Visually Controlled Locomotion: 40 years Later

Gibson's article, Visually Controlled Locomotion and Visual Orientation in Animals(1958/this issue), is the leading statement of a nonrepresentational, information-based approach to visual control. The core ideas he introduced 40 years ago resurface, explicitly or implicitly, in much contemporary work on perception and action in humans, insects, robots, and autonomous agents. The purpose of this special issue is to assess the continuing pertinence of these insights and illustrate current directions in research on visually controlled locomotion. In this article, I locate the 1958 article in the context of Gibson's emerging theory of perception, contrast information-based control with standard model-based and cybernetic control architectures, evaluate the current status of Gibson's visual control formulae, and situate visual control within an informational-dynamical approach to agent-environment systems. Locomotion is a biologically basic function, and if that can be accounted for then the problem of human space perception may appear in a new light. The question, then, is how an animal gets about by vision.     

Affordance-Based Control of Visually Guided Action

The purpose of this essay is to compare and contrast existing theoretical approaches to understanding the visual guidance of action and to introduce a new approach. The focus is on tasks, such as steering, braking, and intercepting, that are (more or less) continuously guided on the basis of visual information. The prominent approach, information-based control, captures important aspects of behavior but is incompatible with the theory of affordances, a core principle of the ecological approach. Information-based control also fails to capture how actors behave in ways that take the limits of their action capabilities into account. I attempt to resolve these problems by introducing a new approach, affordance-based control, which asserts that a primary function of vision is to allow actors to see the world in terms of what they can and cannot do. Affordance-based control captures the tight coupling between information in optic flow and movement that is characteristic of visually guided action but also provides a parsimonious explanation of how actors take into account the dynamic properties of their body and the environment.     

Visually Controlled Locomotion and Visual Orientation in Animals

A general theory of locomotor behavior in relation to physical objects is presented. Since the controlling stimulation for such behavior is mainly optical, this involves novel assumptions about object perception and about what is called visual kinaesthesis. Evidence for these assumptions is cited. On the basis of this theory it is possible to suppose that animals are visually oriented to the surfaces of their environment, not merely to light as such. In short, it is possible to explain why they seem to have space perception. Implications of this approach for maze-learning are pointed out.     

Human Eye Movements During Visually Guided Stepping

Visually guided locomotion was studied in an experiment in which human subjects (N = 8) had to accurately negotiate a series of irregularly spaced stepping-stones while infrared reflectometry and electrooculography were used to continuously record their eye movements. On average, 68% of saccades made toward the next target of footfall had been completed (visual target capture had occurred) while the foot to be positioned was still on the ground; the remainder were completed in the first 300 ms of the swing phase. The subjects' gaze remained fixed on a target, on average, until 51 ms after making contact with it, with little variation. A greater amount of variation was seen in the timing of trailing footlift relative to visual target capture. Assuming that subjects sampled the visual cues as and when they were required, visual information appeared most useful when the foot to be positioned was still on the ground.     

Asymmetries in the Regulation of Visually Guided Aiming

An experiment was conducted to examine the contribution of sensory information to asymmetries in manual aiming. Movements were performed in four vision conditions. In the full-vision condition (FV), subjects were afforded vision of both the hand and the target throughout the course of the movement. In the ambient-illumination-off condition (AO), the room lights were extinguished at movement initiation, preventing vision of the moving limb. In the target-off (TO) condition, the target was extinguished upon initiation of the movement. In a no-vision (NV) condition, ambient illumination was removed and the target was extinguished upon initiation of the response movement. Results indicated that accuracy was superior in the full-vision and target-off conditions and when movements were made by the right hand. Movements made by the right hand were also of shorter mean duration. The magnitudes of performance asymmetries were uninfluenced by vision condition. Analyses of movement kinematics revealed that movements made in conditions in which there was vision of the limb exhibited a greater number of discrete modifications of the movement trajectory. On an individual-trial basis, no relationship existed between accuracy and the occurrence of discrete modifications. These data suggest that although vision greatly enhances accuracy, discrete modifications subserved by vision reflect the imposition of nonfunctional zero-order control processes upon continuous higher-order control regimes.     

Coordination of Eye and Leg Movements During Visually Guided Stepping

In the present study, 2 related hypotheses were tested: first, that vision is used in a feedforward control mode during precision stepping onto visual targets and, second, that the oculomotor and locomotor control centers interact to produce coordinated eye and leg movements during that task. Participants' (N = 4) eye movements and step cycle transition events were monitored while they performed a task requiring precise foot placement at every step onto irregularly placed stepping stones under conditions in which the availability of visual information was either restricted or intermittently removed altogether. Accurate saccades, followed by accurate steps, to the next footfall target were almost always made even when the information had been invisible for as long as 500 ms. Despite delays in footlift caused by the temporary removal (and subsequent reinstatement) of visual information, the mean interval between the start of the eye movement and the start of the swing toward a target did not vary significantly (p > .05). In contrast, the mean interval between saccade onset away from a target and a foot landing on that target (stance onset) did vary significantly (p < .05) under the different experimental conditions. Those results support the stated hypotheses.     

Anxiety Influences the Perceptual-Motor Calibration of Visually Guided Braking to Avoid Collisions

We investigated whether anxiety influences perceptual-motor calibration in a braking to avoid a collision task. Participants performed either a discrete braking task (Experiment 1) or a continuous braking task (Experiment 2), with the goal of stopping before colliding with a stop sign. Half of participants performed the braking task after an anxiety induction. We investigated whether anxiety reduced the frequency of crashing and if it influenced the calibration of perception (visual information) and action (brake pressure) dynamically between-trials in Experiment 1 and within-trials in Experiment 2. In the discrete braking task, anxious participants crashed less often and made larger corrective adjustments trial-to-trial after crashing, suggesting that the influence of anxiety on behavior did not occur uniformly, but rather dynamically with anxiety amplifying the reaction to previous crashes. However, when performing continuous braking, anxious participants crashed more often, and their within-trial adjustments of deceleration were less related to visual information compared to controls. Taken together, these findings suggest that the timescale and nature of the task mediates the influence of anxiety on the performance of goal-directed actions.     

Visually Controlled Locomotion: Its Dependence on Optic Flow,Three-Dimensional Space Perception,and Cognition

Gibson (1958/this issue) and his followers have emphasized the role of optic flow in the control of locomotion. In recent years much research has been devoted to the visual control of aiming and braking, mainly in connection with terrestrial locomotion. The goal of this article is to broaden the topic empirically and theoretically. At the empirical level, we argue that there are a number of visually controlled maneuvers that need to be addressed for their own sake, for they involve more than can be learned from research on aiming and braking. At the theoretical level, we argue that optic flow needs to be supplemented by other explanatory primitives, including the actor's perception of three-dimensional spatial layout and the actor's cognitive representations of the spatial envelope and plant dynamics of his or her body or vehicle.     

Visually Perceiving What is Reachable

Four experiments designed to assess observers' ability to perceive whether or not something is within reach, under a variety of circumstances, are reported. Actual reaching ability is influenced by the posture in which reaching is to be done (e.g., with the arm alone, extending the arm while bending from the hip, and main- taining balance while bending from an upright standing position) and by the surface layout that confronts the reacher (e.g., the height of a surface to be reached and the presence of barriers to bending). Our investigation reveals that perceivers are sensitive to these influences on their reaching ability, although some are quite complex biomechanically. The results are discussed in the context of the demands that they place on computational and ecological accounts of perceiving what is within reach.     

Visually induced reorientation illusions.

It is known that rotation of a furnished room around the roll axis of erect subjects produces an illusion of 360 degrees self-rotation in many subjects. Exposure of erect subjects to stationary tilted visual frames or rooms produces only up to 20 degrees of illusory tilt. But, in studies using static tilted rooms, subjects remained erect and the body axis was not aligned with the room. We have revealed a new class of disorientation illusions that occur in many subjects when placed in a 90 degrees or 180 degrees tilted room containing polarised objects (familiar objects with tops and bottoms). For example, supine subjects looking up at a wall of the room feel upright in an upright room and their arms feel weightless when held out from the body. We call this the levitation illusion. We measured the incidence of 90 degrees or 180 degrees reorientation illusions in erect, supine, recumbent, and inverted subjects in a room tilted 90 degrees or 180 degrees. We report that reorientation illusions depend on the displacement of the visual scene rather than of the body. However, illusions are most likely to occur when the visual and body axes are congruent. When the axes are congruent, illusions are least likely to occur when subjects are prone rather than supine, recumbent, or inverted.     

Visually controlled matching of pattern movement

Utrecht Biophysics Research Institute, Rijksuniversiteit Utrecht, Utrecht, The Netherlands Subjects were asked to match the speeds of two moving random-dot patterns seen through circular apertures. The speed of one pattern that moved horizontally toward the right of a computer screen changed continuously. The speed of this pattern represented the target. It was to be matched with the speed of the second pattern, which moved in the opposite direction. The subject controlled the speed of the second pattern by means of an isometric joystick. The distance between the apertures on the screen as well as the subject’s distance from the screen served as experimental parameters. In this way, the effects of both spatialand temporal transients of pattern speed on human tracking performance were studied. To avoid anticipation by the subject, the amplitude and the frequency of the target pattern speed changed pseudorandomly. The accuracy with which the subject performed the matching task was influenced by the mean pattern speed and the parameters of the visual field. Within lower velocity ranges, the subject’s sensitivity to the instantaneous speed differences varied according to Weber’s law. The cross-correlation of the velocity time courses decreased when the mean speed of the target pattern was increased. Two stimulus parameters had a strong influence on the modulation of the correlation value: (1) the angular size of the stimulus on the retina and (2) the retinal eccentricity of the stimulus.     

Visually controlled matching of pattern movement.

Subjects were asked to match the speeds of two moving random-dot patterns seen through circular apertures. The speed of one pattern that moved horizontally toward the right of a computer screen changed continuously. The speed of this pattern represented the target. It was to be matched with the speed of the second pattern, which moved in the opposite direction. The subject controlled the speed of the second pattern by means of an isometric joystick. The distance between the apertures on the screen as well as the subject's distance from the screen served as experimental parameters. In this way, the effects of both spatial and temporal transients of pattern speed on human tracking performance were studied. To avoid anticipation by the subject, the amplitude and the frequency of the target pattern speed changed pseudorandomly. The accuracy with which the subject performed the matching task was influenced by the mean pattern speed and the parameters of the visual field. Within lower velocity ranges, the subject's sensitivity to the instantaneous speed differences varied according to Weber's law. The cross-correlation of the velocity time courses decreased when the mean speed of the target pattern was increased. Two stimulus parameters had a strong influence on the modulation of the correlation value: (1) the angular size of the stimulus on the retina and (2) the retinal eccentricity of the stimulus.     

Visually Based Descriptions of an Everyday Action

A technique is described for analyzing everyday behaviors into units of action. The basis of this technique is both theoretical and empirical. Theoretically, an argument is made that a basic unit level exists in everyday action and that this basic unit is characterized as a minimal transformation of the environment by the agent. In this study, we demonstrate that observers naive to this hypothesis about the nature of action nevertheless segmented actions they observed in the way predicted by the theory.     

Some Characteristics of EMG Patterns During Locomotion

Myoelectric signals from several muscles of the lower limb were studied under various speed and stride length conditions. The main purpose was to determine invariant and variant features among these myoelectric patterns. A pattern recognition algorithm was used to analyze these activity patterns. Within-condition analysis revealed some common features among the EMG patterns. This suggests that the nervous system does not have to generate all the muscle activity patterns, only the common features that can, in appropriate combination, produce the necessary activity patterns. From the across condition analysis, the following rules emerged. First, both phasic component and magnitude (d.c. level) of the muscle activity patterns have to be modulated to meet the demands imposed by the various conditions. Second, the variability in the proximal muscle activity patterns across conditions are higher than the distal muscle activity patterns. Within each group, the extensor muscles and double-jointed muscles show greater variability than the flexor muscles and single-jointed muscles. And finally, the changes in the average value (d.c. level) of the muscle activity patterns across conditions are not uniform but show muscle and task specificity. For example, within the speed condition, the increase in d.c. level of the extensors with speed of locomotion show a proximal to distal trend. Based on these results, a conceptual model for the human locomotor control process is proposed.     

Multimodal Perception of Reachability Expressed Through Locomotion

We investigated the information that supports perception of whether an object is within reach using a locomotor task. Participants adjusted their own position relative to a fixed target by stepping or by propelling a wheelchair until they judged it to be within reach. The to-be-reached object was presented in virtual reality. The display of the target was driven in real time as a function of the observer's movement, thus depicting a stationary virtual object at a definite distance only through the relation across optical and nonoptical patterns of stimulation. We asked participants to judge the distance they could reach with their unaided hand or when holding a rod that extended their effective reach. They could see neither their body nor the rod thereby limiting available visual information about “reachability.” As expected, our results showed that despite the limited information that was available, participants' locomotor adjustments were influenced by (a) their simulated distance from the target, (b) their arm length, and (c) the presence or absence of the rod. The type of motion (stepping or wheelchair) had little influence. However, judgment accuracy was influenced by participants' initial simulated distance from the target. We compare the performance obtained in our locomotor judgment task with previous studies that have used different methods for measuring perceived reaching-ability. We discuss perceptual information that could have supported performance within the framework of the global array.     

Guided Discovery

Guided discovery involves a therapeutic dialogue that is designed to assist clients in finding their own solutions to their problems. An integration of problem-solving therapy and the Socratic method can help clients to develop their own coping skills. Problem-solving therapy provides a useful framework for helping clients to manage many of the problems they typically encounter. The Socratic method provides a useful therapeutic style to promote self-guided discovery and self-regulation. Strategies from the Socratic method can be used to guide the process of the therapeutic dialogue, while the stages of problem-solving serve as the structure for the content of therapy sessions. Therapy can be structured according to five main stages: (1) Help clients establish a realistic and adaptive attitude toward common life problems; (2) Define problems in terms of specific and realistic goals; (3) Help clients to generate a wide variety of coping options; (4) Guide clients through a process of rational decision-making in order to select the best coping options, and (5) Implement the plan and evaluate its effectiveness. A systematic series of questions can be used to facilitate the client’s self-evaluation of different problems, goals, and coping efforts. The process helps to promote client autonomy and self-guided action. When problem-solving therapy is integrated within the Socratic method, clients can learn to approach most problems in a logical, thoughtful, and self-directed manner.