movements. When the step was directed backward relative to steady-state smooth pursuit, eye velocity transiently decreased (1.3 +/- 0.4 degrees /s; average peak change in amplitude +/- SD), beginning about 100 ms after the step. The amplitude of position-error responses varied inversely with the step size. In contrast, there was little or no response in trials with forward steps during steady-state smooth pursuit, when step-ramps were imposed on VOR or when smooth pursuit began from fixation. We hypothesize that during ongoing smooth tracking when a sudden shift in target position is detected the pursuit system compares the direction of ongoing eye velocity with the relative positional error on the retina. In the case of different relative directions between ongoing tracking and a new target eccentricity, a position-error response toward the new target is initiated. Such a mechanism might help the smooth pursuit system to respond better to changes in target direction. These experimental findings were simulated by a mathematical model of smooth pursuit by implementing direction-dependent behavior with a position-error gating mechanism.

Evidence for Synergy Between Saccades and Smooth Pursuit During Transient Target Disappearance

Visual tracking of moving objects requires prediction to compensate for visual delays and minimize mismatches between eye and target position and velocity. In everyday life, objects often disappear behind an occluder, and prediction is required to align eye and target at reappearance. Earlier studies investigating eye motion during target blanking showed that eye velocity first decayed after disappearance but was sustained or often recovered in a predictive way. Furthermore, saccades were directed toward the unseen target trajectory and therefore appeared to correct for position errors resulting from eye velocity decay. To investigate the synergy between smooth and saccadic eye movements, this study used a target blanking paradigm where both position and velocity of the target at reappearance could vary independently but were presented repeatedly to facilitate prediction. We found that eye velocity at target reappearance was only influenced by expected target velocity, whereas saccades responded to the expected change of target position at reappearance. Moreover, subjects exhibited on-line adaptation, on a trial-by-trial basis, between smooth and saccadic components; i.e., saccades compensated for variability of smooth eye displacement during the blanking period such that gaze at target reappearance was independent of the level of smooth eye displacement. We suggest these results indicate that information arising from efference copies of saccadic and smooth pursuit systems are combined with the goal of adjusting eye position at target reappearance. Based on prior experimental evidence, we hypothesize that this spatial remapping is carried out through interactions between a number of identified neurophysiological structures.

Compensation for and adaptation to changes in the environment

Human motor behavior is remarkably accurate, even though many everyday skills require flexible adjustments between motor activity and its consequences in extracorporeal space. The present study addressed two questions: first, how do people compensate for unpredictable changes in the environment, and second, how do they adapt to such changes? In Experiment 1, participants repeatedly and continuously drew up and down strokes on a writing pad. After drawing under a base mapping, either (a) a change of target position, or (b) a change of gain, or (c) both occurred. Compensation for gain changes occurred later than compensation for changes in target position. In addition, there were aftereffects of the previous movement in accuracy and movement time. Adaptation to changes occurred in reference to extracorporeal space, with motor constraints as a limiting factor. In Experiment 2 we obtained similar effects when participants had more time to adapt. The view that movements are planned in reference to their goals in extracorporeal space is supported.

On-line trajectory modifications of planar, goal-directed arm movements

Sometimes a goal-directed arm movement has to be modified en route due to an unforeseen perturbation such as a target displacement or a hand displacement by an external force. In this paper several aspects of that modification process are addressed. Subjects had to perform a point-to-point movement task on a computer screen using a mouse-coupled pointer as the representation of the hand position. Trajectory modifications were imposed by unexpectedly changing the position of the target or by changing the relation between mouse and screen pointer. In the first series of experiments, we examined how often a trajectory is updated. Here, trajectory modifications were imposed by unexpectedly changing the normal relation between mouse and pointer to a shear-like relation, where a percentage of the forward/backward position of the hand was added to the pointer position in the left/right direction. Withdrawal of visual feedback during the movement revealed that trajectories were updated at interval times shorter than 200 ms. From the similarity with experiments where the original relation between mouse and pointer was restored during the movements, we conclude that motor plans are updated on-line to move the hand from its current perceived position to the target. In a second series of experiments, we studied whether a continuous change in target position yields similar trajectory modifications as a continuous hand displacement. To mimic the latter perturbation, we used the above-mentioned distortion of the mouse–pointer relation. We found that the resulting hand paths did not differ for the two visual perturbations and conclude that the perturbed, goal-directed movements are modified in a consistent way, irrespective of whether the position of the target or hand was perturbed. Simulations of the experimental data with a kinematic reaching model support this conclusion.

A hypothetical fixation system capable of extending foveation in congenital nystagmus.

The model was designed and implemented using the Simulink component of MATLAB (T he Math Works, Natick, MA). The model is of modular, hierarchical de­ sign. The SP subsystem is based on Robinson,2 chosen for its relative simplicity and ability to be induced into instability, yielding a sinusoidal oscillation characteristic of pendular nystagmus. The saccadic system was based around a resettable neural integrator 3,4 (RNI) with pulse-height and -width nonlinearities. The RNI is part of the circuit that determines saccade duration; when the RNI resets, the saccade ends. The 1M, which is the brains of the model, has a long history in ocular motor models. 3-8 The 1M makes use of visual signals from the retina, as well as position and velocity efference signals available in the brainstem, to reconstruct and properly respond to changes in target position and velocity. It can then use this information to coordinate interaction between the SP and saccadic and fixation subsystems, despite

Fast adjustments of ongoing movements in hemiparetic cerebral palsy

The present study focuses on the ability of participants with spastic hemiparesis caused by cerebral palsy to adjust an ongoing movement. Typical symptoms associated with the disorder would lead one to expect that people with spastic hemiparesis would be unable to adjust their movements quickly and proportionally to a sudden change in the environment with their spastic arm. The results of the present experiment, however, prove otherwise. Eight hemiparetic adolescents with cerebral palsy and eight healthy control participants were asked to quickly hit a target projected onto a fronto-parallel screen. The target either remained stationary or started to move immediately after hand movement onset. Participants needed to adapt the ongoing movement to hit moving targets. The task was performed with the spastic and non-spastic arm by the hemiparetic participants and with the dominant arm by the healthy participants. Kinematic analyses showed that although the spastic arm of the hemiparetic participants displayed a significant increase in spatial variability which led to more errors, they were capable of successfully adapting their movement in a qualitative manner. The latency of the response to the change in target position was longer for the hemiparetic participants compared to the healthy control participants, but only 25 ms. Surprisingly, no between arm latency difference was found in the hemiparetic participants. Given the commonly observed movement deficits of the spastic arm, these results show that participants with spastic hemiparesis displayed a remarkable ability in adjusting movements quickly.

Fast Responses of the Human Hand to Changes in Target Position

If a target toward which an individual moves his hand suddenly moves, he adjusts the movement of his hand accordingly. Does he use visual information on the target's velocity to anticipate where he will reach the target? These questions were addressed in the present study. Subjects (N = 6 in each of 4 experiments) were instructed to hit a disk with a rod as soon as it appeared on a screen. Trajectories of the hand toward stationary disks were compared with those toward disks that jumped leftward or rightward as soon as the subject's hand started moving toward the screen, and with those in which either the disk or the background started moving leftward or rightward. About 110 ms after the disk was suddenly displaced, the moving hand was diverted in the direction of the perturbation. When the background moved, the disk's perceived position shifted in the direction in which the background was moving, but the disk appeared to be moving in the opposite direction. When hitting such disks, subjects adjusted their movement in accordance with the perceived position, rather than moving their hand in the direction of the perceived motion in anticipation of the disk's future displacement. Thus, subjects did not use the perceived velocity to anticipate where they would reach the target but responded only to the change in position.

Visual control of cursorial prey pursuit by tiger beetles (Cicindelidae)

Target detection poses problems for moving animals, such as tiger beetles, that track targets visually. The pursuer's movements degrade target image contrast and induce reafferent image movement that confounds continuous detection of prey. In nature, beetles pursue prey discontinuously with several iterations of stop-and-go running. The beetle's dynamics were analyzed by filming pursuits of prey or experimenter-controlled dummies. Durations of stops are inversely related to prey visual angular velocity; as the prey image moves between neighboring ommatidial fields, the beetle relocalizes it and renews running. During subsequent runs, translation and rotation depend upon prey visual angular velocity and position, respectively, seen during the previous stop. The beetle runs, then stops, while prey continues moving. After two to three iterations of stop-and-go the beetle catches its prey, suggesting open-loop control of running. Computational model simulations produce good qualitative spatio-temporal fit with actual pursuits. However, when pursuing prey dummies, beetles track continuously and quickly follow changes in target position, suggesting closed-loop control using a position-sensitive servo mechanism. Differences between these types of pursuit control system are discussed with respect to limitations in signal detection, particularly spatio-temporal contrast, that may force beetles to use an open-loop system.

時間遅れを有する浮遊宇宙ロボットの遠隔操作システムの安定性の検証

This paper investigates the stability of control system for a free-flying space robot which grapples a target satellite with remote teleoperation from the ground. As the robot body is not fixed in an inertial space, the manipulator motion causes the body movement and the target position changes in robot body frame. The operator finds the target motion by the delayed image data and controls the robot. Therefore the closed loop system of the remote teleoperation involves the operator and the communication equipment, which may decrease the stability. Firstly in this paper the operator performance is investigated by experiments using graphical simulation and simple operator model is produced. Using the operator model, stability condition of the closed loop system is derived as the function of conventional and generalized Jacobian matrices. The condition shows that the space robot can be controlled under long communication time delay, if the manipulator status is not close to the singular point. Finally, through experiments on the simulator it is confirmed that the space robot with remote teleoperation can capture the target.

Changes in Saccadic and Manual Motor Control After Ocular Smooth Pursuit Adaptive Modifications

ABSTRACT The gain of ocular smooth pursuit responses can be adaptively modified under certain circumstances. Evidence that these modifications are caused, at least partly, by changes at a sensory level comes from the fact that subsequent manual tracking movements generated during visual fixation are also modified in a similar manner. The question addressed in the present experiment was whether the modifications are constrained specifically to responses such as these, which are driven by retinal image motion, or whether they can also influence movements that make use of retinal image position. This was accomplished by comparing manual and oculomotor responses to step changes in target position before and after smooth pursuit adaptation. The results showed that, as with manual tracking movements, these responses were also modified by the adaptive procedure, although to a lesser extent. In particular, following a 20-min period in which subjects (N = 4) were submitted to a procedure designed to increase the g...

Transitions between pursuit eye movements and fixation in the monkey: dependence on context.

1. We compared the visuomotor processing underlying the onset and offset of pursuit by recording the eye movements of three monkeys as they smoothly tracked a target that was initially at rest, started to move suddenly at a constant velocity along the horizontal meridian, and then stopped. We presented this sequence of target motions in two different contexts. In the first context the target sometimes stopped after 500 ms, but on other interleaved trials the target either continued moving at a constant velocity, slowed down, speeded up, or reversed direction. In the second context the target always stopped, but the duration of the preceding constant velocity was randomized from 500 to 700 ms. 2. The dynamics of the eye velocity during the offset of pursuit were markedly different in the two experiments. When the target stopped only sometimes, the decrease in eye velocity at the offset of pursuit often overshot zero, producing a brief, small reversal in the direction of pursuit before eye speed settled to zero. When the target always stopped, the decrease in eye velocity at the offset of pursuit followed a more gradual transition toward zero with no overshoot. Thus the eye velocity profiles obtained in the first experiment contradict, whereas those obtained in the second experiment confirm, previous characterizations of the offset of pursuit as an exponential decay toward zero eye speed. 3. To investigate the basis of the different eye velocity profiles obtained in the two experiments, we probed the state of transmission along the visuomotor pathways for pursuit with the use of small perturbations in the motion of the target. We used perturbations consisting of 1 degree step changes in target position superimposed on the constant velocity motion of the target, on the basis of previous findings that such perturbations elicit saccades during fixation but smooth changes in eye speed during maintained pursuit. Single perturbations were imposed at regularly spaced intervals on separate interleaved trials during the onset, maintenance, and offset of pursuit. 4. Perturbations imposed during the onset and maintenance of pursuit had similar effects regardless of whether the target stopped only sometimes or always. In both experiments, perturbations that stepped the target in the direction opposite to the constant velocity of the target produced decreases in eye speed; perturbations in the same direction produced negligible or inconsistent changes in eye speed. The changes in eye speed caused by perturbations were largest for those perturbations introduced within the first 100 ms after the start of target motion, before the onset of the smooth eye movement, and became progressively smaller as target motion continued. The largest changes in eye speed were therefore caused by those perturbations imposed during periods of large retinal slip and by those perturbations whose direction opposed that slip. 5. Perturbations imposed during the offset of pursuit had different effects depending on whether the target stopped only sometimes or always. When the target stopped only sometimes, forward perturbations produced large increases in eye speed, whereas backward perturbations produced negligible or inconsistent changes in eye speed. Thus the visuomotor processing underlying the offset of pursuit in this experiment strongly resembled that underlying the onset of pursuit: in both cases, those perturbations in the direction opposing large retinal slip produced the largest effects. In contrast, when the target always stopped, neither forward nor backward perturbations imposed during the offset of pursuit produced large changes in eye speed. This indicates that the visuomotor processing underlying the offset of pursuit in this experiment was different from the processing underlying the onset of pursuit. 6. Perturbations also produced changes in the frequency of saccades, although these effects were less consistent than the changes in pursuit eye speed

Control of Rapid Arm Movements When Target Position Is Altered During Saccadic Suppression.

This experiment examined whether rapid arm movements can be corrected in response to a change in target position that occurs just prior to movement onset, during saccadic suppression of displacement. Because the threshold of retinal input reaches its highest magnitude at that time, displacement of the visual target of a saccade is not perceived. Subjects (N = 6) were instructed to perform very rapid arm movements toward visual targets located 16, 20, and 24 degrees from midline (on average, movement time was 208 ms). On some trials the 20 degrees target was displaced 4 degrees either to the right or to the left during saccadic suppression. For double-step trials, arm movements did not deviate from their original trajectory. Movement endpoints and movement structure (i.e., velocity-and acceleration-time profiles) were similar whether or not target displacements occurred, showing the failure of proprioceptive signals or internal feedback loops to correct the arm trajectory. Following this movement, terminal spatially oriented movements corrected the direction of the initial movement (as compared with the single-step control trials) when the target eccentricity decreased by 4 degrees. Subjects were unaware of these spatial corrections. Therefore, spatial corrections of hand position were driven by the goal level of the task, which was updated by oculomotor corrective responses when a target shift occurred.

Grasping versus pointing and the differential use of visual feedback

The purpose of this study was to evaluate the speed at which visual feedback about changes in target position could be used to amend reaching movements when subjects pointed to targets or grasped objects. Subjects were required to point to or grasp a target which sometimes changed position unexpectedly upon hand-movement initiation. We found no evidence of early (before peak velocity) trajectory corrections when subjects pointed towards targets. When subjects were grasping perturbed targets, however, peak velocity was lower and was achieved more quickly than it was on trials in which the target did not change position. These results suggest that subjects were amending their grasping movements very early in the trajectory, indicating that visual information about changes in target position is used in a different manner when subjects intend to grasp an object as opposed to point to it. These results are discussed in terms of the function of reaching and grasping

A new local feedback model of the saccadic burst generator

1. To accommodate the finding that the superior colliculus is an important input to the brain stem pathways that generate saccades (the saccadic burst generator), a new model of the burst generator is proposed. Unlike the model of Robinson (61) from which it was derived, the model attempts to match a neural replica of change in eye position, which is the output of the burst generator, to a neural replica of change in target position, which is the output of the colliculus and the input to the model. 2. The elements of the model correspond to neurons known or thought to be associated with the actual primate saccadic burst generator and are mostly connected together in accord with the results of anatomical and physiological experiments. 3. The model was simulated on a digital computer to compare its behavior with that of the actual burst generator under normal and experimental conditions. Simulated peak burst frequency and saccade duration matched that obtained from monkey excitatory burst neurons and inhibitory burst neurons for saccades up to 15 degrees but did not match at larger sizes; stimulation of the omnipause neurons caused an interruption of the saccade, and the saccade resumed at the end of stimulation as in actual data; the model can generate the abnormally long-duration saccades seen under decreased alertness or various pathologies by changing the burst generator inputs and without having to change any properties of the neurons themselves or their connections; a simulated horizontal and vertical burst generator pair connected only through the omnipause neurons can generate realistic oblique saccades. 4. The implications of the model for higher-order control of the saccadic burst generator are discussed.

Asymmetry and orientation of arm movements in three- to eight-week-old infants

Two longitudinal studies using detailed analyses of arm movements in human infants found evidence that these movements were oriented to visual targets and responsive to changes in target position. This orientation was superior for the left hand. It was also found that left handed activity was more frequent and that left hand movements were farther extended towards the target.

Characteristics of saccadic dysmetria in monkeys during reversible lesions of medial cerebellar nuclei.

1. The accuracy of saccadic eye movements made by trained Cebus monkeys was studied during reversible lesions produced by cooling through probes implanted between the interpositus and fastigial nuclei (medial probe) or lateral to the dentate nucleus (lateral probe). 2. Cooling through the lateral probe did not impair the accuracy of vertical or horizontal saccades, However, cooling through the medial probe produced a dysmetria whose magnitude was dependent on the position of the eye and on the direction of the saccade. 3. The amplitude/duration relation of dysmetria saccades was not significantly different from that of normal saccades. 4. The trajectories of the horizontal and vertical components of oblique saccades remained essentially straight during medial probe cooling in spite of unequal dysmetria in the two components. This suggests that the mechanism that produces a dysmetria in one component must interact with the gaze center that determines the duration of the other component. 5. Cerebellar nuclear cooling through either lateral of medial probes did not alter the saccadic reaction time to a randomly timed step change in target position. This result differs from that found for limb movements where cerebellar dysmetria was associated with increased reaction times. 6. These results provide evidence that the cerebellum through the medial nuclei normally plays a role in terminating, but not in initiating, saccades.