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      De novo learning versus adaptation of continuous control in a manual tracking task

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          Abstract

          How do people learn to perform tasks that require continuous adjustments of motor output, like riding a bicycle? People rely heavily on cognitive strategies when learning discrete movement tasks, but such time-consuming strategies are infeasible in continuous control tasks that demand rapid responses to ongoing sensory feedback. To understand how people can learn to perform such tasks without the benefit of cognitive strategies, we imposed a rotation/mirror reversal of visual feedback while participants performed a continuous tracking task. We analyzed behavior using a system identification approach, which revealed two qualitatively different components of learning: adaptation of a baseline controller and formation of a new, task-specific continuous controller. These components exhibited different signatures in the frequency domain and were differentially engaged under the rotation/mirror reversal. Our results demonstrate that people can rapidly build a new continuous controller de novo and can simultaneously deploy this process with adaptation of an existing controller.

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            A Neural Substrate of Prediction and Reward

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              Adaptive representation of dynamics during learning of a motor task.

              We investigated how the CNS learns to control movements in different dynamical conditions, and how this learned behavior is represented. In particular, we considered the task of making reaching movements in the presence of externally imposed forces from a mechanical environment. This environment was a force field produced by a robot manipulandum, and the subjects made reaching movements while holding the end-effector of this manipulandum. Since the force field significantly changed the dynamics of the task, subjects' initial movements in the force field were grossly distorted compared to their movements in free space. However, with practice, hand trajectories in the force field converged to a path very similar to that observed in free space. This indicated that for reaching movements, there was a kinematic plan independent of dynamical conditions. The recovery of performance within the changed mechanical environment is motor adaptation. In order to investigate the mechanism underlying this adaptation, we considered the response to the sudden removal of the field after a training phase. The resulting trajectories, named aftereffects, were approximately mirror images of those that were observed when the subjects were initially exposed to the field. This suggested that the motor controller was gradually composing a model of the force field, a model that the nervous system used to predict and compensate for the forces imposed by the environment. In order to explore the structure of the model, we investigated whether adaptation to a force field, as presented in a small region, led to aftereffects in other regions of the workspace. We found that indeed there were aftereffects in workspace regions where no exposure to the field had taken place; that is, there was transfer beyond the boundary of the training data. This observation rules out the hypothesis that the subject's model of the force field was constructed as a narrow association between visited states and experienced forces; that is, adaptation was not via composition of a look-up table. In contrast, subjects modeled the force field by a combination of computational elements whose output was broadly tuned across the motor state space. These elements formed a model that extrapolated to outside the training region in a coordinate system similar to that of the joints and muscles rather than end-point forces. This geometric property suggests that the elements of the adaptive process represent dynamics of a motor task in terms of the intrinsic coordinate system of the sensors and actuators.
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                Author and article information

                Contributors
                Role: Reviewing Editor
                Role: Senior Editor
                Journal
                eLife
                Elife
                eLife
                eLife
                eLife Sciences Publications, Ltd
                2050-084X
                25 June 2021
                2021
                : 10
                : e62578
                Affiliations
                [1 ]Department of Neuroscience, Johns Hopkins University BaltimoreUnited States
                [2 ]Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, Johns Hopkins University BaltimoreUnited States
                [3 ]Department of Neurology, Johns Hopkins University BaltimoreUnited States
                Carnegie Mellon University United States
                University College London United Kingdom
                Carnegie Mellon University United States
                Carnegie Mellon University United States
                Author information
                https://orcid.org/0000-0002-7645-3861
                https://orcid.org/0000-0003-2502-3770
                https://orcid.org/0000-0002-5658-8654
                Article
                62578
                10.7554/eLife.62578
                8266385
                34169838
                0f2d467f-bd77-491a-84e1-afa3dfca5437
                © 2021, Yang et al

                This article is distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use and redistribution provided that the original author and source are credited.

                History
                : 29 August 2020
                : 22 June 2021
                Funding
                Funded by: FundRef http://dx.doi.org/10.13039/100005238, Link Foundation;
                Award ID: Modeling, Simulation and Training Fellowship
                Award Recipient :
                Funded by: FundRef http://dx.doi.org/10.13039/100000002, National Institutes of Health;
                Award ID: 5T32NS091018-17
                Award Recipient :
                Funded by: FundRef http://dx.doi.org/10.13039/100000002, National Institutes of Health;
                Award ID: 5T32NS091018-18
                Award Recipient :
                Funded by: FundRef http://dx.doi.org/10.13039/100000001, National Science Foundation;
                Award ID: 1825489
                Award Recipient :
                The funders had no role in study design, data collection and interpretation, or the decision to submit the work for publication.
                Categories
                Research Article
                Neuroscience
                Custom metadata
                Humans can rapidly build a new controller when learning continuous movement tasks and can flexibly integrate this process with adaptation of an existing controller.

                Life sciences
                motor learning,adaptation,continuous control,human
                Life sciences
                motor learning, adaptation, continuous control, human

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