Active Spatial Perception in the Vibrissa Scanning Sensorimotor System

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Abstract
Haptic perception is an active process that provides an awareness of objects that are encountered as an organism scans its environment. In contrast to the sensation of touch produced by contact with an object, the perception of object location arises from the interpretation of tactile signals in the context of the changing configuration of the body. A discrete sensory representation and a low number of degrees of freedom in the motor plant make the ethologically prominent rat vibrissa system an ideal model for the study of the neuronal computations that underlie this perception. We found that rats with only a single vibrissa can combine touch and movement to distinguish the location of objects that vary in angle along the sweep of vibrissa motion. The patterns of this motion and of the corresponding behavioral responses show that rats can scan potential locations and decide which location contains a stimulus within 150 ms. This interval is consistent with just one to two whisk cycles and provides constraints on the underlying perceptual computation. Our data argue against strategies that do not require the integration of sensory and motor modalities. The ability to judge angular position with a single vibrissa thus connects previously described, motion-sensitive neurophysiological signals to perception in the behaving animal. Rats explore the world with their whiskers (vibrissae). Although the sensations of touch that an animal experiences while exploring an object either in front of its head or to its side can be similar, the two sensations tell the animal different things about its nearby environment. The translation from passive touch to knowledge of an object's location requires that the nervous system keep track of the location of the animal's body as it moves. We studied this process by restricting a rat's whisking information to that provided by a single actively moving vibrissa. We found that even with such limited information, rats can search for, locate, and differentiate objects near their heads with astonishing speed. Their behavior during this search reflects the computations performed by their nervous systems to locate objects based on touch, and this behavior demonstrates that rats keeps track of their vibrissa motion with a resolution of less than 0.1 s. Understanding how these computations are performed will bring us closer to understanding how the brain integrates the sense of touch with its sense of self.