Biology subjects

Miller, L. E.

Publications and source records attributed to Miller, L. E..

At least 37 records · Page 2Linked to original sources

bioRxiv2024

Repetitive Somatosensory Stimulation Shrinks The Body Image

Current models of mental body representations (MBRs) indicate that tactile inputs feed several of them for different functions, implying that altering tactile inputs may affect MBRs differently. Here we tested this hypothesis by leveraging Repetitive Somatosensory Stimulation (RSS), known to improve tactile perception by modulating primary somatosensory cortex (SI) activity, and measured its effects over the body image, the body model and the superficial schema in a randomized sham-controlled, double-blind cross-over study. Results show that RSS affected the body image, participants perceiving their finger size as being smaller after RSS. While previous work showed increase of finger size perception after tactile anesthesia (Gandevia & Phegan 1999), these findings reveal that tactile inputs can diametrically modulate the body image. In contrast, RSS did not alter the body model or superficial schema. In addition, we report a novel mislocalization pattern, with a bias towards the middle finger in the distal phalanges that reverses towards the thumb in the proximal phalanx, enriching the known distortions of the superficial schema. Overall, these findings provide novel insights into the functional organization of MBRs and their relationships with somatosensory information. Reducing the perceived body size through RSS could be useful in helping treat body image disturbance.

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bioRxiv2024

Less is more: selection from a small set of options improves BCI velocity control

We designed the discrete direction selection (DDS) decoder for intracortical brain computer interface (iBCI) cursor control and showed that it outperformed currently used decoders in a human-operated real-time iBCI simulator and in monkey iBCI use. Unlike virtually all existing decoders that map between neural activity and continuous velocity commands, DDS uses neural activity to select among a small menu of preset cursor velocities. We compared closed-loop cursor control across four visits by each of 48 naive, able-bodied human subjects using either DDS or one of three common continuous velocity decoders: direct regression with assist (an affine map from neural activity to cursor velocity), ReFIT, and the velocity Kalman Filter. DDS outperformed all three by a substantial margin. Subsequently, a monkey using an iBCI also had substantially better performance with DDS than with the Wiener filter decoder (direct regression decoder that includes time history). Discretizing the decoded velocity with DDS effectively traded high resolution velocity commands for less tortuous and lower noise trajectories, highlighting the potential benefits of simplifying online iBCI control.

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bioRxiv2023

Biases in hand perception are driven by somatosensory computations, not a distorted hand model

To sense and interact with objects in the environment, we effortlessly configure our fingertips at desired locations. It is therefore reasonable to assume the underlying control mechanisms rely on accurate knowledge about the structure and spatial dimensions of our hand and fingers. This intuition, however, is challenged by years of research showing drastic biases in the perception of finger geometry.1-5 This perceptual bias has been taken as evidence that the brains internal representation of the bodys geometry is distorted,6 leading to an apparent paradox with the skillfulness of our actions.7 Here, we propose an alternative explanation of the biases in hand perception--They are the result of the Bayesian integration of noisy, but unbiased somatosensory signals about finger geometry and posture. To address this hypothesis, we combined Bayesian reverse-engineering with behavioral experimentation on joint and fingertip localization of the index finger. We modelled the Bayesian integration either in sensory or in space-based coordinates, showing that the latter model variant led to biases in finger perception despite accurate representation of finger length. Behavioral measures of joint and fingertip localization responses showed similar biases, which were well-fitted by the space-based but not the sensory-based model variant. The space-based model variant also outperformed a distorted-hand model with built-in geometric biases. In total, our results suggest that perceptual distortions of finger geometry do not reflect a distorted hand model but originate from near-optimal Bayesian inference on somatosensory signals.

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bioRxiv2023

BRAND: A platform for closed-loop experiments with deep network models

Artificial neural networks (ANNs) are state-of-the-art tools for modeling and decoding neural activity, but deploying them in closed-loop experiments with tight timing constraints is challenging due to their limited support in existing real-time frameworks. Researchers need a platform that fully supports high-level languages for running ANNs (e.g., Python and Julia) while maintaining support for languages that are critical for low-latency data acquisition and processing (e.g., C and C++). To address these needs, we introduce the Backend for Realtime Asynchronous Neural Decoding (BRAND). BRAND comprises Linux processes, termed nodes, which communicate with each other in a graph via streams of data. Its asynchronous design allows for acquisition, control, and analysis to be executed in parallel on streams of data that may operate at different timescales. BRAND uses Redis to send data between nodes, which enables fast inter-process communication and supports 54 different programming languages. Thus, developers can easily deploy existing ANN models in BRAND with minimal implementation changes. In our tests, BRAND achieved <600 microsecond latency between processes when sending large quantities of data (1024 channels of 30 kHz neural data in 1-millisecond chunks). BRAND runs a brain-computer interface with a recurrent neural network (RNN) decoder with less than 8 milliseconds of latency from neural data input to decoder prediction. In a real-world demonstration of the system, participant T11 in the BrainGate2 clinical trial performed a standard cursor control task, in which 30 kHz signal processing, RNN decoding, task control, and graphics were all executed in BRAND. This system also supports real-time inference with complex latent variable models like Latent Factor Analysis via Dynamical Systems. By providing a framework that is fast, modular, and language-agnostic, BRAND lowers the barriers to integrating the latest tools in neuroscience and machine learning into closed-loop experiments.

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bioRxiv2023

Nonlinear manifolds underlie neural population activity during behaviour

There is rich variety in the activity of single neurons recorded during behaviour. Yet, these diverse single neuron responses can be well described by relatively few patterns of neural co-modulation. The study of such low-dimensional structure of neural population activity has provided important insights into how the brain generates behaviour. Virtually all of these studies have used linear dimensionality reduction techniques to estimate these population-wide co-modulation patterns, constraining them to a flat "neural manifold". Here, we hypothesised that since neurons have nonlinear responses and make thousands of distributed and recurrent connections that likely amplify such nonlinearities, neural manifolds should be intrinsically nonlinear. Combining neural population recordings from monkey, mouse, and human motor cortex, and mouse striatum, we show that: 1) neural manifolds are intrinsically nonlinear; 2) their nonlinearity becomes more evident during complex tasks that require more varied activity patterns; and 3) manifold nonlinearity varies across architecturally distinct brain regions. Simulations using recurrent neural network models confirmed the proposed relationship between circuit connectivity and manifold nonlinearity, including the differences across architecturally distinct regions. Thus, neural manifolds underlying the generation of behaviour are inherently nonlinear, and properly accounting for such nonlinearities will be critical as neuroscientists move towards studying numerous brain regions involved in increasingly complex and naturalistic behaviours.

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bioRxiv2023

Tessellation Of Artificial Touch Via Microstimulation Of Human Somatosensory Cortex

When we interact with objects, we rely on signals from the hand that convey information about the object and our interaction with it. A basic feature of these interactions, the locations of contacts between the hand and object, is often only available via the sense of touch. Information about locations of contact between a brain-controlled bionic hand and an object can be signaled via intracortical microstimulation (ICMS) of somatosensory cortex (S1), which evokes touch sensations that are localized to a specific patch of skin. To provide intuitive location information, tactile sensors on the robotic hand drive ICMS through electrodes that evoke sensations at skin locations matching sensor locations. This approach requires that ICMS-evoked sensations be focal, stable, and distributed over the hand. To systematically investigate the localization of ICMS-evoked sensations, we analyzed the projected fields (PFs) of ICMS-evoked sensations - their location and spatial extent - from reports obtained over multiple years from three participants implanted with microelectrode arrays in S1. First, we found that PFs vary widely in their size across electrodes, are highly stable within electrode, are distributed over large swaths of each participants hand, and increase in size as the amplitude or frequency of ICMS increases. Second, while PF locations match the locations of the receptive fields (RFs) of the neurons near the stimulating electrode, PFs tend to be subsumed by the corresponding RFs. Third, multi-channel stimulation gives rise to a PF that reflects the conjunction of the PFs of the component channels. By stimulating through electrodes with largely overlapping PFs, then, we can evoke a sensation that is experienced primarily at the intersection of the component PFs. To assess the functional consequence of this phenomenon, we implemented multi-channel ICMS-based feedback in a bionic hand and demonstrated that the resulting sensations are more localizable than are those evoked via single-channel ICMS.

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bioRxiv2023

Task-driven neural network models predict neural dynamics of proprioception

Proprioception tells the brain the state of the body based on distributed sensors in the body. However, the principles that govern proprioceptive processing from those distributed sensors are poorly understood. Here, we employ a task-driven neural network modeling approach to investigate the neural code of proprioceptive neurons in both cuneate nucleus (CN) and somatosensory cortex area 2 (S1). We simulated muscle spindle signals through musculoskeletal modeling and generated a large-scale, naturalistic movement repertoire to train thousands of neural network models on 16 behavioral tasks, each reflecting a hypothesis about the neural computations of the ascending proprioceptive pathway. We found that the networks internal representations developed through task-optimization generalize from synthetic data to predict single-trial neural activity in CN and S1 of primates performing center-out reaching. Task-driven models outperform linear encoding models and data-driven models. Behavioral tasks, which aim to predict the limb position and velocity were the best to predict the neural activity in both areas. Architectures that are better at solving the tasks are also better at predicting the neural data. Last, since task-optimization develops representations that better predict neural activity during active but not passively generated movements, we hypothesize that neural activity in CN and S1 is top-down modulated during goal-directed movements.

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bioRxiv2023

Motor cortex latent dynamics encode arm movement direction and urgency independently

The fluid movement of an arm requires multiple spatiotemporal parameters to be set independently. Recent studies have argued that arm movements are generated by the collective dynamics of neurons in motor cortex. An untested prediction of this hypothesis is that independent parameters of movement must map to independent components of the neural dynamics. Using a task where monkeys made a sequence of reaching movements to randomly placed targets, we show that the spatial and temporal parameters of arm movements are independently encoded in the low-dimensional trajectories of population activity in motor cortex: Each movements direction corre-sponds to a fixed neural trajectory through neural state space and its speed to how quickly that trajectory is traversed. Recurrent neural network models show this coding allows independent control over the spatial and temporal parameters of movement by separate network parameters. Our results support a key prediction of the dynamical systems view of motor cortex, but also argue that not all parameters of movement are defined by different trajectories of population activity. Significance StatementFrom delicate strokes while drawing to ballistic swings while playing tennis, a skilled arm movement requires precise control of both its direction and speed. Motor cortex is thought to play a key role in controlling both, but it is unclear how they are jointly controlled. We show here that the population activity in motor cortex represents both the spatial and temporal properties of arm movements in the same low-dimensional signal. This representation was remarkably simple: the movements direction is represented by the trajectory that signal takes; the movements speed by how quickly the signal moves along its trajectory. Our network modelling shows this encoding allows an arm movements direction and speed to be simultaneously and independently controlled.

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bioRxiv2023

Low-dimensional neural manifolds for the control of constrained and unconstrained movements

Across many brain areas, neural population activity appears to be constrained to a low-dimensional manifold within a neural state space of considerably higher dimension. Recent studies of the primary motor cortex (M1) suggest that the activity within the low-dimensional manifold, rather than the activity of individual neurons, underlies the computations required for planning and executing movements. To date, these studies have been limited to data obtained in constrained laboratory settings where monkeys executed repeated, stereotyped tasks. An open question is whether the observed low dimensionality of the neural manifolds is due to these constraints; the dimensionality of M1 activity during the execution of more natural and unconstrained movements, like walking and picking food, remains unknown. We have now found similarly low-dimensional manifolds associated with various unconstrained natural behaviors, with dimensionality only slightly higher than those associated with constrained laboratory behaviors. To quantify the extent to which these low-dimensional manifolds carry task-relevant information, we built task-specific linear decoders that predicted EMG activity from M1 manifold activity. In both settings, decoding performance based on activity within the estimated low-dimensional manifold was the same as decoding performance based on the activity of all recorded neurons. These results establish functional links between task-specific manifolds and motor behaviors, and highlight that both constrained and unconstrained behaviors are associated with low-dimensional M1 manifolds.

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bioRxiv2023

De novo motor learning creates structure in neural activity space that shapes adaptation

Animals can quickly adapt learned movements in response to external perturbations. Motor adaptation is likely influenced by an animals existing movement repertoire, but the nature of this influence is unclear. Long-term learning causes lasting changes in neural connectivity which determine the activity patterns that can be produced. Here, we sought to understand how a neural populations activity repertoire, acquired through long-term learning, affects short-term adaptation by modeling motor cortical neural population dynamics during de novo learning and subsequent adaptation using recurrent neural networks. We trained these networks on different motor repertoires comprising varying numbers of movements. Networks with multiple movements had more constrained and robust dynamics, which were associated with more defined neural structure--organization created by the neural population activity patterns corresponding to each movement. This structure facilitated adaptation, but only when small changes in motor output were required, and when the structure of the network inputs, the neural activity space, and the perturbation were congruent. These results highlight trade-offs in skill acquisition and demonstrate how prior experience and external cues during learning can shape the geometrical properties of neural population activity as well as subsequent adaptation.

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bioRxiv2023

Biomimetic multi-channel microstimulation of somatosensory cortex conveys high resolution force feedback for bionic hands

AO_SCPLOWBSTRACTC_SCPLOWManual interactions with objects are supported by tactile signals from the hand. This tactile feedback can be restored in brain-controlled bionic hands via intracortical microstimulation (ICMS) of somatosensory cortex (S1). In ICMS-based tactile feedback, contact force can be signaled by modulating the stimulation intensity based on the output of force sensors on the bionic hand, which in turn modulates the perceived magnitude of the sensation. In the present study, we gauged the dynamic range and precision of ICMS-based force feedback in three human participants implanted with arrays of microelectrodes in S1. To this end, we measured the increases in sensation magnitude resulting from increases in ICMS amplitude and participants ability to distinguish between different intensity levels. We then assessed whether we could improve the fidelity of this feedback by implementing "biomimetic" ICMS-trains, designed to evoke patterns of neuronal activity that more closely mimic those in natural touch, and by delivering ICMS through multiple channels at once. We found that multi-channel biomimetic ICMS gives rise to stronger and more distinguishable sensations than does its single-channel counterpart. Finally, we implemented biomimetic multi-channel feedback in a bionic hand and had the participant perform a compliance discrimination task. We found that biomimetic multi-channel tactile feedback yielded improved discrimination over its single-channel linear counterpart. We conclude that multi-channel biomimetic ICMS conveys finely graded force feedback that more closely approximates the sensitivity conferred by natural touch.

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bioRxiv2022

Monkey-to-human transfer of brain computer interface decoders

Intracortical brain-computer interfaces (iBCIs) enable paralyzed persons to generate movement, but current methods require large amounts of both neural and movement-related data to be collected from the iBCI user for supervised decoder training. We hypothesized that the low-dimensional latent neural representations of motor behavior, known to be preserved across time, might also be preserved across individuals, and allow us to circumvent this problem. We trained a decoder to predict the electromyographic (EMG) activity for a "source" monkey from the latent signals of motor cortex. We then used Canonical Correlation Analysis to align the latent signals of a "target" monkey to those of the source. These decoders were as accurate across monkeys as they were across sessions for a given monkey. Remarkably, the same process with latent signals from a human participant with tetraplegia was within 90% of the with-monkey decoding across session accuracy. Our findings suggest that consistent representations of motor activity exist across animals and even species. Discovering this common representation is a crucial first step in designing iBCI decoders that perform well without large amounts of data and supervised subject-specific tuning.

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bioRxiv2022

Feedback-based motor control can guide plasticity and drive rapid learning

Animals use afferent feedback to rapidly correct ongoing movements in the presence of a perturbation. Repeated exposure to a predictable perturbation leads to behavioural adaptation that counteracts its effects. Primary motor cortex (M1) is intimately involved in both processes, integrating inputs from various sensorimotor brain regions to update the motor output. Here, we investigate whether feedback-based motor control and motor adaptation may share a common implementation in M1 circuits. We trained a recurrent neural network to control its own output through an error feedback signal, which allowed it to recover rapidly from external perturbations. Implementing a biologically plausible plasticity rule based on this same feedback signal also enabled the network to learn to counteract persistent perturbations through a trial-by-trial process, in a manner that reproduced several key aspects of human adaptation. Moreover, the resultant network activity changes were also present in neural population recordings from monkey M1. Online movement correction and longer-term motor adaptation may thus share a common implementation in neural circuits.

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bioRxiv2022

Preserved neural population dynamics across animals performing similar behaviour

Animals of the same species often exhibit similar behaviours that are advantageously adapted to their body and their environment. These behaviours are shaped by selection pressures over evolutionary timescales at the species level, yet each individual produces these behaviours using a different, uniquely constructed brain. It remains unclear how these common behavioural adaptations emerge from the idiosyncratic neural circuitry of a given individual. Here, we hypothesised that the adaptive behaviour of a species requires specific neural population latent dynamics. These latent dynamics should thus be preserved and identifiable across individuals within a species, regardless of the idiosyncratic aspects of each individuals brain. Using recordings of neural populations from monkey and mouse motor cortex, we show that individuals from the same species share surprisingly similar neural dynamics when they perform the same behaviour. The similarity in neural population dynamics extends beyond cortical regions to the dorsal striatum, an evolutionarily older structure, and also holds when animals con-sciously plan future movements without overt behaviour. These preserved dynamics are behaviourally-relevant, allowing decoding of intended and ongoing movements across individuals. We posit that these emergent neural population dynamics result from evolutionarily-imposed constraints on brain development, and reflect a fundamental property of the neural basis of behaviour.

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bioRxiv2022

Using adversarial networks to extend brain computer interface decoding accuracy over time

Existing intracortical brain computer interfaces (iBCIs) transform neural activity into control signals capable of restoring movement to persons with paralysis. However, the accuracy of the "decoder" at the heart of the iBCI typically degrades over time due to turnover of recorded neurons. To compensate, decoders can be recalibrated, but this requires the user to spend extra time and effort to provide the necessary data, then learn the new dynamics. As the recorded neurons change, one can think of the underlying movement intent signal being expressed in changing coordinates. If a mapping can be computed between the different coordinate systems, it may be possible to stabilize the original decoders mapping from brain to behavior without recalibration. We previously proposed a method based on Generalized Adversarial Networks (GANs), called "Adversarial Domain Adaptation Network" (ADAN), which aligns the distributions of latent signals within underlying low-dimensional neural manifolds. However, ADAN was tested on only a very limited dataset. Here we propose a method based on Cycle-Consistent Adversarial Networks (Cycle-GAN), which aligns the distributions of the full-dimensional neural recordings. We tested both Cycle-GAN and ADAN on data from multiple monkeys and behaviors and compared them to a linear method based on Procrustes Alignment of axes provided by Factor Analysis (PAF). Both GAN-based methods outperformed PAF. Cycle-GAN and ADAN (like PAF) are unsupervised and require little data, making them practical in real life. Overall, Cycle-GAN had the best performance and was easier to train and more robust than ADAN, making it ideal for stabilizing iBCI systems over time. Significance StatementThe inherent instabilities in the neural signals acquired by intracortical microelectrode arrays cause the performance of an intracortical brain computer interface (iBCI) decoder to drop over time, as the movement intent signal must essentially be recorded from neurons representing an ever-changing coordinate system. Here, we address this problem using Generative Adversarial Networks (GANs) to align these coordinates and compare their success to another, recently proposed linear method that uses Factor Analysis and Procrustes alignment. Our proposed methods are fully unsupervised, can be trained quickly, and require remarkably little new data. These methods should give iBCI users access to decoders with unchanging dynamics, and without the need for periodic supervised recalibration.

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bioRxiv2022

Microstimulation of human somatosensory cortex evokes task-dependent, spatially patterned responses in motor cortex

AO_SCPLOWBSTRACTC_SCPLOWMotor (M1) and somatosensory (S1) cortex play a critical role in motor control but the nature of the signaling between these structures is not known. To fill this gap, we recorded - in three human participants whose hands were paralyzed as a result of a spinal cord injury - the responses evoked in the hand and arm representations of primary motor cortex (M1) while we delivered ICMS to the somatosensory cortex (S1). We found that ICMS of S1 activated some M1 neurons at short, fixed latencies, locked to each pulse in a manner consistent with monosynaptic activation. However, most of the changes in M1 firing rates were much more variable in time, suggesting a more indirect effect of the stimulation. The spatial pattern of M1 activation varied systematically depending on the stimulating electrode: S1 electrodes that elicited percepts at a given hand location tended to activate M1 neurons with movement fields at the same location. However, the indirect effects of S1 ICMS on M1 were strongly context dependent, such that the magnitude and even sign relative to baseline varied across tasks. We tested the implications of these effects for brain-control of a virtual hand, in which ICMS was used to convey tactile feedback about object interactions. While ICMS-evoked activation of M1 disrupted decoder performance, this disruption could be minimized with biomimetic stimulation, which emphasizes contact transients at the onset and offset of grasp, reduces sustained stimulation, and has been shown to convey useful contact-related information. SO_SCPLOWIGNIFICANCEC_SCPLOWMotor (M1) and somatosensory (S1) cortex play a critical role in motor control but the nature of the signaling between these structures is not known. To fill this gap, we recorded from M1 while delivering intracortical microstimulation (ICMS) to S1 of three human participants, whose hands were paralyzed by spinal cord injury. We found that ICMS activates M1 and that the motor fields of activated M1 neurons match the sensory fields of the stimulated S1 electrodes. These findings have important implications for using ICMS to convey tactile feedback for brain-controlled bionic hands. Indeed, the ICMS-evoked M1 activity worsens control of the hand. Fortunately, this effect is minimized by using biomimetic tactile feedback, which emphasizes contact transients and reduces sustained ICMS.

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bioRxiv2022

Stabilizing brain-computer interfaces through alignment of latent dynamics

Intracortical brain-computer interfaces (iBCIs) restore motor function to people with paralysis by translating brain activity into control signals for external devices. In current iBCIs, instabilities at the neural interface result in a degradation of decoding performance, which necessitates frequent supervised recalibration using new labeled data. One potential solution is to use the latent manifold structure that underlies neural population activity to facilitate a stable mapping between brain activity and behavior. Recent efforts using unsupervised approaches have improved iBCI stability using this principle; however, existing methods treat each time step as an independent sample and do not account for latent dynamics. Dynamics have been used to enable high performance prediction of movement intention, and may also help improve stabilization. Here, we present a platform for Nonlinear Manifold Alignment with Dynamics (NoMAD), which stabilizes iBCI decoding using recurrent neural network models of dynamics. NoMAD uses unsupervised distribution alignment to update the mapping of nonstationary neural data to a consistent set of neural dynamics, thereby providing stable input to the iBCI decoder. In applications to data from monkey motor cortex collected during motor tasks, NoMAD enables accurate behavioral decoding with unparalleled stability over weeks-to months-long timescales without any supervised recalibration.

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bioRxiv2022

A horizon for haptic perception

The spatial limits of sensory acquisition (its sensory horizon) is a fundamental property of any sensorimotor system. In the present study, we sought to determine the sensory horizon for the human haptic modality. At first blush, it seems obvious that the haptic system is bounded by the space where the body can interact with the environment (e.g., the arm span). However, the human somatosensory system is exquisitely tuned to sensing with tools--blind-cane navigation being a classic example of this. The horizon of haptic perception therefore extends beyond body space, but to what extent is unknown. We first used neuromechanical modelling to determine the theoretical horizon, which we pinpointed as six meters. We then used a psychophysical localization paradigm to behaviorally confirm that humans can haptically localize objects using a six-meter rod. This finding underscores the incredibly flexibility of the brains sensorimotor representations, as they can be adapted to sense with an object many times longer than the users own body.

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