10A fundamental problem in motor control is the coordination of complementary movement types to 11 achieve a common goal. As a common example, humans view moving objects through coordinated 12 pursuit and saccadic eye movements. Pursuit is initiated and continuously controlled by retinal image 13 velocity. During pursuit, eye position may lag behind the target. This can be compensated by the discrete 14 execution of a catch-up saccade. The decision to trigger a saccade is influenced by both position and 15 velocity errors and the timing of saccades can be highly variable. The observed distributions of saccade 16 occurrence and trigger time remain poorly understood and this decision process remains imprecisely 17 quantified. Here we propose a predictive, probabilistic model explaining the decision to trigger saccades 18 during pursuit to foveate moving targets. In this model, expected position error and its associated 19 uncertainty are predicted through Bayesian inference across noisy, delayed sensory observations 20 (Kalman filtering). This probabilistic prediction is used to estimate the confidence that a saccade is 21 needed (quantified through log-probability ratio), triggering a saccade upon accumulating to a fixed 22 threshold. The model qualitatively explains behavioural observations on the probability of occurrence and 23 trigger time distributions of saccades during pursuit over a range of target motion trajectories.24 Furthermore, this model makes novel predictions about the influence of sensory uncertainty and target 25 motion parameters on saccade decisions. We suggest that this predictive, confidence-based decision 26 making strategy represents a fundamental principle for the probabilistic neural control of coordinated 27 movements.
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New & Noteworthy
29This is the first stochastic dynamical systems model of pursuit-saccade coordination accounting 30 for noise and delays in the sensorimotor system. The model uses Bayesian inference to predictively 31 estimate visual motion, triggering saccades when confidence in predicted position error accumulates to a 32 threshold. This model explains saccade probability and trigger time distributions across target trajectories 33 and makes novel predictions about the influence of sensory uncertainty in saccade decisions during 34 pursuit.The coordination between continuously controlled and discretely triggered movements to achieve 37 a common goal remains a fundamental problem in neuroscience. This coordinated motor control is 38 exemplified in the pursuit and saccadic eye movements that humans perform when tracking moving 39 objects. Pursuit eye movements are continuously controlled to minimize the relative motion of a visual 40 image on the retina (Keller and Heinen, 1991; Lisberger, 2015). Due to noise and delays prevalent in 41 sensorimotor systems (Faisal et al., 2008; van Beers et al., 2002), pursuit trajectory may deviate from and 42 lag behind the true target trajectory (Osborne et al., 2005). Furthermore, pursuit gain in humans is 43 typically less than ...