The primary intent of this study was to gain insight into the developmental nature of spatial perception and representation. More specifically, the work presented here examined 1) the age-related ability to modulate peri- and extrapersonal space via hand and tool use, 2) the adjustment period associated with extending and retracting spaces, and 3) the effect of tool length on modulation of space. Seventy children representing age groups 7-, 9-, 11 years and adults were presented with two experiments using an estimation of reach paradigm involving hand and tool conditions and a switch-block of the opposite condition. Experiment 1 tested Hand and Tool (20cm length) estimation and found a significant effect for Age, Space, and an Age x Space interaction (ps <.05). Both children and adults were less accurate in extrapersonal space, indicating an overestimation bias. Interestingly, the adjustment period during the switch-block condition was immediate and similar across age. Experiment 2 was similar to Experiment 1 with the exception of using a 40cm length tool. Results of 55 participants also revealed a difference in estimation responses between Age groups (p <.05); 7- and 9-year-olds were similar and less accurate than adults, and 11-year-olds were not different from any other age group. There was also a difference in Space (p <.05), revealing that participants underestimated their reaching abilities with higher accuracy in extrapersonal space. Interestingly, whereas participants overall overestimated with the 20cm tool, they tended to underestimate while using the 40cm tool. This finding suggests that participants were less confident when presented with a longer tool, even though the adjustment period with both tool lengths was similar. Considered together, these results hint that: (1) children as young as 6 years of age are capable of re-scaling peripersonal space via tool use in the context of estimation reach, (2) the adjustment period associated with extending and retracting spaces is immediate rather than gradual, and (3) tool length may influence confidence of participants, shifting the general direction of error from overestimation with a 20cm tool to underestimation with a 40cm tool.

This study will look into to the concepts of Peripersonal Space, The Body Schema and The Body Image. It examines how the terms are typically used and describes the various views about the concepts found in the literature, as well as the contradictions between these views. In the section “The Difficulty to Differentiate the Concepts” the reader gets a deeper understanding of which criteria researchers use to differentiate the concepts from one another. The fact that there are changes in kineamethic model and sensation in humans when they are using a rake is proposed as support for the idea that also the body schema is involved in tool use. In differentiating the Body schema – Body Image from each other (and other types of body representation) we come to the conclusion that positive definitions about different representations is needed and that researchers should unite their views what the definitions should be. We also mention a problem based on the possibility on infinite body representations and a solution by a Bayesian model is proposed that looks at the input as well as the output in experiments.

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Dans le cadre de ce travail de thèse, nous nous sommes intéressés aux relations étroites qu'entretiennent processus moteurs et sensoriels pour déterminer les régions de l'espace où une action directe est possible. Dans ce but, nous nous sommes centrés sur la perception de l' "atteignabilité" d'un objet, c'est-à-dire sur les processus cérébraux qui vont permettre de décider si cet objet pourrait être atteignable ou pas par un mouvement du bras. Pour cela, nous faisons l'hypothèse que ces jugements requièrent la prise en compte de connaissances motrices et corporelles fonctionnelles en plus des informations visuelles extraites de l'environnement. Plus particulièrement, nous proposons qu'ils reposent sur une prédiction des conséquences des actes moteurs potentiels suggérés par cet objet et donc de leur faisabilité à un instant donné. Les études réalisées au cours de cette thèse ont ainsi permis d'écarter l'hypothèse de l'influence de l'effort associé à des actions sur la perception de l'espace atteignable. En revanche, le rôle critique de la prédiction des conséquences sensorimotrices des actions a été mis en évidence, grâce à la démonstration d'une relation forte entre d'une part les correspondances entre la distance visuelle et l'amplitude des mouvements, et d'autre part la distance à laquelle la limite d'atteignabilité est perçue. Les processus d'anticipation sensorimotrice ont également été mis en évidence lors de jugements de perception spatiale en présence de cibles dynamiques, rendant compte du caractère spatio-temporel des mécanismes impliqués. Enfin, une dernière étude a montré l'influence des représentations corporelles et de leur plasticité dans la perception de l'espace péripersonnel, mettant ainsi en lumière l'implication du corps en action dans les jugements perceptifs / In this thesis, we assessed the tight relations between motor and sensory processes used to determine the areas of space in which a direct action is possible. We thus focused on the eprception of the reachability of an object, i.e. on the cerebral processes which allow to decide if an object could be reached or not by moving the arm. To do so, we made the hypothesis that theses judgments require to take into account functional motor and body knowledge, in addition to the visual information extracted from the environment. More specifically, we proposed that these judgments rely on a prediction of the consequences of a potential motor act toward the object, thus on the feasibility of the action at a given moment. Our studies discarded the hypothesis of the role of the effort associated to actions on the perception of reachable space. However, the critical role of predicting the sensorimotor consequences of an action has been showed, by demonstrating the strong relation between on the one hand the correspondence between visual distance and movement amplitude, and on the other hand the distance at which the reachability limit is perceived. Sensorimotor anticipation processes have also been showed in spatial perception involving dynamical targets, showing the spatio-temporal aspect of the involved mechanisms. Finally, our last study showed the influence of body representations and of their plasticity on the perception of peripersonal space, highlighting the implication of the body in action in perceptual judgments

Humans are social beings whose interaction with others constitutes an important part of our well-being. In these social interactions there are certain factors that are essential for us to feel comfortable. One of these factors is to keep a proper “breathing space”. A physical distance to whom we interact, to not have our personal space violated. This space we keep to others is called interpersonal distance (IPD) and might be altered depending on the situation. In the recent decade the neural correlates of IPD have been investigated. The current systematic review aimed to investigate the existing literature on the neural correlations of IPD and how it relates to IPD-behaviour. A systematic search was made in the electric databases Scopus and PubMed. Nine articles remained to be reviewed after screening and selection was done.The results showed the superior parietal cortex, the medial prefrontal cortex, motor areas, occipital areas, and the amygdala to be the most prominent structural brain areas to be involved in IPD. Some functional connections between mentioned brain areas were found but needs to be replicated for better knowledge. The review provides insight into the neural nature of IPD and its behavioural basis.

Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.

Our ability to interact with the environment requires the integration of multisensory information for the construction of spatial representations. The peripersonal space (i.e., the sector of space closely surrounding one's body) and the integrative processes between visual and tactile inputs originating from this sector of space have been at the center of recent years investigations. Neurophysiological studies provided evidence for the presence in the monkey brain of bimodal neurons, which are activated by tactile as well as visual information delivered near to a specific body part (e.g., the hand). Neuropsychological studies on right brain-damaged patients who present extinction and functional neuroimaging findings suggest the presence of similar bimodal systems in the human brain. Studies on the effects of tool-use on visual-tactile interaction revealed similar dynamic properties of the peripersonal space in monkeys and humans. The functional role of the multisensory coding of peripersonal space is, in our hypothesis, that of providing the brain with a sensori-motor interface for body-objects interactions. Thus, not only it could be involved in driving involuntary defensive movements in response to objects approaching the body, but could be also dynamically maintained and updated as a function of manual voluntary actions performed towards objects in the reaching space. We tested the hypothesis of an involvement of peripersonal space in executing both voluntary and defensive actions. To these aims, we joined a well known cross-modal congruency effect between visual and tactile information to a kinematic approach to demonstrate that voluntary grasping actions induce an on-line re-weighting of multisensory interactions in the peripersonal space. We additionally show that this modulation is handcentred. We also used a motor evoked potentials approach to investigate which coordinates system is used to code the peripersonal space during motor preparation if real objects rapidly approach the body. Our findings provide direct evidence for automatic hand-centred coding of visual space and suggest that peripersonal space may also serve to represent rapidly 3 approaching and potentially noxious objects, thus enabling the rapid selection of appropriate motor responses. These results clearly show that peripersonal space is a multisensori-motor interface that might have been selected through evolution for optimising the interactions between the body and the objects in the external world.

Peripersonal (reachable) and extrapersonal (beyond reach) space is linked to hand perception. Using a tool to reach farther than normal recalibrates previously unreachable space as peripersonal, evidenced by Intraparietal Sulcus (IPS) activity related to hand perception and lateral biases during line bisection. The current study looked at the role of a visual connection between the hand and body in the ability to manipulate objects within the extended area of reach. In an immersive virtual environment, participants bisected lines using a connected hand (via arm), a disconnected hand, or a floating dot. A rightward shift in bisection was seen only for the dot condition for far lines, indicating that it was the only "tool" incapable of extending peripersonal space.

Peripersonal (reachable) and extrapersonal (beyond reach) space is linked to hand perception. Using a tool to reach farther than normal recalibrates previously unreachable space as peripersonal, evidenced by Intraparietal Sulcus (IPS) activity related to hand perception and lateral biases during line bisection. The current study looked at the role of a visual connection between the hand and body in the ability to manipulate objects within the extended area of reach. In an immersive virtual environment, participants bisected lines using a connected hand (via arm), a disconnected hand, or a floating dot. A rightward shift in bisection was seen only for the dot condition for far lines, indicating that it was the only "tool" incapable of extending peripersonal space.

<p>Based on evidence from studies involving animal single cell recording, animal brain lesion, and human brain damage, researchers have suggested that there may be differential visual representations for objects in near (peripersonal, within arm’s reach) and far (extrapersonal, beyond arm’s reach) space in the human visual system. The findings in Chapter 2 and Chapter 3 of the present thesis provide the first behavioural evidence suggesting that healthy human observers prefer to rely on different visual mechanisms in processing information in near and far spaces. The different performance in detecting visual targets presented in near and far space indicates that the brain can actively modulate the information processing either in parvocellular and magnocellular pathways or in ventral and dorsal streams. <br /> To determine the loci of the neural modulation regarding near and far viewing, visual identification tasks were employed in Chapter 4. In four experiments, visual stimuli were presented in either isoluminant green or achromatic white in order to decouple the neural processing in parvocellular and magnocellular pathways. The different patterns of the visual performance in the four experiments suggest that the change to near or far viewing distance results in altered information transmission in parvocellular and magnocellular pathways. Thus, the data in the present thesis provide the first behavioural evidence indicating that the LGN serves as a gatekeeper for regulating and redistributing visual information for later cortical analysis.</p> / Doctor of Science (PhD)