Stable visually guided reaching does not require an internal feedforward model to compensate for internal delay: Data and model.

Visually guided reaches are performed in ≈1s. Given unstable feedback control with neural transmission delay, stable visually guided reaching is assumed to require internal feedforward models that generate simulated feedback without delay that combines with actual feedback for stability. We investigated whether stable visually guided reaching requires internal models to handle such delay. Participants performed rapid targeted reaches in a virtual environment with different mappings between speeds of the hand and hand avatar. First, participants reached with visual guidance and constant mapping. Second, feedforward reaches were performed with constant mapping and hand avatar only visible at reach start and end. Reaches were accurate. Third, participants performed reaches with visual guidance and different mappings every trial. We expected performance as in the first condition. Finally, feedforward reaches with variable mapping yielded large errors showing visual guidance in the previous condition was successful despite an ineffective internal model. We simulated reaches using a proportional rate model with disparity Tau controlling the virtual Equilibrium Point in an Equilibrium Point (EP) model. The time dimensioned information and dynamic remained stable with delayed feedback. Finally, we fit movement times using the proportional rate EP model with 0msec, 50msec, and 100msec delay. With the fitted model parameters, we compared the model reach trajectories with the behavioral trajectories. Stable visually guided reaching did not require an internal feedforward model.
Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper.
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