Gabriel Baud-Bovy

Neural bases of hand synergies

The human hand has so many degrees of freedom that it may seem impossible to control. A potential solution to this problem is “synergy control” which combines dimensionality reduction with great flexibility. With applicability to a wide range of tasks, this has become a very popular concept. In this review, we describe the evolution of the modern concept using studies of kinematic and force synergies in human hand control, neurophysiology of cortical and spinal neurons, and electromyographic (EMG) activity of hand muscles. We go beyond the often purely descriptive usage of synergy by reviewing the organization of the underlying neuronal circuitry in order to propose mechanistic explanations for various observed synergy phenomena. Finally, we propose a theoretical framework to reconcile important and still debated concepts such as the definitions of “fixed” vs. “flexible” synergies and mechanisms underlying the combination of synergies for hand control.

The functional and structural neural basis of individual differences in loss aversion

Decision making under risk entails the anticipation of prospective outcomes, typically leading to the greater sensitivity to losses than gains known as loss aversion. Previous studies on the neural bases of choice-outcome anticipation and loss aversion provided inconsistent results, showing either bidirectional mesolimbic responses of activation for gains and deactivation for losses, or a specific amygdala involvement in processing losses. Here we focused on loss aversion with the aim to address interindividual differences in the neural bases of choice-outcome anticipation. Fifty-six healthy human participants accepted or rejected 104 mixed gambles offering equal (50%) chances of gaining or losing different amounts of money while their brain activity was measured with functional magnetic resonance imaging (fMRI). We report both bidirectional and gain/loss-specific responses while evaluating risky gambles, with amygdala and posterior insula specifically tracking the magnitude of potential losses. At the individual level, loss aversion was reflected both in limbic fMRI responses and in gray matter volume in a structural amygdala–thalamus–striatum network, in which the volume of the “output” centromedial amygdala nuclei mediating avoidance behavior was negatively correlated with monetary performance. We conclude that outcome anticipation and ensuing loss aversion involve multiple neural systems, showing functional and structural individual variability directly related to the actual financial outcomes of choices. By supporting the simultaneous involvement of both appetitive and aversive processing in economic decision making, these results contribute to the interpretation of existing inconsistencies on the neural bases of anticipating choice outcomes.

The haptic perception of spatial orientations

This review examines the isotropy of the perception of spatial orientations in the haptic system. It shows the existence of an oblique effect (i.e., a better perception of vertical and horizontal orientations than oblique orientations) in a spatial plane intrinsic to the haptic system, determined by the gravitational cues and the cognitive resources and defined in a subjective frame of reference. Similar results are observed from infancy to adulthood. In 3D space, the haptic processing of orientations is also anisotropic and seems to use both egocentric and allocentric cues. Taken together, these results revealed that the haptic oblique effect occurs when the sensory motor traces associated with exploratory movement are represented more abstractly at a cognitive level.

Blind Saccades : An Asynchrony between Seeing and Looking

Saccades may not always wait for the completion of the perceptual analysis. By taking advantage of a motion-induced illusion of position and of the spontaneous scatter of saccade latency, we showed that in normal observers, regular saccades (latency, ∼200 ms) were accurately directed to the target, whereas at higher latencies, saccades were increasingly biased by visual motion until they reflected the perceptual illusion. We reconstructed the time course of saccadic direction coding and identified an early phase in which saccades are mostly predictive (latencies less than ∼100 ms), followed by a phase in which saccades are guided by the target position signal (latencies ∼100–250 ms), and a later phase associated with the buildup of mislocalization (∼250–450 ms). This transient dissociation between action and perception indicates that seeing and looking are based on asynchronous processes, possibly because of independent thresholds for saccades and perceptual localization. The metrics of a saccade would then reflect the evolution of cortical visual signals from a predictive state to a perceptual state, passing through an intermediate visuomotor state. If saccades occur during the visuomotor state, they escape the tricks of perception.

Series Viscoelastic Actuators Can Match Human Force Perception

Series elastic actuators (SEAs) are frequently used for force control in haptic interaction, because they decouple actuator inertia from the end effector by a compliant element. This element is usually a metal spring or beam, where the static force-deformation relationship offers a cheap force sensor. For high-precision force control, however, the remaining small inertia of this elastic element and of the end effector still limit the sensing performance and rendering transparency. Here, we extend the concept to deformable end effectors manufactured of viscoelastic materials. These materials offer the advantage of extremely low mass at high maximum deformation and applicable load. However, force and deformation are no longer statically related, and history of force and deformation has to be accounted for. We describe an observer-based solution, which allows drift-free force measurement with high accuracy and precision. Although the description of the viscoelastic behavior involves higher-order derivatives, the proposed observer does not require any numerical differentiation. This new integrated concept of sensing and actuation, called series viscoelastic actuator (SVA), is applied to our high-precision haptic device OSVALD, which is targeted at perception experiments that require sensing and rendering of forces in the range of the human tactile threshold. User-device interaction force is controlled using state-of-the-art control strategies of SEAs. Force estimation and force control performance are evaluated experimentally and prove to be compatible with the intended applications, showing that SVAs open up new possibilities for the use of series compliance and damping in high-precision haptic interfaces.

Customization, control, and characterization of a commercial haptic device for high-fidelity rendering of weak forces

BACKGROUND The emergence of commercial haptic devices offers new research opportunities to enhance our understanding of the human sensory-motor system. Yet, commercial device capabilities have limitations which need to be addressed. This paper describes the customization of a commercial force feedback device for displaying forces with a precision that exceeds the human force perception threshold. NEW METHOD The device was outfitted with a multi-axis force sensor and closed-loop controlled to improve its transparency. Additionally, two force sensing resistors were attached to the device to measure grip force. Force errors were modeled in the frequency- and time-domain to identify contributions from the mass, viscous friction, and Coulomb friction during open- and closed-loop control. The effect of user interaction on system stability was assessed in the context of a user study which aimed to measure force perceptual thresholds. RESULTS Findings based on 15 participants demonstrate that the system maintains stability when rendering forces ranging from 0-0.20 N, with an average maximum absolute force error of 0.041 ± 0.013 N. Modeling the force errors revealed that Coulomb friction and inertia were the main contributors to force distortions during respectively slow and fast motions. COMPARISON WITH EXISTING METHODS Existing commercial force feedback devices cannot render forces with the required precision for certain testing scenarios. Building on existing robotics work, this paper shows how a device can be customized to make it reliable for studying the perception of weak forces. CONCLUSIONS The customized and closed-loop controlled device is suitable for measuring force perceptual thresholds.

Amplitude and direction errors in kinesthetic pointing

We investigated the accuracy with which, in the absence of vision, one can reach again a 2D target location that had been previously identified by a guided movement. A robotic arm guided the participant’s hand to a target (locating motion) and away from it (homing motion). Then, the participant pointed freely toward the remembered target position. Two experiments manipulated separately the kinematics of the locating and homing motions. Some robot motions followed a straight path with the bell-shaped velocity profile that is typical of natural movements. Other motions followed curved paths, or had strong acceleration and deceleration peaks. Current motor theories of perception suggest that pointing should be more accurate when the homing and locating motion mimics natural movements. This expectation was not borne out by the results, because amplitude and direction errors were almost independent of the kinematics of the locating and homing phases. In both experiments, participants tended to overshoot the target positions along the lateral directions. In addition, pointing movements towards oblique targets were attracted by the closest diagonal (oblique effect). This error pattern was robust not only with respect to the manner in which participants located the target position (perceptual equivalence), but also with respect to the manner in which they executed the pointing movements (motor equivalence). Because of the similarity of the results with those of previous studies on visual pointing, it is argued that the observed error pattern is basically determined by the idiosyncratic properties of the mechanisms whereby space is represented internally.

Devices for visually impaired people: High technological devices with low user acceptance and no adaptability for children.

Considering that cortical plasticity is maximal in the child, why are the majority of technological devices available for visually impaired users meant for adults and not for children? Moreover, despite high technological advancements in recent years, why is there still no full user acceptance of existing sensory substitution devices? The goal of this review is to create a link between neuroscientists and engineers by opening a discussion about the direction that the development of technological devices for visually impaired people is taking. Firstly, we review works on spatial and social skills in children with visual impairments, showing that lack of vision is associated with other sensory and motor delays. Secondly, we present some of the technological solutions developed to date for visually impaired people. Doing this, we highlight the core features of these systems and discuss their limits. We also discuss the possible reasons behind the low adaptability in children.

Hand-held object force direction identification thresholds at rest and during movement

This study measured the minimum amount of force necessary to identify its direction. The force was produced by a robot and transmitted to a small spherical handle held between the thumb and index finger. We also examined whether this threshold changed during movement. We found that the force threshold was lower when it was possible to move the arm (5 g) than when it was immobile (10 g).

The haptic reproduction of orientations in three-dimensional space

This research studied the haptic perception of orientations in space rather than in a plane. It aimed at identifying the nature of the system of coordinate used to represent an orientation in space, when two parameters are necessary to code an orientation. Blindfolded participants inserted the tip of the index finger in a thimble mounted at the extremity of a haptic interface, explored the orientation of a “virtual rod” with to-and-fro movements and, after a short delay, reproduced the same orientation with the same fingertip in the absence of the virtual rod. Globally, the haptic reproduction of orientations was anisotropic. When the reproduction of orientations was carried out in the frontal plane, a classical oblique effect (lower performance for the diagonal orientations than for the vertical and horizontal orientations) occurred. When the reproduction of orientations was carried out in space, orientations seemed to be coded in a coordinate system based on the sagittal plane.