Transformation Uncertainty 1 Impact of coordinate transformation uncertainty on human sensorimotor control

Humans build representations of objects and their locations by integrating imperfect information from multiple perceptual modalities (e.g., visual, haptic). Since sensory information is specified in different frames of reference (i.e. eyeand body-centered), it must be remapped into a common coordinate frame before integration and storage in memory. Such transformations require an understanding of body articulation, which is estimated through noisy sensory data. Consequently, target information acquires additional coordinate transformation uncertainty (CTU) during remapping due to errors in joint angle sensing. As a result, CTU creates differences in the reliability of target information depending on the reference frame used for storage. This paper explores whether the brain represents and compensates for CTU when making grasping movements. To address this question, we varied eye position in the head, while participants reached to grasp a spatially fixed object, both when the object was in view and when it was occluded. Varying eye position changes CTU between eye and head, producing additional uncertainty in remapped information away from forward view. The results demonstrate that people adjust their maximum grip aperture to compensate both for changes in visual information and for changes in CTU when the target is occluded. Moreover, the amount of compensation is predicted by a Bayesian model for location inference that employs eye-centered storage. Page 2 of 29