Vestibular Perception and Action Employ Qualitatively Different Mechanisms. II. VOR and Perceptual Responses During Combined Tilt&Translation

2005 ◽  
Vol 94 (1) ◽  
pp. 199-205 ◽  
Author(s):  
Daniel M. Merfeld ◽  
Sukyung Park ◽  
Claire Gianna-Poulin ◽  
F. Owen Black ◽  
Scott Wood
Keyword(s):  
Perception And Action ◽  
Rotation Axis ◽  
Human Perception ◽  
Linear Acceleration ◽  
Otolith Organs ◽  
Model Predictions ◽  
Vestibular Perception ◽  
Compare And Contrast ◽  
High Pass ◽  
Roll Tilt

II. VOR and perceptual responses during combined Tilt&Translation. To compare and contrast the neural mechanisms that contribute to vestibular perception and action, we measured vestibuloocular reflexes (VOR) and perceptions of tilt and translation. We took advantage of the well-known ambiguity that the otolith organs respond to both linear acceleration and tilt with respect to gravity and investigated the mechanisms by which this ambiguity is resolved. A new motion paradigm that combined roll tilt with inter-aural translation (“ Tilt&Translation”) was used; subjects were sinusoidally (0.8 Hz) roll tilted but with their ears above or below the rotation axis. This paradigm provided sinusoidal roll canal cues that were the same across trials while providing otolith cues that varied linearly with ear position relative to the earth-horizontal rotation axis. We found that perceived tilt and translation depended on canal cues, with substantial roll tilt and inter-aural translation perceptions reported even when the otolith organs measured no inter-aural force. These findings match internal model predictions that rotational cues from the canals influence the neural processing of otolith cues. We also found horizontal translational VORs that varied linearly with radius; a minimal response was measured when the otolith organs transduced little or no inter-aural force. Hence, the horizontal translational VOR was dependent on otolith cues but independent of canal cues. These findings match predictions that translational VORs are elicited by simple filtering of otolith signals. We conclude that internal models govern human perception of tilt and translation at 0.8 Hz and that high-pass filtering governs the human translational VOR at this same frequency.

Vestibular Perception and Action Employ Qualitatively Different Mechanisms. I. Frequency Response of VOR and Perceptual Responses During Translation and Tilt

2005 ◽  
Vol 94 (1) ◽  
pp. 186-198 ◽  
Author(s):  
Daniel M. Merfeld ◽  
Sukyung Park ◽  
Claire Gianna-Poulin ◽  
F. Owen Black ◽  
Scott Wood
Keyword(s):  
Perception And Action ◽  
Rotation Axis ◽  
Neural Mechanisms ◽  
Otolith Organs ◽  
Frequency Range ◽  
Model Predictions ◽  
Vestibular Perception ◽  
High Pass ◽  
Roll Tilt ◽  
Horizontal Head

To investigate the neural mechanisms that humans use to process the ambiguous force measured by the otolith organs, we measured vestibuloocular reflexes (VORs) and perceptions of tilt and translation. One primary goal was to determine if the same, or different, mechanisms contribute to vestibular perception and action. We used motion paradigms that provided identical sinusoidal inter-aural otolith cues across a broad frequency range. We accomplished this by sinusoidally tilting (20°, 0.005–0.7 Hz) subjects in roll about an earth-horizontal, head-centered, rotation axis (“ Tilt”) or sinusoidally accelerating (3.3 m/s2, 0.005–0.7 Hz) subjects along their inter-aural axis (“ Translation”). While identical inter-aural otolith cues were provided by these motion paradigms, the canal cues were substantially different because roll rotations were present during Tilt but not during Translation. We found that perception was dependent on canal cues because the reported perceptions of both roll tilt and inter-aural translation were substantially different during Translation and Tilt. These findings match internal model predictions that rotational cues from the canals influence the neural processing of otolith cues. We also found horizontal translational VORs at frequencies >0.2 Hz during both Translation and Tilt. These responses were dependent on otolith cues and match simple filtering predictions that translational VORs include contributions via simple high-pass filtering of otolith cues. More generally, these findings demonstrate that internal models govern human vestibular “perception” across a broad range of frequencies and that simple high-pass filters contribute to human horizontal translational VORs (“action”) at frequencies above ∼0.2 Hz.

Neural Processing of Gravito-Inertial Cues in Humans. IV. Influence of Visual Rotational Cues During Roll Optokinetic Stimuli

2003 ◽  
Vol 89 (1) ◽  
pp. 390-400 ◽  
Author(s):  
L. H. Zupan ◽  
D. M. Merfeld
Keyword(s):  
Visual Cues ◽  
Gravitational Force ◽  
Sensory Information ◽  
Inertial Force ◽  
Linear Acceleration ◽  
Otolith Organs ◽  
Optokinetic Stimulation ◽  
The Difference ◽  
The Right ◽  
Roll Tilt

Sensory systems often provide ambiguous information. For example, otolith organs measure gravito-inertial force (GIF), the sum of gravitational force and inertial force due to linear acceleration. However, according to Einstein's equivalence principle, a change in gravitational force due to tilt is indistinguishable from a change in inertial force due to translation. Therefore the central nervous system (CNS) must use other sensory cues to distinguish tilt from translation. For example, the CNS might use dynamic visual cues indicating rotation to help determine the orientation of gravity (tilt). This, in turn, might influence the neural processes that estimate linear acceleration, since the CNS might estimate gravity and linear acceleration such that the difference between these estimates matches the measured GIF. Depending on specific sensory information inflow, inaccurate estimates of gravity and linear acceleration can occur. Specifically, we predict that illusory tilt caused by roll optokinetic cues should lead to a horizontal vestibuloocular reflex compensatory for an interaural estimate of linear acceleration, even in the absence of actual linear acceleration. To investigate these predictions, we measured eye movements binocularly using infrared video methods in 17 subjects during and after optokinetic stimulation about the subject's nasooccipital (roll) axis (60°/s, clockwise or counterclockwise). The optokinetic stimulation was applied for 60 s followed by 30 s in darkness. We simultaneously measured subjective roll tilt using a somatosensory bar. Each subject was tested in three different orientations: upright, pitched forward 10°, and pitched backward 10°. Five subjects reported significant subjective roll tilt (>10°) in directions consistent with the direction of the optokinetic stimulation. In addition to torsional optokinetic nystagmus and afternystagmus, we measured a horizontal nystagmus to the right during and following clockwise (CW) stimulation and to the left during and following counterclockwise (CCW) stimulation. These measurements match predictions that subjective tilt in the absence of real tilt should induce a nonzero estimate of interaural linear acceleration and, therefore, a horizontal eye response. Furthermore, as predicted, the horizontal response in the dark was larger for Tilters ( n = 5) than for Non-Tilters ( n= 12).

Neural Processing of Gravito-Inertial Cues in Humans. II. Influence of the Semicircular Canals During Eccentric Rotation

2001 ◽  
Vol 85 (4) ◽  
pp. 1648-1660 ◽  
Author(s):  
D. M. Merfeld ◽  
L. H. Zupan ◽  
C. A. Gifford
Keyword(s):  
Nervous System ◽  
Time Course ◽  
Rotation Speed ◽  
Linear Acceleration ◽  
Otolith Organs ◽  
Centripetal Acceleration ◽  
Variable Radius ◽  
Fixed Radius ◽  
The Subject ◽  
Roll Tilt

All linear accelerometers, including the otolith organs, respond equivalently to gravity and linear acceleration. To investigate how the nervous system resolves this ambiguity, we measured perceived roll tilt and reflexive eye movements in humans in the dark using two different centrifugation motion paradigms (fixed radius and variable radius) combined with two different subject orientations (facing-motion and back-to-motion). In the fixed radius trials, the radius at which the subject was seated was held constant while the rotation speed was changed to yield changes in the centrifugal force. In variable radius trials, the rotation speed was held constant while the radius was varied to yield a centrifugal force that nearly duplicated that measured during the fixed radius condition. The total gravito-inertial force (GIF) measured by the otolith organs was nearly identical in the two paradigms; the primary difference was the presence (fixed radius) or absence (variable radius) of yaw rotational cues. We found that the yaw rotational cues had a large statistically significant effect on the time course of perceived tilt, demonstrating that yaw rotational cues contribute substantially to the neural processing of roll tilt. We also found that the orientation of the subject relative to the centripetal acceleration had a dramatic influence on the eye movements measured during fixed radius centrifugation. Specifically, the horizontal vestibuloocular reflex (VOR) measured in our human subjects was always greater when the subject faced the direction of motion than when the subjects had their backs toward the motion during fixed radius rotation. This difference was consistent with the presence of a horizontal translational VOR response induced by the centripetal acceleration. Most importantly, by comparing the perceptual tilt responses to the eye movement responses, we found that the translational VOR component decayed as the subjective tilt indication aligned with the tilt of the GIF. This was true for both the fixed radius and variable radius conditions even though the time course of the responses was significantly different for these two conditions. These findings are consistent with the hypothesis that the nervous system resolves the ambiguous measurements of GIF into neural estimates of gravity and linear acceleration. More generally, these findings are consistent with the hypothesis that the nervous system uses internal models to process and interpret sensory motor cues.

scholarly journals Convergence of linear acceleration and yaw rotation signals on non-eye movement neurons in the vestibular nucleus of macaques

2018 ◽  
Vol 119 (1) ◽  
pp. 73-83 ◽  
Author(s):  
Shawn D. Newlands ◽  
Ben Abbatematteo ◽  
Min Wei ◽  
Laurel H. Carney ◽  
Hongge Luan
Keyword(s):  
Eye Movement ◽  
Multisensory Integration ◽  
Vestibular Nucleus ◽  
Semicircular Canals ◽  
Linear Acceleration ◽  
Vestibular Nuclei ◽  
Otolith Organs ◽  
Angular Rotation ◽  
Sensory Signals ◽  
Nonlinear Integration

Roughly half of all vestibular nucleus neurons without eye movement sensitivity respond to both angular rotation and linear acceleration. Linear acceleration signals arise from otolith organs, and rotation signals arise from semicircular canals. In the vestibular nerve, these signals are carried by different afferents. Vestibular nucleus neurons represent the first point of convergence for these distinct sensory signals. This study systematically evaluated how rotational and translational signals interact in single neurons in the vestibular nuclei: multisensory integration at the first opportunity for convergence between these two independent vestibular sensory signals. Single-unit recordings were made from the vestibular nuclei of awake macaques during yaw rotation, translation in the horizontal plane, and combinations of rotation and translation at different frequencies. The overall response magnitude of the combined translation and rotation was generally less than the sum of the magnitudes in responses to the stimuli applied independently. However, we found that under conditions in which the peaks of the rotational and translational responses were coincident these signals were approximately additive. With presentation of rotation and translation at different frequencies, rotation was attenuated more than translation, regardless of which was at a higher frequency. These data suggest a nonlinear interaction between these two sensory modalities in the vestibular nuclei, in which coincident peak responses are proportionally stronger than other, off-peak interactions. These results are similar to those reported for other forms of multisensory integration, such as audio-visual integration in the superior colliculus. NEW & NOTEWORTHY This is the first study to systematically explore the interaction of rotational and translational signals in the vestibular nuclei through independent manipulation. The results of this study demonstrate nonlinear integration leading to maximum response amplitude when the timing and direction of peak rotational and translational responses are coincident.

Eye Movements During Multi-Axis Whole-Body Rotations

2003 ◽  
Vol 89 (1) ◽  
pp. 355-366 ◽  
Author(s):  
Christopher J. Bockisch ◽  
Dominik Straumann ◽  
Thomas Haslwanter
Keyword(s):  
Eye Movements ◽  
Rotation Axis ◽  
Human Subjects ◽  
Whole Body ◽  
Velocity Storage ◽  
Head Orientation ◽  
Otolith Organs ◽  
Velocity Signal ◽  
Eye Velocity ◽  
Cue Conflict

The semi-circular canals and the otolith organs both contribute to gaze stabilization during head movement. We investigated how these sensory signals interact when they provide conflicting information about head orientation in space. Human subjects were reoriented 90° in pitch or roll during long-duration, constant-velocity rotation about the earth-vertical axis while we measured three-dimensional eye movements. After the reorientation, the otoliths correctly indicated the static orientation of the subject with respect to gravity, while the semicircular canals provided a strong signal of rotation. This rotation signal from the canals could only be consistent with a static orientation with respect to gravity if the rotation-axis indicated by the canals was exactly parallel to gravity. This was not true, so a cue-conflict existed. These conflicting stimuli elicited motion sickness and a complex tumbling sensation. Strong horizontal, vertical, and/or torsional eye movements were also induced, allowing us to study the influence of the conflict between the otoliths and the canals on all three eye-movement components. We found a shortening of the horizontal and vertical time constants of the decay of nystagmus and a trend for an increase in peak velocity following reorientation. The dumping of the velocity storage occurred regardless of whether eye velocity along that axis was compensatory to the head rotation or not. We found a trend for the axis of eye velocity to reorient to make the head-velocity signal from the canals consistent with the head-orientation signal from the otoliths, but this reorientation was small and only observed when subjects were tilted to upright. Previous models of canal-otolith interaction could not fully account for our data, particularly the decreased time constant of the decay of nystagmus. We present a model with a mechanism that reduces the velocity-storage component in the presence of a strong cue-conflict. Our study, supported by other experiments, also indicates that static otolith signals exhibit considerably smaller effects on eye movements in humans than in monkeys.

Tilt thresholds for acceleration rendering in driving simulation

SIMULATION ◽  
2016 ◽  
Vol 93 (7) ◽  
pp. 595-603 ◽  
Author(s):  
Florent Colombet ◽  
Zhou Fang ◽  
Andras Kemeny
Keyword(s):  
Rotational Motion ◽  
Driving Simulator ◽  
Critical Role ◽  
Human Perception ◽  
Driving Simulation ◽  
Perception Threshold ◽  
Fast Change ◽  
Translation Motion ◽  
Pitch Tilt ◽  
Roll Tilt

The tilt coordination technique is used in driving simulation for reproducing a sustained linear horizontal acceleration by tilting the simulator cabin. If combined with the translation motion of the simulator, this technique increases the acceleration rendering capabilities of the whole system. To perform this technique correctly, the rotational motion must be slow to remain under the perception threshold and thus be unnoticed by the driver. However, the acceleration to render changes quickly. Between the slow rotational motion limited by the tilt threshold and the fast change of acceleration to render, the design of the coupling between motions of rotation and translation plays a critical role in the realism of a driving simulator. This study focuses on the acceptance by drivers of different configurations for tilt restitution in terms of maximum tilt angle, tilt rate, and tilt acceleration. Two experiments were conducted, focusing respectively on roll tilt for a 0.2 Hz slaloming task and on pitch tilt for an acceleration/deceleration task. The results show what thresholds have to be followed in terms of amplitude, rate, and acceleration. These results are far superior to the standard human perception thresholds found in the literature.

scholarly journals Vestibular Influence on Vertebrate Skeletal Symmetry and Body Shape

2021 ◽  
Vol 15 ◽  
Author(s):  
Clayton Gordy ◽  
Hans Straka
Keyword(s):  
Body Shape ◽  
Weight Bearing ◽  
Linear Acceleration ◽  
Head Orientation ◽  
Otolith Organs ◽  
Neuronal Populations ◽  
Motor Circuits ◽  
Axial Muscles ◽  
Postural Stabilization ◽  
Vestibular Endorgans

Vestibular endorgans in the vertebrate inner ear form the principal sensors for head orientation and motion in space. Following the evolutionary appearance of these organs in pre-vertebrate ancestors, specific sensory epithelial patches, such as the utricle, which is sensitive to linear acceleration and orientation of the head with respect to earth’s gravity, have become particularly important for constant postural stabilization. This influence operates through descending neuronal populations with evolutionarily conserved hindbrain origins that directly and indirectly control spinal motoneurons of axial and limb muscles. During embryogenesis and early post-embryonic periods, bilateral otolith signals contribute to the formation of symmetric skeletal elements through a balanced activation of axial muscles. This role has been validated by removal of otolith signals on one side during a specific developmental period in Xenopus laevis tadpoles. This intervention causes severe scoliotic deformations that remain permanent and extend into adulthood. Accordingly, the functional influence of weight-bearing otoconia, likely on utricular hair cells and resultant afferent discharge, represents a mechanism to ensure a symmetric muscle tonus essential for establishing a normal body shape. Such an impact is presumably occurring within a critical period that is curtailed by the functional completion of central vestibulo-motor circuits and by the modifiability of skeletal elements before ossification of the bones. Thus, bilateral otolith organs and their associated sensitivity to head orientation and linear accelerations are not only indispensable for real time postural stabilization during motion in space but also serve as a guidance for the ontogenetic establishment of a symmetric body.

Disruption of postural readaptation by inertial stimuli following space flight*

1999 ◽  
Vol 9 (5) ◽  
pp. 369-378 ◽  
Author(s):  
F. Owen Black ◽  
William H. Paloski ◽  
Millard F. Reschke ◽  
Makoto Igarashi ◽  
Fred Guedry ◽  
...  
Keyword(s):  
Postural Control ◽  
Postural Stability ◽  
Linear Acceleration ◽  
Postural Instability ◽  
Otolith Organs ◽  
Plane Rotation ◽  
Rotation Test ◽  
Normal Limits ◽  
Before And After ◽  
Recovery Trajectory

Postural instability (relative to pre-flight) has been observed in all shuttle astronauts studied upon return from orbital missions. Postural stability was more closely examined in four shuttle astronaut subjects before and after an 8 day orbital mission. Results of the pre- and post- flight postural stability studies were compared with a larger ( n = 34) study of astronauts returning from shuttle missions of similar duration. Results from both studies indicated that inadequate vestibular feedback was the most significant sensory deficit contributing to the postural instability observed post flight. For two of the four IML-1 astronauts, post-flight postural instability and rate of recovery toward their earth-normal performance matched the performance of the larger sample. However, post-flight postural control in one returning astronaut was substantially below mean performance. This individual, who was within normal limits with respect to postural control before the mission, indicated that recovery to pre-flight postural stability was also interrupted by a post-flight pitch plane rotation test. A similar, though less extreme departure from the mean recovery trajectory was present in another astronaut following the same post-flight rotation test. The pitch plane rotation stimuli included otolith stimuli in the form of both transient tangential and constant centripetal linear acceleration components. We inferred from these findings that adaptation on orbit and re-adaptation on earth involved a change in sensorimotor integration of vestibular signals most likely from the otolith organs.

Robotic Assembly Based on Human Perception and Action

2001 ◽  
Author(s):  
Byunghoon Chung ◽  
Sooyong Lee
Keyword(s):  
Perception And Action ◽  
Force Measurement ◽  
Correlation Method ◽  
Human Perception ◽  
Robotic Assembly ◽  
Assembly Lines ◽  
Skilled Workers ◽  
Kinematic Behavior ◽  
Reaction Forces ◽  
Functional Map

Abstract Force guided assembly is a control scheme to guide a workpiece based on a stored map from forces to a correction of motion. Based on the geometry of the workpiece and its kinematic behavior in interacting with the environment, the functional map relating the correction of motion to force measurements is generated and stored as a control law. Central to the design of force guided control is how to synthesize this functional map. Although these explicit force-guided controls are a useful concept, particularly for the monitoring of assembly processes, there are inherent difficulties in applying it to real world problems. In real assembly lines, pipe insertion task, for instance, has been performed only by human workers. Skilled workers insert pipes by perturbing the pipes in order to avoid jamming as well as to determine which way to correct the motion. According to them, the skilled workers monitor obstructing forces in response to the applied perturbation, and modify their motion accordingly. The proposed perturbation/correlation method was motivated by this human perception and action : perturbing the pipe, observing the reaction to the perturbation and correcting the trajectory. In this paper, we propose a novel technique for acquiring effective force information despite sensor noise and friction. Instead of simply receiving force signals from the process, we give perturbation to the robot and measure the reaction forces to the perturbation. By taking the correlation between the perturbation signal and the reaction forces, reliable and useful information for guiding the robot would be extracted. It is expected that this perturbed force measurement provides much richer force information than that of stationary measurement. The perturbation/Correlation method presented in this paper is not only effective for reducing friction, but also effective for obtaining useful information for guiding the robot towards a desired direction. Preliminary experimental results with one directional perturbation are shown in this paper. Extensive mathematical analysis shows the potential application to assemblies in higher dimension.

Neural Processing of Gravito-Inertial Cues in Humans. I. Influence of the Semicircular Canals Following Post-Rotatory Tilt

2000 ◽  
Vol 84 (4) ◽  
pp. 2001-2015 ◽  
Author(s):  
L. H. Zupan ◽  
R. J. Peterka ◽  
D. M. Merfeld
Keyword(s):  
Eye Movements ◽  
Information Integration ◽  
Constant Velocity ◽  
Gravitational Force ◽  
Inertial Force ◽  
Semicircular Canals ◽  
Linear Acceleration ◽  
Head Orientation ◽  
Otolith Organs ◽  
Sensory Cues

Sensory systems often provide ambiguous information. Integration of various sensory cues is required for the CNS to resolve sensory ambiguity and elicit appropriate responses. The vestibular system includes two types of sensors: the semicircular canals, which measure head rotation, and the otolith organs, which measure gravito-inertial force (GIF), the sum of gravitational force and inertial force due to linear acceleration. According to Einstein's equivalence principle, gravitational force is indistinguishable from inertial force due to linear acceleration. As a consequence, otolith measurements must be supplemented with other sensory information for the CNS to distinguish tilt from translation. The GIF resolution hypothesis states that the CNS estimates gravity and linear acceleration, so that the difference between estimates of gravity and linear acceleration matches the measured GIF. Both otolith and semicircular canal cues influence this estimation of gravity and linear acceleration. The GIF resolution hypothesis predicts that inaccurate estimates of both gravity and linear acceleration can occur due to central interactions of sensory cues. The existence of specific patterns of vestibuloocular reflexes (VOR) related to these inaccurate estimates can be used to test the GIF resolution hypothesis. To investigate this hypothesis, we measured eye movements during two different protocols. In one experiment, eight subjects were rotated at a constant velocity about an earth-vertical axis and then tilted 90° in darkness to one of eight different evenly spaced final orientations, a so-called “dumping” protocol. Three speeds (200, 100, and 50°/s) and two directions, clockwise (CW) and counterclockwise (CCW), of rotation were tested. In another experiment, four subjects were rotated at a constant velocity (200°/s, CW and CCW) about an earth-horizontal axis and stopped in two different final orientations (nose-up and nose-down), a so-called “barbecue” protocol. The GIF resolution hypothesis predicts that post-rotatory horizontal VOR eye movements for both protocols should include an “induced” VOR component, compensatory to an interaural estimate of linear acceleration, even though no true interaural linear acceleration is present. The GIF resolution hypothesis accurately predicted VOR and induced VOR dependence on rotation direction, rotation speed, and head orientation. Alternative hypotheses stating that frequency segregation may discriminate tilt from translation or that the post-rotatory VOR time constant is dependent on head orientation with respect to the GIF direction did not predict the observed VOR for either experimental protocol.

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