Divisive attenuation based on noisy sensorimotor predictions accounts for excess variability in self-touch

When one part of the body exerts force on another, the resulting tactile sensation is perceived as weaker than when the same force is applied by an external agent. This phenomenon has been studied using a force matching task, in which observers are first exposed to an external force on a passive finger and then instructed to reproduce the sensation by directly pressing on the passive finger with a finger of the other hand: healthy participants consistently exceed the original force level. However, this exaggeration of the target force is not observed if the observer generates the matching force indirectly, by adjusting a joystick or slider that controls the force output of a motor. Here we present the first detailed computational account of the processes leading to exaggeration of target forces in the force matching task, incorporating attenuation of sensory signals based on motor predictions. The model elucidates previously unappreciated contributions of multiple sources of noise, including memory noise, in determining matching force output, and shows that quantifying attenuation as the discrepancy between direct and indirect self-generated forces isolates its predictive component. Our computational account makes the prediction that attenuated sensations will display greater trial-to-trial variability than unattenuated ones, because they incorporate additional noise from motor prediction. Quantitative model fitting of new and existing force matching data confirmed the prediction of excess variability in self-generated forces and provided evidence for a divisive rather than subtractive mechanism of attenuation, while highlighting its predictive nature. NEW & NOTEWORTHYWe formulate a detailed computational account of sensory attenuation in force matching tasks that disambiguates contributions of perceptual, memory and prediction noise in order to isolate a pure measure of attenuation strength. Analysis of data from nearly 500 participants shows that attenuated sensations display increased trial-to-trial variability, consistent with incorporating additional noise inherent to motor prediction. These results support a divisive - rather than subtractive - reduction in the sensation of self-generated forces based on predicted reafference.