How is human locomotion visually controlled? Fifty years ago, it was proposed that we steer to a goal using optic flow, the pattern of motion at the eye that specifies the direction of locomotion. However, we might also simply walk in the perceived direction of a goal. These two hypotheses normally predict the same behavior, but we tested them in an immersive virtual environment by displacing the optic flow from the direction of walking, violating the laws of optics. We found that people walked in the visual direction of a lone target, but increasingly relied on optic flow as it was added to the display. The visual control law for steering toward a goal is a linear combination of these two variables weighted by the magnitude of flow, thereby allowing humans to have robust locomotor control under varying environmental conditions.

How do space and time relate m rhythmical tasks that reqmre the hmbs to move singly or together m various modes of coordination ? And what kind of minimal theoretical model could account for the observed data9 Ead~er findings for human cychcal movements were consistent w~th a nonhnear, limit cycle oscdlator model (Kelso, Holt, Rubm, & Kugler, 198 l) although no detailed modehng was performed at that Ume In the present study, lonemauc data were sampled at 200 samples/second, and a detmled analysis of movement amphtude, frequency, peak velooty, and relative phase (for the blmanual modes, m phase and anuphase) was performed As frequency was scaled from l to 6 Hz (m steps of l Hz) using a pacing metronome, amphtude dropped reversely and peak veiooty m-creased WRhm a frequency condmon, the movement's amphtude scaled &rectly with lls peak veloc-Ry These &verse lonematlc behaviors were modeled exphotly m terms oflow-&menslonal (nonhn-ear) dlsslpaUve dynamics, wRh hnear stiffness as the only control parameter Data and model are shown to compare favorably The abstract, dynamical model offers a umfied treatment of a number of fundamental aspects of movement coordination and control How do space and time relate m rhythmical tasks that require the hands to move singly or together in various modes of coordi-nation9 And what kind of minimal theoretical model could account for the observed data? The present article addresses these fundamental questions that are of longstanding interest to experimental psychology and movement science (e g, von Hoist, 1937/1973; Scripture, 1899; Stetson & Bouman, 1935) It is well known, for example, that discrete and repetitive movements of different amplitude vary systematically in movement duration (provided accuracy requirements are held constant, e g, Cralk, 1947a, 1947b) This and related facts were later for-mahzed into F~tts's Law (1954), a relation among movement time, movement amplitude, and target accuracy, whose under-pmnmgs have been extensively studied (and debated upon) quite recently (e g.

The departure point of the present paper is our effort to characterize and understand the spatiotemporal structure of articulatory patterns in speech. To do so, we removed segmental variation as much as possible while retaining the spoken act's stress and prosodic structure. Subjects produced two sentences from the "rainbow passage" using reiterant speech in which normal syllables were replaced by /ba/ or /ma/. This task was performed at two self-selected rates, conversational and fast. Infrared LEDs were placed on the jaw and lips and monitored using a modified SELSPOT optical tracking system. As expected, when pauses marking major syntactic boundaries were removed, a high degree of rhythmicity within rate was observed, characterized by well-defined periodicities and small coefficients of variation. When articulatory gestures were examined geometrically on the phase plane, the trajectories revealed a scaling relation between a gesture's peak velocity and displacement. Further quantitative analysis of articulator movement as a function of stress and speaking rate was indicative of a language-modulated dynamical system with linear stiffness and equilibrium (or rest) position as key control parameters. Preliminary modeling was consonant with this dynamical perspective which, importantly, does not require that time per se be a controlled variable.

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Three experiments examined the functional specificity of visually controlled posture during locomotion by presenting large-screen displays to participants walking on a treadmill. Displays simulated locomotion down a stationary hallway, a hallway that traveled with the observer, or a frontal wall that traveled with the observer. A superimposed oscillation specified postural sway in 6 possible directions. With the wall, sway amplitude was isotropic and directionally specific in all conditions. However, with the hallways, sway was anisotropic (lateral > anterior-posterior [AP]), and diagonal responses were flattened into the lateral plane. When the treadmill was turned 90 ° to the hallway, both the anisotropy and flattening were reversed (AP > lateral), indicating that they are determined by the visual structure of the scene. The results can be explained by postural control laws based on both optical expansion and motion parallax, yielding biases in planar environments that truncate parallax.It is often supposed that the visual control of locomotion is based on optic flow patterns produced at the eye of a moving observer (Gibson, 1950;Lee, 1974;Warren, Morris, & Kalish, 1988). However, there is little direct evidence that human locomotion is actually regulated by such information. Here we report the first in a series of studies that examine how optic flow is used to control posture and gait. In this article, we examine postural responses to optical oscillations during walking. An unexpected pattern of biases in compensatory sway provides a window into the visual control laws for posture. Laws of ControlThe control of locomotion exemplifies the general problem of adaptive visual control. A standard view in psychology, artificial intelligence, and neuroscience has been that various types of information are used to construct a generalpurpose three-dimensional (3D) representation of the environment, on the basis of which actions are planned. Although this model-based approach provides generality, its success has been limited by the computational problems of constructing a sufficiently accurate 3D model from visual data and using it to regulate a many-degrees-of-freedom system in real time.Alternatively, a task-specific approach capitalizes on the regularities of a particular task, yielding special-purpose control relations between informational variables and the free parameters of an action system that is organized for the

This study examined rhythmic finger movements in the steady state and when momentarily perturbed in order to derive their qualitative dynamical properties. Movement frequency, amplitude, and peak velocity were stable under perturbation, signaling the presence of an attractor, and the topological dimensionality of that attractor was approximately equal to one. The strength of the attractor was constant with increasing movement frequency, and the Fourier spectra of the steady-state trials showed an alternating harmonic pattern. These results are consistent with a previously derived nonlinear oscillator model. However, the oscillation was phase advanced by perturbation overall, and a consistent phase-dependent, phase-shift pattern occurred, which is inconsistent with the model. The overall phase advance also shows that any central pattern generator responsible for generating the rhythm must be nontrivially modulated by the limb being controlled.

Self-organization in a voltage-driven nonequilibrium system, consisting of conducting beads immersed in a viscous medium, gives rise to a dynamic tree structure that exhibits wormlike motion. The complex motion of the beads driven by the applied field, the dipole-dipole interaction between the beads and the hydrodynamic flow of the viscous medium, results in a time evolution of the tree structure towards states of lower resistance or higher dissipation and thus higher rates of entropy production. Thus emerges a remarkably organismlike energy-seeking behavior. The dynamic tree structure draws the energy needed to form and maintain its structure, moves to positions at which it receives more energy, and avoids conditions that lower available energy. It also is able to restore its structure when damaged, i.e., it is self-healing. The emergence of energy-seeking behavior in a nonliving complex system that is extremely simple in its construct is unexpected. Along with the property of self-healing, this system, in a rudimentary way, exhibits properties that are analogous to those we observe in living organisms. Thermodynamically, the observed diverse behavior can be characterized as end-directed evolution to states of higher rates of entropy production.

Three experiments tested the hypothesis that postural sway during locomotion is visually regulated by motion parallax as well as optical expansion. Oscillating displays of three-dimensional scenes were presented to participants walking on a treadmill, while postural sway was recorded. Displays simulated: (a) a cloud, in which parallax and expansion are congruent, (b) a hallway, (c) the side walls of the hallway, (d) a ground surface, (e) a wall, (f) the wall with a central hole, (g) a hall farther from the observer, and (h) a wall farther from the observer. In contrast to previous results with a hallway, responses with the cloud were isotropic and directionally specific. The other displays demonstrated that motion parallax was more effective than simple horizontal flow in eliciting lateral sway. These results are consistent with the hypothesis that adaptive control of sway during walking is based on congruent expansion and parallax in natural environments.