Spatial arrangement of the whiskers of harbor seals (Phoca vitulina) compared with whisker arrangements of house mice (Mus musculus) and brown rats (Rattus norvegicus).

Whiskers (vibrissae) are important tactile sensors for most mammals. We introduce a novel approach to quantitatively compare 3D geometry of whisker arrays across species with different whisker numbers and arrangements, focusing on harbor seals (Phoca vitulina), house mice (Mus musculus) and Norway rats (Rattus norvegicus). Whiskers of all three species decrease in arclength and increase in curvature from caudal to rostral.

Correction: Quantifying the three-dimensional facial morphology of the laboratory rat with a focus on the vibrissae.

[This corrects the article DOI: 10.1371/journal.pone.

Spatial arrangement of the whiskers of harbor seals ( ) compared to whisker arrangements of house mice ( ) and brown rats ( ).

Unlabelled: Whiskers (vibrissae) are important tactile sensors for most mammals. We introduce a novel approach to quantitatively compare 3D geometry of whisker arrays across species with different whisker numbers and arrangements, focusing on harbor seals ( ), house mice ( ) and Norway rats ( ). Whiskers of all three species decrease in arclength and increase in curvature from caudal to rostral.

Comparative morphology of the whiskers and faces of mice (Mus musculus) and rats (Rattus norvegicus).

Understanding neural function requires quantification of the sensory signals that an animal's brain evolved to interpret. These signals in turn depend on the morphology and mechanics of the animal's sensory structures. Although the house mouse (Mus musculus) is one of the most common model species used in neuroscience, the spatial arrangement of its facial sensors has not yet been quantified.

On the intrinsic curvature of animal whiskers.

Facial vibrissae (whiskers) are thin, tapered, flexible, hair-like structures that are an important source of tactile sensory information for many species of mammals. In contrast to insect antennae, whiskers have no sensors along their lengths. Instead, when a whisker touches an object, the resulting deformation is transmitted to mechanoreceptors in a follicle at the whisker base.

Demonstration of three-dimensional contact point determination and contour reconstruction during active whisking behavior of an awake rat.

The rodent vibrissal (whisker) system has been studied for decades as a model of active touch sensing. There are no sensors along the length of a whisker; all sensing occurs at the whisker base. Therefore, a large open question in many neuroscience studies is how an animal could estimate the three-dimensional (3D) location at which a whisker makes contact with an object.

Impaired trigeminal control of ingestive behavior in the Prrxl1-/- mouse is associated with a lemniscal-biased orosensory deafferentation.

Although peripheral deafferentation studies have demonstrated a critical role for trigeminal afference in modulating the orosensorimotor control of eating and drinking, the central trigeminal pathways mediating that control, as well as the timescale of control, remain to be elucidated. In rodents, three ascending somatosensory pathways process and relay orofacial mechanosensory input: the lemniscal, paralemniscal, and extralemniscal. Two of these pathways (the lemniscal and extralemniscal) exhibit highly structured topographic representations of the orofacial sensory surface, as exemplified by the one-to-one somatotopic mapping between vibrissae on the animals' face and barrelettes in brainstem, barreloids in thalamus, and barrels in cortex.

A novel stimulator to investigate the tuning of multi-whisker responsive neurons for speed and the direction of global motion: Contact-sensitive moving stimulator for multi-whisker stimulation.

Background: The rodent vibrissal (whisker) systcnsorimotor integration and active tactile sensing. Experiments on the vibrissal system often require highly repeatable stimulation of multiple whiskers and the ability to vary stimulation parameters across a wide range. The stimulator must also be easy to position and adjust.

Continuous, multidimensional coding of 3D complex tactile stimuli by primary sensory neurons of the vibrissal system.

Across all sensory modalities, first-stage sensory neurons are an information bottleneck: they must convey all information available for an animal to perceive and act in its environment. Our understanding of coding properties of primary sensory neurons in the auditory and visual systems has been aided by the use of increasingly complex, naturalistic stimulus sets. By comparison, encoding properties of primary somatosensory afferents are poorly understood.

A dynamical model for generating synthetic data to quantify active tactile sensing behavior in the rat.

As it becomes possible to simulate increasingly complex neural networks, it becomes correspondingly important to model the sensory information that animals actively acquire: the biomechanics of sensory acquisition directly determines the sensory input and therefore neural processing. Here, we exploit the tractable mechanics of the well-studied rodent vibrissal ("whisker") system to present a model that can simulate the signals acquired by a full sensor array actively sampling the environment. Rodents actively "whisk" ∼60 vibrissae (whiskers) to obtain tactile information, and this system is therefore ideal to study closed-loop sensorimotor processing.

Constraints on the deformation of the vibrissa within the follicle.

Nearly all mammals have a vibrissal system specialized for tactile sensation, composed of whiskers growing from sensor-rich follicles in the skin. When a whisker deflects against an object, it deforms within the follicle and exerts forces on the mechanoreceptors inside. In addition, during active whisking behavior, muscle contractions around the follicle and increases in blood pressure in the ring sinus will affect the whisker deformation profile.

Tapered Polymer Whiskers to Enable Three-Dimensional Tactile Feature Extraction.

Many mammals use their vibrissae (whiskers) to tactually explore their surrounding environment. Vibrissae are thin tapered structures that transmit mechanical signals to a wealth of mechanical receptors (sensors) located in a follicle at each vibrissal base. A recent study has shown that-provided that the whisker is tapered-three mechanical signals at the base are sufficient to determine the three-dimensional location at which a whisker made contact with an object.

Defining "active sensing" through an analysis of sensing energetics: homeoactive and alloactive sensing.

The term "active sensing" has been defined in multiple ways. Most strictly, the term refers to sensing that uses self-generated energy to sample the environment (e.g.

Shaking Paws Is Not the Same as Shaking Hands.

A recent Nature paper shows that activity in rodent forelimb somatosensory cortex is related to the animal's behavioral report of vibration intensity and identifies candidate mechanoreceptors responsible for the cortical response. Results highlight striking anatomical and neural differences from primates.

Whisker Vibrations and the Activity of Trigeminal Primary Afferents in Response to Airflow.

Rodents are the most commonly studied model system in neuroscience, but surprisingly few studies investigate the natural sensory stimuli that rodent nervous systems evolved to interpret. Even fewer studies examine neural responses to these natural stimuli. Decades of research have investigated the rat vibrissal (whisker) system in the context of direct touch and tactile stimulation, but recent work has shown that rats also use their whiskers to help detect and localize airflow.

Quantification of vibrissal mechanical properties across the rat mystacial pad.

Recent work has quantified the geometric parameters of individual rat vibrissae (whiskers) and developed equations that describe how these parameters vary as a function of row and column position across the array. This characterization included a detailed quantification of whisker base diameter and arc length as well as the geometry of the whisker medulla. The present study now uses these equations for whisker geometry to quantify several properties of the whisker that govern its mechanical behavior.

Quantifying the three-dimensional facial morphology of the laboratory rat with a focus on the vibrissae.

The morphology of an animal's face will have large effects on the sensory information it can acquire. Here we quantify the arrangement of cranial sensory structures of the rat, with special emphasis on the mystacial vibrissae (whiskers). Nearly all mammals have vibrissae, which are generally arranged in rows and columns across the face.

Tactile Sensing with Whiskers of Various Shapes: Determining the Three-Dimensional Location of Object Contact Based on Mechanical Signals at the Whisker Base.

Almost all mammals use their mystacial vibrissae (whiskers) as important tactile sensors. There are no sensors along the length of a whisker: all sensing is performed by mechanoreceptors at the whisker base. To use artificial whiskers as a sensing tool in robotics, it is essential to be able to determine the three-dimensional (3D) location at which a whisker has made contact with an object.

Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation.

Current methods to estimate object shape-using either vision or touch-generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary contact sensor. The measurement model is posed as a collision-based tactile measurement, and classification methods are used to discriminate between shape boundary regions in the search space.

Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper.

Many rodents tactually sense the world through active motions of their vibrissae (whiskers), which are regularly arranged in rows and columns (arcs) on the face. The present study quantifies several geometric parameters of rat whiskers that determine the tactile information acquired. Findings include the following.

Whiskers aid anemotaxis in rats.

Observation of terrestrial mammals suggests that they can follow the wind (anemotaxis), but the sensory cues underlying this ability have not been studied. We identify a significant contribution to anemotaxis mediated by whiskers (vibrissae), a modality previously studied only in the context of direct tactile contact. Five rats trained on a five-alternative forced-choice airflow localization task exhibited significant performance decrements after vibrissal removal.

Whisking Kinematics Enables Object Localization in Head-Centered Coordinates Based on Tactile Information from a Single Vibrissa.

During active tactile exploration with their whiskers (vibrissae), rodents can rapidly orient to an object even though there are very few proprioceptors in the whisker muscles. Thus a long-standing question in the study of the vibrissal system is how the rat can localize an object in head-centered coordinates without muscle-based proprioception. We used a three-dimensional model of whisker bending to simulate whisking motions against a peg to investigate the possibility that the 3D mechanics of contact from a single whisker are sufficient for localization in head-centered coordinates.

Representation of Stimulus Speed and Direction in Vibrissal-Sensitive Regions of the Trigeminal Nuclei: A Comparison of Single Unit and Population Responses.

The rat vibrissal (whisker) system is one of the oldest and most important models for the study of active tactile sensing and sensorimotor integration. It is well established that primary sensory neurons in the trigeminal ganglion respond to deflections of one and only one whisker, and that these neurons are strongly tuned for both the speed and direction of individual whisker deflections. During active whisking behavior, however, multiple whiskers will be deflected simultaneously.

Mechanical responses of rat vibrissae to airflow.

The survival of many animals depends in part on their ability to sense the flow of the surrounding fluid medium. To date, however, little is known about how terrestrial mammals sense airflow direction or speed. The present work analyzes the mechanical response of isolated rat macrovibrissae (whiskers) to airflow to assess their viability as flow sensors.