Reward-dependent selection of feedback gains impacts rapid motor decisions
Target reward influences motor planning strategies through modulation of movement vigor. Considering current theories of sensorimotor control suggesting that movement planning consists in selecting a goal-directed control strategy, we sought to investigate the influence of reward on feedback control. Here we explored this question in three human reaching experiments. First, we altered the explicit reward associated with the goal target and found an overall increase in feedback gains for higher target rewards, highlighted by larger velocities, feedback responses to external loads, and background muscle activity. Then, we investigated whether the differences in target rewards across multiple goals impacted rapid motor decisions during movement. We observed idiosyncratic switching strategies dependent on both target rewards and, surprisingly, the feedback gains at perturbation onset: the more vigorous movements were less likely to switch to a new goal following perturbations. To gain further insight into a causal influence of the feedback gains on rapid motor decisions, we demonstrated that biasing the baseline activity and reflex gains by means of a background load evoked a larger proportion of target switches in the direction opposite to the background load associated with lower muscle activity. Together, our results demonstrate an impact of target reward on feedback control and highlight the competition between movement vigor and flexibility. Significance statementHumans can modulate their movement vigor based on the expected reward. However, a potential influence of reward on feedback control has not been documented. Here we investigated reaching control strategies in different contexts associated with explicit rewards for one or multiple goals, while exposed to external perturbations. We report two strategies: reward could either increase feedback gains, or promote flexible switches between goals. The engagement of peripheral circuits in the modulation of feedback gains was confirmed by the application of a background load that biased feedback vigor directionally, evoking differences in switching behavior in the opposite direction. We conclude that feedback vigor and flexible changes in goal are two competing mechanisms to be selected when interacting with a dynamic environment.