Biology subjects

Shenoy, K. V.

Publications and source records attributed to Shenoy, K. V..

At least 19 recordsLinked to original sources

bioRxiv2023

Methylphenidate modulates motor cortical dynamics and behavior

Methylphenidate (MPH, brand: Ritalin) is a common stimulant used both medically and non-medically. Though typically prescribed for its cognitive effects, MPH also affects movement. While it is known that MPH noncompetitively blocks the reuptake of catecholamines through inhibition of dopamine and norepinephrine transporters, a critical step in exploring how it affects behavior is to understand how MPH directly affects neural activity. This would establish an electrophysiological mechanism of action for MPH. Since we now have biologically-grounded network-level hypotheses regarding how populations of motor cortical neurons plan and execute movements, there is a unique opportunity to make testable predictions regarding how systemic MPH administration - a pharmacological perturbation - might affect neural activity in motor cortex. To that end, we administered clinically-relevant doses of MPH to Rhesus monkeys as they performed an instructed-delay reaching task. Concomitantly, we measured neural activity from dorsal premotor and primary motor cortex. Consistent with our predictions, we found dose-dependent and significant effects on reaction time, trial-by-trial variability, and movement speed. We confirmed our hypotheses that changes in reaction time and variability were accompanied by previously established population-level changes in motor cortical preparatory activity and the condition-independent signal that precedes movements. We expected changes in speed to be a result of changes in the amplitude of motor cortical dynamics and/or a translation of those dynamics in activity space. Instead, our data are consistent with a mechanism whereby the neuromodulatory effect of MPH is to increase the gain and/or the signal-to-noise of motor cortical dynamics during reaching. Continued work in this domain to better understand the brain-wide electrophysiological mechanism of action of MPH and other psychoactive drugs could facilitate more targeted treatments for a host of cognitive-motor disorders.

neuroscience↗

bioRxiv2023

The dynamics and geometry of choice in premotor cortex

The brain represents sensory variables in the coordinated activity of neural populations, in which tuning curves of single neurons define the geometry of the population code. Whether the same coding principle holds for dynamic cognitive variables remains unknown because internal cognitive processes unfold with a unique time course on single trials observed only in the irregular spiking of heterogeneous neural populations. Here we show the existence of such a population code for the dynamics of choice formation in the primate premotor cortex. We developed an approach to simultaneously infer population dynamics and tuning functions of single neurons to the population state. Applied to spike data recorded during decision-making, our model revealed that populations of neurons encoded the same dynamic variable predicting choices, and heterogeneous firing rates resulted from the diverse tuning of single neurons to this decision variable. The inferred dynamics indicated an attractor mechanism for decision computation. Our results reveal a common geometric principle for neural encoding of sensory and dynamic cognitive variables.

neuroscience↗

bioRxiv2023

Translating deep learning to neuroprosthetic control

Advances in deep learning have given rise to neural network models of the relationship between movement and brain activity that appear to far outperform prior approaches. Brain-computer interfaces (BCIs) that enable people with paralysis to control external devices, such as robotic arms or computer cursors, might stand to benefit greatly from these advances. We tested recurrent neural networks (RNNs) on a challenging nonlinear BCI problem: decoding continuous bimanual movement of two computer cursors. Surprisingly, we found that although RNNs appeared to perform well in offline settings, they did so by overfitting to the temporal structure of the training data and failed to generalize to real-time neuroprosthetic control. In response, we developed a method that alters the temporal structure of the training data by dilating/compressing it in time and re-ordering it, which we show helps RNNs successfully generalize to the online setting. With this method, we demonstrate that a person with paralysis can control two computer cursors simultaneously, far outperforming standard linear methods. Our results provide evidence that preventing models from overfitting to temporal structure in training data may, in principle, aid in translating deep learning advances to the BCI setting, unlocking improved performance for challenging applications.

neuroscience↗

bioRxiv2023

Long-term unsupervised recalibration of cursor BCIs

Intracortical brain-computer interfaces (iBCIs) require frequent recalibration to maintain robust performance due to changes in neural activity that accumulate over time. Compensating for this nonstationarity would enable consistently high performance without the need for supervised recalibration periods, where users cannot engage in free use of their device. Here we introduce a hidden Markov model (HMM) to infer what targets users are moving toward during iBCI use. We then retrain the system using these inferred targets, enabling unsupervised adaptation to changing neural activity. Our approach outperforms the state of the art in large-scale, closed-loop simulations over two months and in closed-loop with a human iBCI user over one month. Leveraging an offline dataset spanning five years of iBCI recordings, we further show how recently proposed data distribution-matching approaches to recalibration fail over long time scales; only target-inference methods appear capable of enabling long-term unsupervised recalibration. Our results demonstrate how task structure can be used to bootstrap a noisy decoder into a highly-performant one, thereby overcoming one of the major barriers to clinically translating BCIs.

neuroscience↗

bioRxiv2023

Large-scale brain-wide neural recording in nonhuman primates

High-density, integrated silicon electrodes have begun to transform systems neuroscience, by enabling large-scale neural population recordings with single cell resolution. Existing technologies, however, have provided limited functionality in nonhuman primate species such as macaques, which offer close models of human cognition and behavior. Here, we report the design, fabrication, and performance of Neuropixels 1.0-NHP, a high channel count linear electrode array designed to enable large-scale simultaneous recording in superficial and deep structures within the macaque or other large animal brain. These devices were fabricated in two versions: 4416 electrodes along a 45 mm shank, and 2496 along a 25 mm shank. For both versions, users can programmatically select 384 channels, enabling simultaneous multi-area recording with a single probe. We demonstrate recording from over 3000 single neurons within a session, and simultaneous recordings from over 1000 neurons using multiple probes. This technology represents a significant increase in recording access and scalability relative to existing technologies, and enables new classes of experiments involving fine-grained electrophysiological characterization of brain areas, functional connectivity between cells, and simultaneous brain-wide recording at scale.

neuroscience↗

bioRxiv2022

Direct neural perturbations reveal a dynamical mechanism for robust computation

The rich repertoire of skilled mammalian behavior is the product of neural circuits that generate robust and flexible patterns of activity distributed across populations of neurons. Decades of associative studies have linked many behaviors to specific patterns of population activity, but association alone cannot reveal the dynamical mechanisms that shape those patterns. Are local neural circuits high-dimensional dynamical reservoirs able to generate arbitrary superpositions of patterns with appropriate excitation? Or might circuit dynamics be shaped in response to behavioral context so as to generate only the low-dimensional patterns needed for the task at hand? Here, we address these questions within primate motor cortex by delivering optogenetic and electrical microstimulation perturbations during reaching behavior. We develop a novel analytic approach that relates measured activity to theoretically tractable, dynamical models of excitatory and inhibitory neurons. This computational model captures the dynamical effects of these perturbations and demonstrates that motor cortical activity during reaching is shaped by a self-contained, low-dimensional dynamical system. The subspace containing task-relevant dynamics proves to be oriented so as to be robust to strong non-normal amplification within cortical circuits. This task dynamics space exhibits a privileged causal relationship with behavior, in that stimulation in motor cortex perturb reach kinematics only to the extent that it alters neural states within this subspace. Our results resolve long-standing questions about the dynamical structure of cortical activity associated with movement, and illuminate the dynamical perturbation experiments needed to understand how neural circuits throughout the brain generate complex behavior.

neuroscience↗

bioRxiv2022

Neural population dynamics in dorsal premotor cortex underlying a reach decision

We investigated if a dynamical systems approach could help understand the link between decision-related neural activity and decision-making behavior, a fundamentally unresolved problem. The dynamical systems approach posits that neural dynamics can be parameterized by a state equation that has different initial conditions and evolves in time by combining at each time step, recurrent dynamics and inputs. For decisions, the two key predictions of the dynamical systems approach are that 1) initial conditions substantially predict subsequent dynamics and behavior and 2) inputs should combine with initial conditions to lead to different choice-related dynamics. We tested these predictions by investigating neural population dynamics in the dorsal premotor cortex (PMd) of monkeys performing a red-green reaction time (RT) checkerboard discrimination task where we varied the sensory evidence (i.e., the inputs). Prestimulus neural state, a proxy for the initial condition, predicted poststimulus neural trajectories and showed organized covariation with RT. Furthermore, faster RTs were associated with faster pre- and poststimulus dynamics as compared to slower RTs, with these effects observed within a stimulus difficulty. Poststimulus dynamics depended on both the sensory evidence and initial condition, with easier stimuli and "fast" initial conditions leading to the fastest choice-related dynamics whereas harder stimuli and "slow" initial conditions led to the slowest dynamics. Finally, changes in initial condition were related to the outcome of the previous trial, with slower pre- and poststimulus population dynamics and RTs on trials following an error as compared to trials following a correct response. Together these results suggest that decision-related activity in PMd is well described by a dynamical system where inputs combine with initial conditions that covary with eventual RT and previous outcome, to induce decision-related dynamics.

neuroscience↗

bioRxiv2021

Large-scale neural recordings with single-cell resolution in human cortex using high-density Neuropixels probes

Recent advances in multi-electrode array technology have made it possible to monitor large neuronal ensembles at cellular resolution. In humans, however, current approaches either restrict recordings to only a few neurons per penetrating electrode or combine the signals of thousands of neurons in local field potential (LFP) recordings. Here, we describe a new probe variant and set of techniques which enable simultaneous recording from over 200 well-isolated cortical single units in human participants during intraoperative neurosurgical procedures using silicon Neuropixels probes. We characterized a diversity of extracellular waveforms with eight separable single unit classes, with differing firing rates, positions along the length of the linear electrode array, spatial spread of the waveform, and modulation by LFP events such as inter-ictal discharges and burst suppression. While some additional challenges remain in creating a turn-key recording system, high-density silicon arrays provide a path for studying human-specific cognitive processes and their dysfunction at unprecedented spatiotemporal resolution.

neuroscience↗

bioRxiv2021

Non-linear Dimensionality Reduction on Extracellular Waveforms Reveals Physiological, Functional, and Laminar Diversity in Premotor Cortex

Cortical circuits are thought to contain a large number of cell types that coordinate to produce behavior. Current in vivo methods rely on clustering of specified features of extracellular waveforms to identify putative cell types, but these capture only a small amount of variation. Here, we develop a new method (WaveMAP) that combines non-linear dimensionality reduction with graph clustering to identify putative cell types. We apply WaveMAP to extracellular waveforms recorded from dorsal premotor cortex of macaque monkeys performing a decision-making task. Using WaveMAP, we robustly establish eight waveform clusters and show that these clusters recapitulate previously identified narrow- and broad-spiking types while revealing previously unknown diversity within these subtypes. The eight clusters exhibited distinct laminar distributions, characteristic firing rate patterns, and decision-related dynamics. Such insights were weaker when using feature-based approaches. WaveMAP therefore provides a more nuanced understanding of the dynamics of cell types in cortical circuits. SignificanceHow different cell types sculpt activity patterns in brain areas associated with decision-making is a fundamentally unresolved problem in neuroscience. In monkeys, and other species where transgenic access is not yet possible, identifying physiological types in vivo relies on only a few discrete user-specified features of extracellular waveforms to identify cell types. Here, we show that non-linear dimensionality reduction with graph clustering applied to the entire extracellular waveform can delineate many different putative cell types and does so in an interpretable manner. We show that this method reveals previously undocumented physiological, functional, and laminar diversity in the dorsal premotor cortex of monkeys, a key brain area implicated in decision-making.

neuroscience↗

bioRxiv2020

Effects of Peripheral Haptic Feedback on Intracortical Brain-Computer Interface Control and Associated Sensory Responses in Motor Cortex

Intracortical brain-computer interfaces (iBCIs) provide people with paralysis a means to control devices with signals decoded from brain activity. Despite recent impressive advances, these devices still cannot approach able-bodied levels of control. To achieve naturalistic control and improved performance of neural prostheses, iBCIs will likely need to include proprioceptive feedback. With the goal of providing proprioceptive feedback via mechanical haptic stimulation, we aim to understand how haptic stimulation affects motor cortical neurons and ultimately, iBCI control. We provided skin shear haptic stimulation as a substitute for proprioception to the back of the neck of a person with tetraplegia. The neck location was determined via assessment of touch sensitivity using a monofilament test kit. The participant was able to correctly report skin shear at the back of the neck in 8 unique directions with 65% accuracy. We found motor cortical units that exhibited sensory responses to shear stimuli, some of which were strongly tuned to the stimuli and well modeled by cosine-shaped functions. We also demonstrated online iBCI cursor control with continuous skin-shear feedback driven by decoded command signals. Cursor control performance increased slightly but significantly when the participant was given haptic feedback, compared to the purely visual feedback condition.

neuroscience↗

bioRxiv2020

High-performance brain-to-text communication via imagined handwriting

Brain-computer interfaces (BCIs) can restore communication to people who have lost the ability to move or speak. To date, a major focus of BCI research has been on restoring gross motor skills, such as reaching and grasping1-5 or point-and-click typing with a 2D computer cursor6,7. However, rapid sequences of highly dexterous behaviors, such as handwriting or touch typing, might enable faster communication rates. Here, we demonstrate an intracortical BCI that can decode imagined handwriting movements from neural activity in motor cortex and translate it to text in real-time, using a novel recurrent neural network decoding approach. With this BCI, our study participant (whose hand was paralyzed) achieved typing speeds that exceed those of any other BCI yet reported: 90 characters per minute at >99% accuracy with a general-purpose autocorrect. These speeds are comparable to able-bodied smartphone typing speeds in our participants age group (115 characters per minute)8 and significantly close the gap between BCI-enabled typing and able-bodied typing rates. Finally, new theoretical considerations explain why temporally complex movements, such as handwriting, may be fundamentally easier to decode than point-to-point movements. Our results open a new approach for BCIs and demonstrate the feasibility of accurately decoding rapid, dexterous movements years after paralysis.

neuroscience↗

bioRxiv2020

Decoding spoken English phonemes from intracortical electrode arrays in dorsal precentral gyrus

ObjectiveTo evaluate the potential of intracortical electrode array signals for brain-computer interfaces (BCIs) to restore lost speech, we measured the performance of classifiers trained to discriminate a comprehensive basis set for speech: 39 English phonemes. We classified neural correlates of spoken-out-loud words in the "hand knob" area of precentral gyrus, which we view as a step towards the eventual goal of decoding attempted speech from ventral speech areas in patients who are unable to speak. ApproachNeural and audio data were recorded while two BrainGate2 pilot clinical trial participants, each with two chronically-implanted 96-electrode arrays, spoke 420 different words that broadly sampled English phonemes. Phoneme onsets were identified from audio recordings, and their identities were then classified from neural features consisting of each electrodes binned action potential counts or high-frequency local field potential power. We also examined two potential confounds specific to decoding overt speech: acoustic contamination of neural signals and systematic differences in labeling different phonemes onset times. Main resultsA linear decoder achieved up to 29.3% classification accuracy (chance = 6%) across 39 phonemes, while a recurrent neural network classifier achieved 33.9% accuracy. Parameter sweeps indicated that performance did not saturate when adding more electrodes or more training data, and that accuracy improved when utilizing time-varying structure in the data. Microphonic contamination and phoneme onset differences modestly increased decoding accuracy, but could be mitigated by acoustic artifact subtraction and using a neural speech onset marker, respectively. SignificanceThe ability to decode a comprehensive set of phonemes using intracortical electrode array signals from a nontraditional speech area suggests that placing electrode arrays in ventral speech areas is a promising direction for speech BCIs.

neuroscience↗

bioRxiv2020

The neural representation of force across grasp types in motor cortex of humans with tetraplegia

Intracortical brain-computer interfaces (iBCIs) have the potential to restore hand grasping and object interaction to individuals with tetraplegia. Optimal grasping and object interaction require simultaneous production of both force and grasp outputs. However, since overlapping neural populations are modulated by both parameters, grasp type could affect how well forces are decoded from motor cortex in a closed-loop force iBCI. Therefore, this work quantified the neural representation and offline decoding performance of discrete hand grasps and force levels in two participants with tetraplegia. Participants attempted to produce three discrete forces (light, medium, hard) using up to five hand grasp configurations. A two-way Welch ANOVA was implemented on multiunit neural features to assess their modulation to force and grasp. Demixed principal component analysis was used to assess for population-level tuning to force and grasp and to predict these parameters from neural activity. Three major findings emerged from this work: 1) Force information was neurally represented and could be decoded across multiple hand grasps (and, in one participant, across attempted elbow extension as well); 2) Grasp type affected force representation within multi-unit neural features and offline force classification accuracy; and 3) Grasp was classified more accurately and had greater population-level representation than force. These findings suggest that force and grasp have both independent and interacting representations within cortex, and that incorporating force control into real-time iBCI systems is feasible across multiple hand grasps if the decoder also accounts for grasp type. Significance StatementIntracortical brain-computer interfaces (iBCIs) have emerged as a promising technology to potentially restore hand grasping and object interaction in people with tetraplegia. This study is among the first to quantify the degree to which hand grasp affects force-related - or kinetic - neural activity and decoding performance in individuals with tetraplegia. The study results enhance our overall understanding of how the brain encodes kinetic parameters across varying kinematic behaviors -- and in particular, the degree to which these parameters have independent versus interacting neural representations. Such investigations are a critical first step to incorporating force control into human-operated iBCI systems, which would move the technology towards restoring more functional and naturalistic tasks.

neuroscience↗

bioRxiv2020

Skill-specific changes in cortical preparatory activity during motor learning

Animals have a remarkable capacity to learn new motor skills, but it remains an open question as to how learning changes neural population dynamics underlying movement1. Specifically, we asked whether changes in neural population dynamics relate purely to newly learned movements or if additional patterns are generated that facilitate learning without matching motor output. We trained rhesus monkeys to learn a curl force field2 task that elicited new arm-movement kinetics for some but not all reach directions3,4. We found that along certain neural dimensions, preparatory activity in motor cortex reassociated existing activity patterns with new movements. These systematic changes were observed only for learning-altered reaches. Surprisingly, we also found prominent shifts of preparatory activity along a nearly orthogonal neural dimension. These changes in preparatory activity were observed uniformly for all reaches including those unaltered by learning. This uniform shift during learning implies formation of new neural activity patterns, which was not observed in other short-term learning contexts5-8. During a washout period when the curl field was removed, movement kinetics gradually reverted, but the learning-induced uniform shift of preparatory activity persisted and a second, orthogonal uniform shift occurred. This persistent shift may retain a motor memory of the learned field9-11, consistent with faster relearning of the same curl field observed behaviorally and neurally. When multiple different curl fields were learned sequentially, we found distinct uniform shifts, each reflecting the identity of the field applied and potentially separating the associated motor memories12,13. The neural geometry of these shifts in preparatory activity could serve to organize skill-specific changes in movement production, facilitating the acquisition and retention of a broad motor repertoire.

neuroscience↗

bioRxiv2019

High-fidelity Musculoskeletal Modeling Reveals a Motor Planning Contribution to the Speed-Accuracy Tradeoff

The speed-accuracy tradeoff is a fundamental aspect of goal-directed motor behavior, empirically formalized by Fitts law, which relates movement duration to movement distance and target width. Here, we introduce a computational model of three-dimensional upper extremity movements that reproduces well-known features of reaching movements and is more biomechanically realistic than previous models. Critically, these features arise without the need of signal-dependent noise. We analyzed motor cortical neural activity from monkeys reaching to targets of different sizes. We found that the contribution of preparatory neural states to movement duration variability was greater for smaller targets than larger targets, and that movements to smaller targets exhibited less variability in preparatory neural states, but greater movement duration variability. Taken together, these results suggest that Fitts law emerges from greater task demands constraining the optimization landscape in a fashion that reduces the number of "good" control solutions (i.e., faster reaches). Thus, the speed-accuracy tradeoff could be a consequence of motor planning variability and optimal control theory, and not exclusively signal-dependent noise, as is currently held. Significance StatementA long-standing challenge in motor neuroscience is to understand the relationship between movement speed and accuracy, known as the speed-accuracy tradeoff. We introduce a computational model of reaching movements based on optimal control theory using a realistic model of musculoskeletal dynamics. The model synthesizes three-dimensional point-to-point reaching movements that reproduce kinematics features reported in motor control studies. Such high-fidelity modeling reveals that the speed-accuracy tradeoff as described by Fitts law emerges even without the presence of motor noise, which is commonly believed to underlie the speed-accuracy tradeoff. This suggests an alternative theory based on suboptimal control solutions. The crux of this theory is that some features of human movement are attributable to planning variability rather than execution noise.

neuroscience↗

bioRxiv2019

Decoding and perturbing decision states in real time

In dynamic environments, subjects often integrate multiple samples of a signal and combine them to reach a categorical judgment. The process of deliberation on the evidence can be described by a time-varying decision variable (DV), decoded from neural activity, that predicts a subjects decision at the end of a trial. However, within trials, large moment-to-moment fluctuations of the DV are observed. The behavioral significance of these fluctuations and their role in the decision process remain unclear. Here we show that within-trial DV fluctuations decoded in real time from motor cortex are tightly linked to choice behavior, and that robust changes in DV sign have the statistical regularities expected from behavioral studies of changes-of-mind. Furthermore, we find single-trial evidence for absorbing decision bounds. As the DV builds up, heavily favoring one or the other choice, moment-to-moment variability in the DV is reduced, and both neural DV and behavioral decisions become resistant to additional pulses of sensory evidence as predicted by diffusion-to-bound and attractor models of the decision process.

neuroscience↗

bioRxiv2019

Discovering precise temporal patterns in large-scale neural recordings through robust and interpretable time warping

Though the temporal precision of neural computation has been studied intensively, a data-driven determination of this precision remains a fundamental challenge. Reproducible spike time patterns may be obscured on single trials by uncontrolled temporal variability in behavior and cognition, or may not even be time locked to measurable signatures in either behavior or local field potentials (LFP). To overcome these challenges, we describe a general-purpose time warping framework that reveals precise spike-time patterns in an unsupervised manner, even when spiking is decoupled from behavior or is temporally stretched across single trials. We demonstrate this method across diverse systems: cued reaching in nonhuman primates, motor sequence production in rats, and olfaction in mice. This approach flexibly uncovers diverse dynamical firing patterns, including pulsatile responses to behavioral events, LFP-aligned oscillatory spiking, and even unanticipated patterns, like 7 Hz oscillations in rat motor cortex that are not time-locked to measured behaviors or LFP.

neuroscience↗

bioRxiv2018

Neural ensemble dynamics in dorsal motor cortex during speech in people with paralysis

Speaking is a sensorimotor behavior whose neural basis is difficult to study at the resolution of single neurons due to the scarcity of human intracortical measurements and the lack of animal models. We recorded from electrode arrays in the hand knob area of motor cortex in people with tetraplegia. Neurons in this area, which have not previously been implicated in speech, modulated during speaking and during non-speaking movement of the tongue, lips, and jaw. This challenges whether the conventional model of a motor homunculus division by major body regions extends to the single-neuron scale. Spoken words and syllables could be decoded from single trials, demonstrating the potential utility of intracortical recordings for brain-computer interfaces (BCIs) to restore speech. Two neural population dynamics features previously reported for arm movements were also present during speaking: a large initial condition-invariant signal, followed by rotatory dynamics. This suggests that common neural dynamical motifs may underlie movement of arm and speech articulators.

neuroscience↗