Biology subjects

Leib, R.

Publications and source records attributed to Leib, R..

12 recordsLinked to original sources

bioRxiv2026

Explainable Decoding of Sensorimotor Communication in Joint Object Manipulation

Humans often collaborate under asymmetric information, for example when two people carry a table and only one knows the destination. They coordinate without speech using cues from movement kinematics, interaction forces, and object states. Characterizing this sensorimotor communication is difficult because these signals both execute the task and convey information, whose meaning is context-dependent. Here, we investigated a virtual table-carrying task where one partner knew the target while the other inferred it from visuo-haptic feedback. Participants flexibly adapted kinematic and haptic cues across contexts to convey intention. We introduce an explainable machine-learning framework that decodes intent from ongoing multimodal signals and quantifies where individual features are informative. Incorporating the decoded signals into a drift-diffusion model accurately predicted the uninformed partner's target choices and decision times. Together, our framework explains how humans communicate through action and offers principles for collaborative robots to infer and express intent through physical interaction.

neuroscience↗

bioRxiv2026

Flexible neural encoding of dynamics allows precise tuning to the environment

To precisely control our movements, the sensorimotor control system builds representations of the external world. However, the neural encoding of these representations - whether we encode our control as a function of specific kinematic or kinetic variables - and how we might then use these representations to build up complex actions is still unknown. Each prior study has provided support for a different reference frame or proposed mixture models to explain the complex findings. Here, we propose a different framework in which the sensorimotor control system uses multiple representations, allowing it to flexibly tune its representations to task demands. We directly test this by showing that the representation of external forces is totally governed by the nature of the experienced forces. Participants form a global force representation based on the coordinate system that best explains the forces experienced at different arm postures. We suggest that when formalizing such global representation, the system decides on the representation by considering the level of uncertainty it has in each of the coordinate systems. This flexibility and redundancy in the representations allows the precise tuning to any specific task within our complex environment, explaining our expertise in a wide range of tasks.

neuroscience↗

bioRxiv2023

Direction-Specific Effects of Artificial Skin-Stretch on Stiffness Perception and Grip Force Control

When interacting with an object, we use kinesthetic and tactile information to create our perception of the objects properties and to prevent its slippage using grip force control. We previously showed that applying artificial skin-stretch together with, and in the same direction as, kinesthetic force increases the perceived stiffness. Here, we investigated the effect of the direction of the artificial stretch on stiffness perception and grip force control. We presented participants with kinesthetic force together with negative or positive artificial stretch, in the opposite or the same direction of the natural stretch due to the kinesthetic force, respectively. Our results showed that artificial skin-stretch in both directions augmented the perceived stiffness; however, the augmentation caused by the negative stretch was consistently lower than that caused by the positive stretch. Additionally, we proposed a computational model that predicts the perceptual effects based on the preferred directions of the stimulated mechanoreceptors. When examining the grip force, we found that participants applied higher grip forces during the interactions with positive skin-stretch in comparison to the negative skin-stretch, which is consistent with the perceptual results. These results may be useful in tactile technologies for wearable haptic devices, teleoperation, and robot-assisted surgery.

neuroscience↗

bioRxiv2023

Congruent visual cues speed dynamic motor adaptation

Motor adaptation to novel dynamics occurs rapidly using sensed errors to update the current motor memory. This adaption is strongly driven by proprioceptive and visual signals, that indicate errors in the motor memory. Here we extend this previous work by investigating whether the presence of additional visual cues could increase the rate of motor adaptation, specifically when the visual motion cue is congruent with the dynamics. Six groups of participants performed reaching movements while grasping the handle of a robotic manipulandum while an additional cue (red object) was connected to the cursor. After a baseline, either a unidirectional (3 groups) or bidirectional (3 groups) velocity dependent force field was applied during the reach. For each group, the movement of the red object relative to the cursor was either congruent with the force field dynamics, incongruent with the force field dynamics or constant (fixed distance). Participants adapted more to the unidirectional force fields than to the bidirectional force field groups. However, across both force fields, groups in which the visual cues matched the type of force field (congruent visual cue) exhibited higher final adaptation level at the end of learning compared to either the control or incongruent conditions. In all groups, we observed an additional congruent cue assisted the formation of the motor memory of the external dynamics. We then demonstrate that a state estimation based model that integrates proprioceptive and visual information can successfully replicate the experimental data. New & NoteworthyWe demonstrate that adaptation to novel dynamics is stronger when additional online visual cues that are congruent with the dynamics are presented during adaptation, compared to either a constant or incongruent visual cue. This effect was found regardless of whether a bidirectional or unidirectional velocity dependent force field was presented to the participants. We propose that this effect might arise through the inclusion of this additional visual cue information within the state estimation process.

neuroscience↗

bioRxiv2021

Novel Dynamics are Represented as a Mixture of Multiple Coordinate Systems

Skillful object manipulation requires a representation of the objects dynamics. Despite extensive research, previous studies have not been able to provide a consistent view of this representation in the motor system, with each study providing evidence favoring an extrinsic coordinate system, an intrinsic coordinate system, an object-based representation, or mixtures of these coordinate systems. In a series of experiments, we show that the motor system combines different representations based on their reliability. Specifically, since noise creates an error between planned and executed force production which depends on the arm state, the motor system will rely more on the representation for which the plan is less affected. In addition, we show that the error based weights predict the different results made about dynamics representation and thus explaining the discrepancy between influential past studies. Overall, we are able to reconcile all of the apparently disparate findings under a single cohesive model of dynamics representation.

neuroscience↗

bioRxiv2020

Mass Spectrometric Characterization of Narcolepsy-Associated Pandemic 2009 Influenza Vaccines.

The onset of narcolepsy, an irreversible sleep disorder, has been associated with 2009 influenza pandemic (pH1N1) infections in China, and with ASO3-adjuvanted pH1N1 vaccinations using Pandemrix in Europe. Intriguingly, however, the increased incidence was only observed following vaccination with Pandemrix but not Arepanrix in Canada. In this study, the mutational burden of actual vaccine lots of Pandemrix (n=6) and Arepanrix (n=5) sourced from Canada, and Northern Europe were characterized by mass spectrometry. The four most abundant influenza proteins across both vaccines were nucleoprotein NP, hemagglutinin HA, matrix protein M1, with the exception that Pandemrix harbored a significantly increased proportion of neuraminidase NA (7.5%) as compared to Arepanrix (2.6%). Most significantly, 17 motifs in HA, NP, and M1 harbored mutations, which significantly differed in Pandemrix versus Arepanrix. Among these, a 6-fold higher deamidation of HA146 (N to D) in Arepanrix was found relative to Pandemrix, while NP257 (T to A) and NP424 (T to I) were increased in Pandemrix. DQ0602 binding and tetramer analysis with mutated epitopes were conducted in Pandemrix-vaccinated cases versus controls but were unremarkable. Pandemrix harbored lower mutational burden than Arepanrix, indicating higher similarity to wild-type 2009 pH1N1, which could explain differences in narcolepsy susceptibility amongst the vaccines.

immunology↗

bioRxiv2020

Visual Feedback Weakens the Augmentation of Perceived Stiffness by Artificial Skin Stretch

Tactile stimulation devices are gaining popularity in haptic science and technology - they are lightweight, low-cost, can be easily made wearable, and do not suffer from instability during closed loop interactions with users. Applying tactile stimulation in the form of stretching the skin of the fingerpads, concurrently with kinesthetic force feedback, has been shown to augment the perceived stiffness during interactions with elastic objects. However, all of the studies to date have investigated the perceptual augmentation effects of artificial skin-stretch in the absence of visual feedback. We investigated how visual displacement feedback affects the augmentation of perceived stiffness caused by the skin-stretch. We used a forced-choice paradigm stiffness discrimination task with four different conditions: force feedback, force feedback with artificial skin-stretch, force and visual feedback, and force and visual feedback with artificial skin-stretch. We found that visual displacement feedback weakens the skin-stretch induced perceptual augmentation and improves the stiffness discrimination sensitivity.

bioengineering↗

bioRxiv2018

The Effect of Dissociation between Proprioception and Vision on Perception and Grip Force Control in a Stiffness Judgment Task

Our sensorimotor system estimates stiffness to form stiffness perception, such as for choosing a ripe fruit, and to generate actions, such as to adjust grip force to avoid slippage of a scalpel during surgery. We examined how temporal manipulation of the haptic and visual feedback affect stiffness perception and grip force adjustment during a stiffness discrimination task. We used delayed force feedback and delayed visual feedback to break the natural relations between these modalities when participants tried to choose the harder spring between pairs of springs. We found that visual delay caused participants to slightly overestimate stiffness while force feedback delay caused a mixed effect on perception; for some it caused underestimation and for some overestimation of stiffness. Interestingly and in contrast to previous findings without vision, we found that participants increased the magnitude of their applied grip force for all conditions. We propose a model that suggests that this increase was a result of coupling the grip force adjustment to their proprioceptive hand position, which was the only modality which we could not delay. Our findings shed light on how the sensorimotor system combines information from different sensory modalities for perception and action. These results are important for the design of improved teleoperation systems that suffer from unavoidable delays.

neuroscience↗

bioRxiv2017

An intermittent control model predicts the triphasic muscles activity during hand reaching

There are numerous ways to reach for an apple hanging from a tree. Yet, our motor system uses a specific muscle activity pattern to generate reaching movements that have similar characteristics. For many decades, we know that this pattern features activity bursts and silent periods. We suggest that these bursts are a strong evidence against the common view that the brain continuously controls the commands to the muscles. Instead, we suggest a model that changes these commands in a discrete way. We use unsupervised machine learning to identify transitions in the state of the muscles, and show that fitting a discrete model to the kinematics of movement using only one parameter predicts the transitions in the state of the muscles. Such discrete controller suggests that the brain reduces the complexity of the motor control problem as well as the wear-and-tear of the muscles by sending commands to the muscles at sparse times. Identifying this discrete controller can be applied in the control of prostheses and physical human-robot interaction systems such as exoskeletons and assistive devices.

neuroscience↗

bioRxiv2017

Stretching the skin of the fingertip creates a perceptual and motor illusion of touching a harder spring

We investigated how artificial tactile feedback in the form of a skin-stretch affects perception of stiffness and grip force adjustment. During interactions with objects, information from kinesthetic and tactile sensors is used to estimate the forces acting on the limbs. These enable the perception of the mechanical properties of objects to form, and the creation of internal models to predict the consequences of interactions with these objects, such as feedforward grip-force adjustments to prevent slippage. Previous studies showed that an artificial stretch of the skin of the fingertips can produce a linear additive effect on stiffness perception, but it remains unclear how such stretch affects the control of grip force. Here, we used a robotic device and a custom-built skin-stretch device to manipulate kinesthetic and tactile information. Using a stiffness discrimination task, we found that adding artificial tactile feedback to a kinesthetic force can create the illusion of touching a harder spring which affects both perception and action. The magnitude of the illusion is linearly related to the amplitude of the applied stretch. We also isolated the contribution of tactile stimulation to the predictive and reactive components of grip force adjustment, and found that unlike in other cases of perceptual illusions, the predictive grip force is modulated consistently with the perceptual tactile-induced illusion. These results have major implications for the design of tactile interfaces across a variety of touch applications such as wearable haptic devices, teleoperations, robot-assisted surgery, and prosthetics.\n\nSignificance StatementSensing forces, using kinesthetic and tactile modalities, is important for assessing the mechanical properties of objects, and for acting the objects while stabilizing grasp against slippage. A major challenge in understanding the internal representations that allow for a predictive grip force control during contact with objects is to dissociate the contribution of tactile and kinesthetic stimuli. To date, this contribution was investigated only in impaired cases either through local anesthesia or in patients with sensory impairment. Our study demonstrates using a programmable mechatronic device that artificially applied skin-stretch creates an illusion of a greater load force that affects grip force control and stiffness perception. These results are applicable in tactile technologies for wearable haptic devices, teleoperation, robot-assisted surgery, and prosthetics.

neuroscience↗

bioRxiv2017

State-Based Delay Representation and Its Transfer from a Game of Pong to Reaching and Tracking

To accurately estimate the state of the body, the nervous system needs to account for delays between signals from different sensory modalities. To investigate how such delays may be represented in the sensorimotor system, we asked human participants to play a virtual pong game in which the movement of the virtual paddle was delayed with respect to their hand movement. We tested the representation of this new mapping between the hand and the delayed paddle by examining transfer of adaptation to blind reaching and blind tracking tasks. These blind tasks enabled to capture the representation in feedforward mechanisms of movement control. A Time Representation of the delay is an estimation of the actual time lag between hand and paddle movements. A State Representation is a representation of delay using current state variables: the distance between the paddle and the ball originating from the delay may be considered as a spatial shift; the low sensitivity in the response of the paddle may be interpreted as a minifying gain; and the lag may be attributed to a mechanical resistance that influences paddles movement. We found that the effects of prolonged exposure to the delayed feedback transferred to blind reaching and tracking tasks and caused participants to exhibit hypermetric movements. These results, together with simulations of our representation models, suggest that delay is not represented based on time, but rather as a spatial gain change in visuomotor mapping.\n\nSignificance StatementIt is known that the brain copes with sensory feedback delays to control movements, but it is unclear whether it does so using a representation of the actual time lag. We addressed this question by exposing participants to a visuomotor delay during a dynamic game of pong. Following the game, participants exhibited hypermetric reaching and tracking movements that indicate that delay is represented as a visuomotor gain rather than as a temporal shift.

neuroscience↗

bioRxiv2017

Smart switching in feedforward control of grip force during manipulation of elastic objects

Switching systems are common in artificial control systems. Here, we suggest that the brain adopts a switched feedforward control of grip forces during manipulation of objects. We measured how participants modulated grip force when interacting with soft and rigid virtual springs when stiffness varied nearly continuously between trials. We identified a sudden phase transition between two forms of feedforward control that differed in the timing of the synchronization between the anticipated load force and the applied grip force. The switch occurred several trials after a threshold stiffness level. These results suggest that in the control of grip force, the brain acts as a switching control system. This opens new research questions as to the nature of the discrete state variables that drive the switching.

neuroscience↗