The relevance of signal timing in human-robot collaborative manipulation.

To achieve a seamless human-robot collaboration, it is crucial that robots express their intentions without perturbating or interrupting the task that a human partner is performing at that moment. Although it has not received much attention so far, this issue is important when robots assist humans in physical and manipulation tasks. The main question addressed here is whether there is a more appropriate time to inform a human partner that a robot is requesting to pass them an object. This question is posed in a reference scenario where human individuals are involved in a continuous pick-and-place task that cannot be interrupted. Our findings showed that providing a cue at the beginning of a reach-to-grasp movement could severely interfere with the ongoing human action, increasing the number of errors made by humans, slowing down and degrading the smoothness of their arm movement, and deflecting their gaze. These disruptive interferences strongly decreased, until they disappeared, when the robot provided the cue to the human partners shortly after the participants picked up an object, identifying this as the best signaling timing. The results of this work showed how the signaling timing may have a decisive influence on the performances of the human-robot teamwork and contribute to understanding the mechanisms underpinning the phenomenon of cognitive-motor interference in humans.

Lexicality drives audio-motor transformations in Broca's area.

Broca's area is classically associated with speech production. Recently, Broca's area has also been implicated in speech perception and non-linguistic information processing. With respect to the latter function, Broca's area is considered to be a central area in a network constituting the human mirror system, which maps observed or heard actions onto motor programs to execute analogous actions. These mechanisms share some similarities with Liberman's motor theory, where objects of speech perception correspond to listener's intended articulatory gestures. The aim of the current series of behavioral, TMS and fMRI studies was to test if Broca's area is indeed implicated in such audio-motor transformations. More specifically, using a classical phonological rhyme priming paradigm, we investigated whether the role of Broca's area could be purely phonological or rather, is lexical in nature. In the behavioral baseline study, we found a large priming effect in word prime/target pairs (W-W) and no effect for pseudo-words (PW-PW). Online TMS interference of Broca's area canceled the priming difference between W-W and PW-PW by enhancing the effects for PW-PW. Finally, the fMRI study showed activation of Broca's area for W-W pairs, but not for PW-PW pairs. Our data show that Broca's area plays a significant role in speech perception strongly linked to the lexicality of a stimulus.

The influence of hand posture on corticospinal excitability during motor imagery: a transcranial magnetic stimulation study.

In order to study the interaction between proprioceptive information and motor imagery, we herein investigate how compatible and incompatible postural signals influence corticospinal excitability during the mental simulation of hand movements. Subjects were asked to imagine themselves joining the tips of the thumb and the little finger while they maintained one of the two following hand postures: posture A (PA, compatible), little finger, index and thumb extended, the remaining fingers flexed; or posture B (PB, incompatible), index and thumb extended, other fingers flexed. All subjects rated the imagined finger opposition movements as easier to perform when the hand was kept in PA than in PB (P < 0.01) and the correlation between the duration of motor imagery and movement execution was also higher for PA than PB (P < 0.01). For each posture, motor evoked potentials (MEPs) elicited by focal transcranial magnetic stimulation (TMS) of the left motor cortex were recorded from the right opponens pollicis muscle during both motor imagery (MI) and rest (R) conditions. MEP area varied according to the hand posture: PA induced a higher increase in corticospinal excitability, when compared with PB. These results indicate that the actual limb posture affects the process of motor imagery. The source of this postural modulation effect is discussed.

Peripheral oculomotor palsy affects orienting of visuospatial attention.

Patients affected by VI cranial nerve palsy were required to orient their attention in monocular vision and to detect a stimulus appearing either in attended or in unattended locations. Results showed that while during non-paretic eye vision stimulus detection in the attended location was faster than that in the unattended one, during paretic eye vision no difference in detection speed was present. However, in this latter condition, detection speed in both attended and un attended locations were as fast as that measured during non-paretic eye vision in attended location. Demonstration that peripheral oculomotor impairment influences monocular covert orienting of visuospatial attention strongly support the idea that visuospatial attention and oculomotor mechanisms share similar cortical networks.

Cortical mechanism for the visual guidance of hand grasping movements in the monkey: A reversible inactivation study.

Picking up an object requires two basic motor operations: reaching and grasping. Neurophysiological studies in monkeys have suggested that the visuomotor transformations necessary for these two operations are carried out by separate parietofrontal circuits and that, for grasping, a key role is played by a specific sector of the ventral premotor cortex: area F5. The aim of the present study was to test the validity of this hypothesis by reversibly inactivating area F5 in monkeys trained to grasp objects of different shape, size and orientation. In separate sessions, the hand field of the primary motor cortex (area F1 or area 4) was also reversibly inactivated. The results showed that after inactivation of area F5 buried in the bank of the arcuate sulcus (the F5 sector where visuomotor neurones responding to object presentation are located), the hand shaping preceding grasping was markedly impaired and the hand posture was not appropriate for the object size and shape. The monkeys were eventually able to grasp the objects, but only after a series of corrections made under tactile control. With small inactivations the deficits concerned the contralesional hand, with larger inactivations the ipsilateral hand as well. In addition, there were signs of peripersonal neglect in the hemispace contralateral to the inactivation site. Following inactivation of area F5 lying on the cortical convexity (the F5 sector where visuomotor neurones responding to action observation, 'mirror neurones', are found) only a motor slowing was observed, the hand shaping being preserved. The inactivation of the hand field of area F1 produced a severe paralysis of contralateral finger movements with hypotonia. The results of this study indicate the crucial role of the ventral premotor cortex in visuomotor transformations for grasping movements. More generally, they provide strong support for the notion that distal and proximal movement organization relies upon distinct cortical circuits. Clinical data on distal movement deficits in humans are re-examined in the light of the present findings.

Modulation of spinal excitability during observation of hand actions in humans.

There is growing evidence that observation of actions performed by other individuals activates observer's cortical motor areas. This matching of observed actions on the observer's motor repertoire could be at the basis of action recognition. Here we investigated if action observation, in addition to cortical motor areas, involves also low level motor structures mimicking the observed actions as if they were performed by the observer. Spinal cord excitability was tested by eliciting the H-reflex in a finger flexor muscle (flexor digitorum superficialis) in humans looking at goal-directed hand actions presented on a TV screen. We found that, in the absence of any detectable muscle activity, there was in the observers a significant modulation of the monosynaptic reflex size, specifically related to the different phases of the observed movement. The recorded H-reflex rapidly increased in size during hand opening, it was depressed during hand closing and quickly recovered during object lifting. This modulation pattern is, however, opposite to that occurring when the recorded muscles are actually executing the observed action [Lemon et al. (1995) J. Neurosci., 15, 6145-56]. Considering that, when investigated at cortical level the modulation pattern of corticospinal excitability replicates the observed movements [Fadiga et al. (1995) J. Neurophysiol., 73, 2608-2611], this spinal 'inverted mirror' behaviour might be finalised to prevent the overt replica of the seen action.

Corticospinal excitability is specifically modulated by motor imagery: a magnetic stimulation study.

Transcranial magnetic stimulation (TMS) was used to investigate whether the excitability of the corticospinal system is selectively affected by motor imagery. To this purpose, we performed two experiments. In the first one we recorded motor evoked potentials from right hand and arm muscles during mental simulation of flexion/extension movements of both distal and proximal joints. In the second experiment we applied magnetic stimulation to the right and the left motor cortex of subjects while they were imagining opening or closing their right or their left hand. Motor evoked potentials (MEPs) were recorded from a hand muscle contralateral to the stimulated cortex. The results demonstrated that the excitability pattern during motor imagery dynamically mimics that occurring during movement execution. In addition, while magnetic stimulation of the left motor cortex revealed increased corticospinal excitability when subjects imagined ipsilateral as well as contralateral hand movements, the stimulation of the right motor cortex revealed a facilitatory effect induced by imagery of contralateral hand movements only. In conclusion, motor imagery is a high level process, which, however, manifests itself in the activation of those same cortical circuits that are normally involved in movement execution.

Action for perception: a motor-visual attentional effect.

Five experiments investigated whether preparation of a grasping movement affects detection and discrimination of visual stimuli. Normal human participants were required to prepare to grasp a bar and then to grasp it as fast as possible on presentation of a visual stimulus. On the basis of the degree of sharing of their intrinsic properties with those of the to-be-grasped bar, visual stimuli were categorized as "congruent" or "incongruent." Results showed that grasping reaction times to congruent visual stimuli were faster than reaction times to incongruent ones. These data indicate that preparation to act on an object produces faster processing of stimuli congruent with that object. The same facilitation was present also when, after the preparation of hand grasping, participants were suddenly instructed to inhibit the prepared grasping movement and to respond with a different motor effector. The authors suggest that these findings could represent an extension of the premotor theory of attention, from orienting of attention to spatial locations to orienting of attention to graspable objects.

Effects of spatial attention on directional manual and ocular responses.

The aim of the present study was to investigate how spatial attention influences directional manual and saccadic reaction times. Two experiments were carried out. In experiment 1 subjects were instructed to perform pointing responses toward targets that were located either in the same or the opposite hemifield with respect to the hemifield in which an imperative stimulus was presented. In experiment 2, they were instructed to make saccadic or pointing responses. The direction of the responses was indicated by the shape of the imperative stimulus. Reaction time (RT), movement time, and, in experiment 2, saccadic trajectory were measured. The imperative stimulus location was either cued (endogenous attention) or uncued. In the latter case the imperative stimulus presentation attracted attention (exogenous attention). The main results of the experiments were the following: First, exogenous attention markedly decreased the RTs when the required movement was directed toward the imperative stimulus location. This directional effect was much stronger for pointing than for ocular responses. Second, endogenously allocated attention did not influence differentially RTs of pointing responses directed toward or away the attended hemifield. In contrast, endogenous attention markedly favored the saccadic responses when made away from the cued hemifield. Third, regardless of cueing, the direction of movement affected both pointing and saccadic reaction times. Saccadic reaction times were faster when the required movement was directed upward, while manual reaction times were faster when the movement was directed downward. Fourth, lateralized spatial attention deviated the trajectory of the saccades contralateral to the attention location. This pattern of results supports the notion that spatial attention depends on the activation of the same sensorimotor circuits that program actions in space.

Evidence for visuomotor priming effect.

'While seated, the patient took a glass, gave it to the examiner and then picked up a jug. He poured water into the glass and, having put down the jug, took the glass ...'. This compulsive behaviour, described by Lhermitte in patients with frontal lobe lesions, is an example of how, without any internal motivation, visual stimuli may impel a patient to act and 'grasp the objects presented and use them'. We investigated whether this behaviour is a pathological manifestation of a normal, automatic object to action transformation. To test this, we primed normal subjects, while ready to execute a grasping movement, by visually presenting them with drawings irrelevant to the task to be executed. Drawings visually congruent with the object to be grasped markedly reduced the reaction time for grasping. These data represent the first evidence for the existence of a visuomotor priming. Seeing an object facilitates an action congruent with the visual properties of that object.

Spatial attention-determined modifications in saccade trajectories.

Normal subjects were required to make horizontal or vertical saccades at the presentation of visual or acoustic imperative stimuli. The locations of visual imperative stimuli were orthogonal to the required saccade. Before stimulus presentation the subjects were cued about its location and instructed to allocate attention to it without moving the eyes. The main aim of the experiment was to establish whether the trajectory of horizontal saccades would be modified by spatial attention. The results showed that, with respect to the condition in which attention was on the horizontal meridian, the allocation of attention to the upper hemifield determined a downward saccade deviation, while the allocation to the lower hemifield determined an opposite deviation. The data strongly support the view that spatial attention and saccade programming share the same neural substrates.