Robot studies on saccade-triggered visual prediction

Three robot studies on visual prediction are presented. In all of them, a visual forward model is used, which predicts the visual consequences of saccade-like camera movements. This forward model works by remapping visual information between the pre- and postsaccadic retinal images; at an abstract modeling level, this process is closely related to neurons whose visual receptive fields shift in anticipation of saccades. In the robot studies, predictive remapping is used (1) in the context of saccade adaptation, to reidentify target objects after saccades are carried out; (2) for a model of grasping, in which both fixated and non-fixated target objects are processed by the same foveal mechanism; and (3) in a computational architecture for mental imagery, which generates “gripper appearances” internally without real sensory inflow. The robotic experiments and their underlying computational models are discussed with regard to predictive remapping in the brain, transsaccadic memory, and attention. The results confirm that visual prediction is a mechanism that has to be considered in the design of artificial cognitive agents and the modeling of information processing in the human visual system.     

Biomechanical Motor Patterns in Normal Walking

Motor patterns in normal human gait are evident in several biomechanical and EMG analyses over the stride period. Some of these patterns are invariant over the stride period with changes of cadence, while others are closely correlated with speed changes. The findings for slow, natural, and fast walking are summarized: 1. Joint angle patterns over the stride period are quite invariant, and do not change with cadence;

2. Moment of force patterns at the ankle are least variable and quite consistent at all speeds;

3. A recently defined support moment is quite consistent at all speeds.

4. Moments at the knee and hip are highly variable at all cadences but decrease their variability as cadence increases;

5. Mechanical power patterns at all joints show consistent timing over the stride period;

6. EMG profiles of 5 muscles show consistent timing over the stride, but the amplitude increases as walking speed increases.

Arguments are presented to support the concept that walking speed is largely controlled by gain and that the timing of the motor patterns, which is extremely tightly synchronized with the anatomical position, is under major afferent control.     

A Test of the Schema Theory of Discrete Motor Learning

The recall schema in a response class of discrete movements was investigated, with variability of practice being manipulated before transfer to a new instance in the response class. After the transfer, the varied-practice group performance was superior to the continuous practice group. The interaction of the low-and high-variability groups from training to recall performance supported the prediction that a group with more variable training would exhibit an increased rate of learning when introduced to a new instance of the response class. After two days, the superiority of the high-variability group over the low disappeared, suggesting the memory representations of the two groups were no different under withdrawal of knowledge of results.