A Humanoid Robot’s Effortful Adaptation Boosts Partners’ Commitment to an Interactive Teaching Task

We tested the hypothesis that, if a robot apparently invests effort in teaching a new skill to a human participant, the human participant will reciprocate by investing more effort in teaching the robot a new skill, too. To this end, we devised a scenario in which the iCub and a human participant alternated in teaching each other new skills. In the Adaptive condition of the robot teaching phase , the iCub slowed down its movements when repeating a demonstration for the human learner, whereas in the Unadaptive condition it sped the movements up when repeating the demonstration. In a subsequent participant teaching phase , human participants were asked to give the iCub a demonstration, and then to repeat it if the iCub had not understood. We predicted that in the Adaptive condition , participants would reciprocate the iCub’s adaptivity by investing more effort to slow down their movements and to increase segmentation when repeating their demonstration. The results showed that this was true when participants experienced the Adaptive condition after the Unadaptive condition and not when the order was inverted, indicating that participants were particularly sensitive to the changes in the iCub’s level of commitment over the course of the experiment.

Modeling and Validation of Fatigue and Recovery of Muscles for Manual Demolition Tasks

Manual demolition tasks are heavy, physically demanding tasks that could cause muscle fatigue accumulation and lead to work-related musculoskeletal disorders (WMSDs). Fatigue and recovery models of muscles are essential in understanding the accumulation and the reduction in muscle fatigue for forceful exertion tasks. This study aims to explore the onset of muscle fatigue under different work/rest arrangements during manual demolition tasks and the offset of fatigue over time after the tasks were performed. An experiment, including a muscle fatigue test and a muscle fatigue recovery test, was performed. Seventeen male adults without experience in demolition hammer operation were recruited as human participants. Two demolition hammers (large and small) were adopted. The push force was either 20 or 40 N. The posture mimicked that of a demolition task on a wall. In the muscle fatigue test, the muscle strength (MS) before and after the demolition task, maximum endurance time (MET), and the Borg category-ratio-10 (CR-10) ratings of perceived exertion after the demolition task were measured. In the muscle fatigue recovery test, MS and CR-10 at times 1, 2, 3, 4, 5, and 6 min were recorded. Statistical analyses were performed to explore the influence of push force and the weight of the tool on MS, MET, and CR-10. Both muscle fatigue models and muscle fatigue recovery models were established and validated. The results showed that push force affected MET significantly (p < 0.05). The weight of the tool was significant (p < 0.05) only on the CR-10 rating after the first pull. During the muscle fatigue recovery test, the MS increase and the CR-10 decrease were both significant (p < 0.05) after one or more breaks. Models of MET and MS prediction were established to assess muscle fatigue recovery, respectively. The absolute (AD) and relative (RD) deviations of the MET model were 1.83 (±1.94) min and 34.80 (±31.48)%, respectively. The AD and RD of the MS model were 1.39 (±0.81) N and 1.9 (±1.2)%, respectively. These models are capable of predicting the progress and recovery of muscle fatigue, respectively, and may be adopted in work/rest arrangements for novice workers performing demolition tasks.

Exogenous capture accounts for fundamental differences between prosaccade and antisaccade performance

Oculomotor circuits generate eye movements based on the physical salience of objects and current behavioral goals, exogenous and endogenous influences, respectively. However, the interactions between exogenous and endogenous mechanisms and their dynamic contributions to target selection have been difficult to resolve because they evolve extremely rapidly. In a recent study (Salinas et al., 2019), we achieved the necessary temporal precision using an urgent variant of the antisaccade task wherein motor plans are initiated early and choice accuracy depends sharply on when exactly the visual cue information becomes available. Empirical and modeling results indicated that the exogenous signal arrives ~80 ms after cue onset and rapidly accelerates the (incorrect) plan toward the cue, whereas the informed endogenous signal arrives ~25 ms later to favor the (correct) plan away from the cue. Here, we scrutinize a key mechanistic hypothesis about this dynamic, that the exogenous and endogenous signals act at different times and independently of each other. We test quantitative model predictions by comparing the performance of human participants instructed to look toward a visual cue versus away from it under high urgency. We find that, indeed, the exogenous response is largely impervious to task instructions; it simply flips its sign relative to the correct choice, and this largely explains the drastic differences in psychometric performance between the two tasks. Thus, saccadic choices are strongly dictated by the alignment between salience and behavioral goals.

Scene Context Impairs Perception of Semantically Congruent Objects

Visual scene context is well-known to facilitate the recognition of scene-congruent objects. Interestingly, however, according to predictive-processing accounts of brain function, scene congruency may lead to reduced (rather than enhanced) processing of congruent objects, compared with incongruent ones, because congruent objects elicit reduced prediction-error responses. We tested this counterintuitive hypothesis in two online behavioral experiments with human participants ( N = 300). We found clear evidence for impaired perception of congruent objects, both in a change-detection task measuring response times and in a bias-free object-discrimination task measuring accuracy. Congruency costs were related to independent subjective congruency ratings. Finally, we show that the reported effects cannot be explained by low-level stimulus confounds, response biases, or top-down strategy. These results provide convincing evidence for perceptual congruency costs during scene viewing, in line with predictive-processing theory.

Relative precision of top-down attentional modulations is lower in early visual cortex compared to mid- and high-level visual areas

Top-down spatial attention enhances cortical representations of behaviorally relevant visual information and increases the precision of perceptual reports. However, little is known about the relative precision of top-down attentional modulations in different visual areas, especially compared to the highly precise stimulus-driven responses that are observed in early visual cortex. For example, the precision of attentional modulations in early visual areas may be limited by the relatively coarse spatial selectivity and the anatomical connectivity of the areas in prefrontal cortex that generate and relay the top-down signals. Here, we used fMRI and human participants to assess the precision of bottom-up spatial representations evoked by high contrast stimuli across the visual hierarchy. Then, we examined the relative precision of top-down attentional modulations in the absence of spatially-specific bottom-up drive. While V1 showed the largest relative difference between the precision of top-down attentional modulations and the precision of bottom-up modulations, mid-level areas such as V4 showed relatively smaller differences between the precision of top-down and bottom-up modulations. Overall, this interaction between visual areas (e.g. V1 vs V4) and the relative precision of top-down and bottom-up modulations suggests that the precision of top-down attentional modulations is limited by the representational fidelity of areas that generate and relay top-down feedback signals.

Inter-personal motor interaction is facilitated by hand pairing

The extent to which hand dominance may influence how each agent contributes to inter-personal coordination remains unknown. In the present study, right-handed human participants performed object balancing tasks either in dyadic conditions with each agent using one hand (left or right), or in bimanual conditions where each agent performed the task individually with both hands. We found that object load was shared between two hands more asymmetrically in dyadic than single-agent conditions. However, hand dominance did not influence how two hands shared the object load. In contrast, hand dominance was a major factor in modulating hand vertical movement speed. Furthermore, the magnitude of internal force produced by two hands against each other correlated with the synchrony between the two hands’ movement in dyads. This finding supports the important role of internal force in haptic communication. Importantly, both internal force and movement synchrony were affected by hand dominance of the paired participants. Overall, these results demonstrate, for the first time, that pairing of one dominant and one non-dominant hand may promote asymmetrical roles within a dyad during joint physical interactions. This appears to enable the agent using the dominant hand to actively maintain effective haptic communication and task performance.

Focal neural perturbations reshape low-dimensional trajectories of brain activity supporting cognitive performance

The emergence of distributed patterns of neural activity supporting brain functions and behavior can be understood by study of the brain’s low-dimensional topology. Functional neuroimaging demonstrates that brain activity linked to adaptive behavior is constrained to low-dimensional manifolds. In human participants, we tested whether these low-dimensional constraints preserve working memory performance following local neuronal perturbations. We combined multi-session functional magnetic resonance imaging, non-invasive transcranial magnetic stimulation (TMS), and methods translated from the fields of complex systems and computational biology to assess the functional link between changes in local neural activity and the reshaping of task-related low dimensional trajectories of brain activity. We show that specific reconfigurations of low-dimensional trajectories of brain activity sustain effective working memory performance following TMS manipulation of local activity on, but not off, the space traversed by these trajectories. We highlight an association between the multi-scale changes in brain activity underpinning cognitive function.

Increasing stimulus similarity drives nonmonotonic representational change in hippocampus

Studies of hippocampal learning have obtained seemingly contradictory results, with manipulations that increase coactivation of memories sometimes leading to differentiation of these memories, but sometimes not. These results could potentially be reconciled using the nonmonotonic plasticity hypothesis, which posits that representational change (memories moving apart or together) is a U-shaped function of the coactivation of these memories during learning. Testing this hypothesis requires manipulating coactivation over a wide enough range to reveal the full U-shape. To accomplish this, we used a novel neural network image synthesis procedure to create pairs of stimuli that varied parametrically in their similarity in high-level visual regions that provide input to the hippocampus. Sequences of these pairs were shown to human participants during high-resolution fMRI. As predicted, learning changed the representations of paired images in the dentate gyrus as a U-shaped function of image similarity, with neural differentiation occurring only for moderately similar images.

Temporal–spectral signaling of sensory information and expectations in the cerebral processing of pain

The perception of pain is shaped by somatosensory information about threat. However, pain is also influenced by an individual’s expectations. Such expectations can result in clinically relevant modulations and abnormalities of pain. In the brain, sensory information, expectations (predictions), and discrepancies thereof (prediction errors) are signaled by an extended network of brain areas which generate evoked potentials and oscillatory responses at different latencies and frequencies. However, a comprehensive picture of how evoked and oscillatory brain responses signal sensory information, predictions, and prediction errors in the processing of pain is lacking so far. Here, we therefore applied brief painful stimuli to 48 healthy human participants and independently modulated sensory information (stimulus intensity) and expectations of pain intensity while measuring brain activity using electroencephalography (EEG). Pain ratings confirmed that pain intensity was shaped by both sensory information and expectations. In contrast, Bayesian analyses revealed that stimulus-induced EEG responses at different latencies (the N1, N2, and P2 components) and frequencies (alpha, beta, and gamma oscillations) were shaped by sensory information but not by expectations. Expectations, however, shaped alpha and beta oscillations before the painful stimuli. These findings indicate that commonly analyzed EEG responses to painful stimuli are more involved in signaling sensory information than in signaling expectations or mismatches of sensory information and expectations. Moreover, they indicate that the effects of expectations on pain are served by brain mechanisms which differ from those conveying effects of sensory information on pain.

The common H202D variant in GDF-15 does not affect its bioactivity but can significantly interfere with measurement of its circulating levels

Genetic variants in proteins can interfere with measurement of their circulating concentrations. Given the growing biomedical importance of GDF-15, we wished to establish whether a common histidine to aspartate variant present in position 6 of the mature GDF-15 protein (H202D variant) interfered with its measurement by two commonly used immunoassays. We first examined the detectability of recombinant monomers, homodimers and heterodimers of GDF-15 by assays and/or reagents used in two widely used immunoassays (Roche Elecsys GDF-15 and the R&D antibody combinations used in their Quantikine and DuoSet ELISAs). The Roche assay detected the H and D containing peptides similarly but the assays based on the R&D reagents consistently underreported concentrations of the D-containing variant peptide. Measurements of plasma concentrations of GDF-15 in genotyped human participants showed that the R&D reagents reported values in heterozygotes were ~25% lower, and in homozygotes, 50% lower than the Roche assay. We finally studied the activation of the GDF-15 receptor, GFRAL-Ret, in a cell based assay and found that the activities of the HH and DD containing GDF-15 peptide were indistinguishable. These results have implications for the interpretation of genetic epidemiological studies which have used the R&D reagents to measure GDF-15, and for the emerging clinical use of GDF-15 as a diagnostic and prognostic biomarker. We provide correction equations, which may be of utility for the analysis of data generated with the R&D reagents where the genotype of the participants is known.