LOCOMOTOR CIRCUITS IN THE MAMMALIAN SPINAL CORD

Contribution of persistent sodium current to locomotor pattern generation in neonatal rats

The persistent sodium current (I(NaP)) is known to play a role in rhythm generation in different systems. Here, we investigated its contribution to locomotor pattern generation in the neonatal rat spinal cord. The locomotor network is mainly located in the ventromedial gray matter of upper lumbar segments. By means of whole cell recordings in slices, we characterized membrane and I(NaP) biophysical properties of interneurons located in this area. Compared with motoneurons, interneurons were more excitable, because of higher input resistance and membrane time constant, and displayed lower firing frequency arising from broader spikes and longer AHPs. Ramp voltage-clamp protocols revealed a riluzole- or TTX-sensitive inward current, presumably I(NaP), three times smaller in interneurons than in motoneurons. However, in contrast to motoneurons, I(NaP) mediated a prolonged plateau potential in interneurons after reducing K(+) and Ca(2+) currents. We further used in vitro isolated spinal cord preparations to investigate the contribution of I(NaP) to locomotor pattern. Application of riluzole (10 muM) to the whole spinal cord or to the upper lumbar segments disturbed fictive locomotion, whereas application of riluzole over the caudal lumbar segments had no effect. The effects of riluzole appeared to arise from a specific blockade of I(NaP) because action potential waveform, dorsal root-evoked potentials, and miniature excitatory postsynaptic currents were not affected. This study provides new functional features of ventromedial interneurons, with the first description of I(NaP)-mediated plateau potentials, and new insights into the operation of the locomotor network with a critical implication of I(NaP) in stabilizing the locomotor pattern.

Coordinated network functioning in the spinal cord: an evolutionary perspective

The successful achievement of harmonious locomotor movement results from the integrated operation of all body segments. Here, we will review current knowledge on the functional organization of spinal networks involved in mammalian locomotion. Attention will not simply be restricted to hindlimb muscle control, but by also considering the necessarily coordinated activation of trunk and forelimb muscles, we will try to demonstrate that while there has been a progressive increase in locomotor system complexity during evolution, many basic organizational features have been preserved across the spectrum from lower vertebrates through to humans. Concerning the organization of axial neuronal networks that control trunk muscles, it has been found across the vertebrate range that during locomotor movement a motor wave travels longitudinally in the spinal cord via the coupling of rhythmic segmental networks. For hindlimb activation it has been found in all species studied that the rostral lumbar segments contain the key elements for pattern generation. We also showed that rhythmic arm movements are under the control of cervical forelimb generators in quadrupeds as well as in human. Finally, it is highlighted that the coordination of quadrupedal movements during locomotion derives principally from an asymmetrical coordinating influence occurring in the caudo-rostral direction from the lumbar hindlimb networks.

The function of intersegmental connections in determining temporal characteristics of the spinal cord rhythmic output

Recent renewed interest in the study of rhythmic behaviors and pattern-generating circuits has been inspired by the currently well-established role of oscillating neuronal networks in all aspects of the function of our nervous system: from sensory integration to central processing, and of course motor control. An integrative rather than reductionist approach in the study of pattern-generating circuits is in accordance with current developments. The lamprey spinal cord, a relatively simple and much-studied preparation, is a useful model for such a study. It is an example of a chain of coupled oscillatory units that is characterized by its ability to demonstrate robust coordinated rhythmic output when isolated in vitro. The preparation allows maximum control over the chemical (neuromodulators and hormones) as well as neuronal environment (sensory and descending inputs) of the single oscillatory unit: the pattern-generating circuit. The current study made use of recently developed tools for nonlinear analysis of time-series, specifically neurophysiological signals. These tools allow us to reveal and characterize biological-functional complexity and information capacity of the neuronal output recorded from the lamprey model network. We focused on the importance of different types of inputs to an oscillatory network and their effect on the network's functional output. We show that the basic circuit, when isolated from short- and long-range neuronal inputs, demonstrates its full potential of information capacity: maximal variation quantities and elevated functional complexity. Morphological and functional constraints result in the network exhibiting only a limited range of the above. This constitutes an important substrate for plasticity in neuronal network function.

Notch and MAML signaling drives Scl-dependent interneuron diversity in the spinal cord

The ventral spinal cord generates multiple inhibitory and excitatory interneuron subtypes from four cardinal progenitor domains (p0, p1, p2, p3). Here we show that cell-cell interactions mediated by the Notch receptor play a critical evolutionarily conserved role in the generation of excitatory v2aIN and inhibitory v2bIN interneurons. Lineage-tracing experiments show that the v2aIN and v2bIN develop from genetically identical p2 progenitors. The p2 daughter cell fate is controlled by Delta4 activation of Notch receptors together with MAML factors. Cells receiving Notch signals activate a transcription factor code that specifies the v2bIN fate, whereas cells deprived of Notch signaling express another code for v2aIN formation. Thus, our study provides insight into the cell-extrinsic signaling that controls combinatorial transcription factor profiles involved in regulating the process of interneuron subtype diversification.

Ventrolateral origin of each cycle of rhythmic activity generated by the spinal cord of the chick embryo

Background

The mechanisms responsible for generating rhythmic motor activity in the developing spinal cord of the chick embryo are poorly understood. Here we investigate whether the activity of motoneurons occurs before other neuronal populations at the beginning of each cycle of rhythmic discharge.

Methodology/Principal Findings

The spatiotemporal organization of neural activity in transverse slices of the lumbosacral cord of the chick embryo (E8-E11) was investigated using intrinsic and voltage-sensitive dye (VSD) imaging. VSD signals accompanying episodes of activity comprised a rhythmic decrease in light transmission that corresponded to each cycle of electrical activity recorded from the ipsilateral ventral root. The rhythmic signals were widely synchronized across the cord face, and the largest signal amplitude was in the ventrolateral region where motoneurons are located. In unstained slices we recorded two classes of intrinsic signal. In the first, an episode of rhythmic activity was accompanied by a slow decrease in light transmission that peaked in the dorsal horn and decayed dorsoventrally. Superimposed on this signal was a much smaller rhythmic increase in transmission that was coincident with each cycle of discharge and whose amplitude and spatial distribution was similar to that of the VSD signals. At the onset of a spontaneously occurring episode and each subsequent cycle, both the intrinsic and VSD signals originated within the lateral motor column and spread medially and then dorsally. By contrast, following a dorsal root stimulus, the optical signals originated within the dorsal horn and traveled ventrally to reach the lateral motor column.

Conclusions/Significance

These findings suggest that motoneuron activity contributes to the initiation of each cycle of rhythmic activity, and that motoneuron and/or R-interneuron synapses are a plausible site for the activity-dependent synaptic depression that modeling studies have identified as a critical mechanism for cycling within an episode.

Functional dissection of circuitry in a neural integrator

In neural integrators, transient inputs are accumulated into persistent firing rates that are a neural correlate of short-term memory. Integrators often contain two opposing cell populations that increase and decrease sustained firing as a stored parameter value rises. A leading hypothesis for the mechanism of persistence is positive feedback through mutual inhibition between these opposing populations. We tested predictions of this hypothesis in the goldfish oculomotor velocity-to-position integrator by measuring the eye position and firing rates of one population, while pharmacologically silencing the opposing one. In complementary experiments, we measured responses in a partially silenced single population. Contrary to predictions, induced drifts in neural firing were limited to half of the oculomotor range. We built network models with synaptic-input thresholds to demonstrate a new hypothesis suggested by these data: mutual inhibition between the populations does not provide positive feedback in support of integration, but rather coordinates persistent activity intrinsic to each population.

Understanding Circuit Dynamics Using the Stomatogastric Nervous System of Lobsters and Crabs

Studies of the stomatogastric nervous systems of lobsters and crabs have led to numerous insights into the cellular and circuit mechanisms that generate rhythmic motor patterns. The small number of easily identifiable neurons allowed the establishment of connectivity diagrams among the neurons of the stomatogastric ganglion. We now know that (a) neuromodulatory substances reconfigure circuit dynamics by altering synaptic strength and voltage-dependent conductances and (b) individual neurons can switch among different functional circuits. Computational and experimental studies of single-neuron and network homeostatic regulation have provided insight into compensatory mechanisms that can underlie stable network performance. Many of the observations first made using the stomatogastric nervous system can be generalized to other invertebrate and vertebrate circuits.

ERG conductance expression modulates the excitability of ventral horn GABAergic interneurons that control rhythmic oscillations in the developing mouse spinal cord

During antenatal development, the operation and maturation of mammalian spinal networks strongly depend on the activity of ventral horn GABAergic interneurons that mediate excitation first and inhibition later. Although the functional consequence of GABA actions may depend on maturational processes in target neurons, it is also likely that evolving changes in GABAergic transmission require fine-tuning in GABA release, probably via certain intrinsic mechanisms regulating GABAergic neuron excitability at different embryonic stages. Nevertheless, it has not been possible, to date, to identify certain ionic conductances upregulated or downregulated before birth in such cells. By using an experimental model with either mouse organotypic spinal cultures or isolated spinal cord preparations, the present study examined the role of the ERG current (I(K(ERG))), a potassium conductance expressed by developing, GABA-immunoreactive spinal neurons. In organotypic cultures, only ventral interneurons with fast adaptation and GABA immunoreactivity, and only after 1 week in culture, were transformed into high-frequency bursters by E4031, a selective inhibitor of I(K(ERG)) that also prolonged and made more regular spontaneous bursts. In the isolated spinal cord in which GABA immunoreactivity and m-erg mRNA were colocalized in interneurons, ventral root rhythms evoked by NMDA plus 5-hydroxytryptamine were stabilized and synchronized by E4031. All of these effects were lost after 2 weeks in culture or before birth in coincidence with decreased m-erg expression. These data suggest that, during an early stage of spinal cord development, the excitability of GABAergic ventral interneurons important for circuit maturation depended, at least in part, on the function of I(K(ERG)).

Spinal control of locomotion--from cat to man

For a large number of vertebrate species it is now indisputable that spinal networks have the capability of generating the basic locomotor rhythm. The aim of this review is to summarize the evidence for spinal pattern generators in cats and primates, including man and its interaction with sensory signals from the limbs. For all species the sensory feed-back from the moving limb is very important to achieve effective locomotor behaviour by adapting to the environment and compensating for unexpected postural disturbances. Sensory regulation of stepping can occur via reflex pathways to motoneurones (by-passing the locomotor rhythm generators) or by acting on the spinal locomotor networks themselves. The sensory feed-back serves to control the timing of the different phases in the step cycle, to shape the pattern of muscle activity, to contribute to the excitatory drive of the motoneurones and to the long-term adaptation of the locomotor activity. In this review we discuss the spinal locomotor circuits and the sensory feed-back in animals (mainly the cat) and human subjects. Special emphasis is given to work that has been of importance for the development of new rehabilitation paradigms following spinal cord injury.

Biological pattern generation: the cellular and computational logic of networks in motion

In 1900, Ramón y Cajal advanced the neuron doctrine, defining the neuron as the fundamental signaling unit of the nervous system. Over a century later, neurobiologists address the circuit doctrine: the logic of the core units of neuronal circuitry that control animal behavior. These are circuits that can be called into action for perceptual, conceptual, and motor tasks, and we now need to understand whether there are coherent and overriding principles that govern the design and function of these modules. The discovery of central motor programs has provided crucial insight into the logic of one prototypic set of neural circuits: those that generate motor patterns. In this review, I discuss the mode of operation of these pattern generator networks and consider the neural mechanisms through which they are selected and activated. In addition, I will outline the utility of computational models in analysis of the dynamic actions of these motor networks.

Characteristics and mechanisms of locomotion induced by intraspinal microstimulation and dorsal root stimulation in spinal cats

Intraspinal microstimulation (ISMS) through a single microelectrode can induce locomotion in cats spinalized at T(13) 1 wk before (untrained) or after 3-5 wk of treadmill training. Here we study the optimal parameters of ISMS and the characteristics of locomotion evoked. ISMS was applied in the dorsal region of segments L(3)-S(1) at different lateralities (midline to 2.5 mm) and after an intravenous injection of clonidine (noradrenergic agonist). Kinematics and electromyographic recordings were used to characterize locomotion. ISMS could induce a bilateral locomotor pattern similar to that obtained with perineal stimulation, and the characteristics of locomotion varied according to the spinal segment stimulated. Mechanisms by which ISMS could evoke locomotion were then investigated by stimulating, inactivating, or lesioning different spinal structures. Dorsal root stimulation (DRS), just like ISMS, could evoke a variety of ipsi- and bilateral nonlocomotor movements as well as locomotor responses. This suggests that sensory afferent pathways are involved in the production of locomotion by ISMS. Microinjections of yohimbine (noradrenergic antagonist) in L(3) and L(4) segments or a complete second spinal lesion at L(3)-L(4) abolished all locomotor activity evoked by ISMS applied at more caudal segments. Progressive dorsoventral spinal lesions at L(3) or L(4) and restricted ventral lesions at L(4) further suggest that the integrity of the ventral or ventrolateral funiculi as well as the L(3)-L(4) segments are critical for the induction of locomotion by ISMS at L(5) to S(1) or by DRS at these caudal segments.

Modeling the mammalian locomotor CPG: insights from mistakes and perturbations

A computational model of the mammalian spinal cord circuitry incorporating a two-level central pattern generator (CPG) with separate half-center rhythm generator (RG) and pattern formation (PF) networks is reviewed. The model consists of interacting populations of interneurons and motoneurons described in the Hodgkin-Huxley style. Locomotor rhythm generation is based on a combination of intrinsic (persistent sodium current dependent) properties of excitatory RG neurons and reciprocal inhibition between the two half-centers comprising the RG. The two-level architecture of the CPG was suggested from an analysis of deletions (spontaneous omissions of activity) and the effects of afferent stimulation on the locomotor pattern and rhythm observed during fictive locomotion in the cat. The RG controls the activity of the PF network that in turn defines the rhythmic pattern of motoneuron activity. The model produces realistic firing patterns of two antagonist motoneuron populations and generates locomotor oscillations encompassing the range of cycle periods and phase durations observed during cat locomotion. A number of features of the real CPG operation can be reproduced with separate RG and PF networks, which would be difficult if not impossible to demonstrate with a classical single-level CPG. The two-level architecture allows the CPG to maintain the phase of locomotor oscillations and cycle timing during deletions and during sensory stimulation. The model provides a basis for functional identification of spinal interneurons involved in generation and control of the locomotor pattern.

The neuromechanical tuning hypothesis

Simulations performed with neuromechanical models are providing insight into the neural control of locomotion that would be hard if not impossible to obtain in any other way. We first discuss the known properties of the neural mechanisms controlling locomotion, with a focus on mammalian systems. The rhythm-generating properties of central pattern generators (CPGs) are discussed in light of results indicating that cycle characteristics may be preset by tonic drive to spinal interneuronal networks. We then describe neuromechanical simulations that have revealed some basic rules of interaction between CPGs, sensory-mediated switching mechanisms and the biomechanics of locomotor movements. We posit that the spinal CPG timer and the sensory-mediated switch operate in parallel, the former being driven primarily by descending inputs and the latter by the kinematics. The CPG timer produces extensor and flexor phase durations, which covary along specific lines in a plot of phase- versus cycle-duration. We coined the term "phase-duration characteristics" to describe such plots. Descending input from higher centers adjusts the operating points on the phase-duration characteristics according to anticipated biomechanical requirements. In well-predicted movements, CPG-generated phase durations closely match those required by the kinematics, minimizing the corrections in phase duration required of the sensory switching mechanism. We propose the term "neuromechanical tuning" to describe this process of matching the CPG to the kinematics.

Vesicular glutamate transporter 2 is required for central respiratory rhythm generation but not for locomotor central pattern generation

Glutamatergic excitatory neurotransmission is dependent on glutamate release from presynaptic vesicles loaded by three members of the solute carrier family, Slc17a6-8, which function as vesicular glutamate transporters (VGLUTs). Here, we show that VGLUT2 (Slc17a6) is required for life ex utero. Vglut2 null mutant mice die immediately after birth because of the absence of respiratory behavior. Investigations at embryonic stages revealed that neural circuits in the location of the pre-Bötzinger (PBC) inspiratory rhythm generator failed to become active. However, neurons with bursting pacemaker properties and anatomical integrity of the PBC area were preserved. Vesicles at asymmetric synapses were fewer and malformed in the Vglut2 null mutant hindbrain, probably causing the complete disruption of AMPA/kainate receptor-mediated synaptic activity in mutant PBC cells. The functional deficit results from an inability of PBC neurons to achieve synchronous activation. In contrast to respiratory rhythm generation, the locomotor central pattern generator of Vglut2 null mutant mice displayed normal rhythmic and coordinated activity, suggesting differences in their operating principles. Hence, the present study identifies VGLUT2-mediated signaling as an obligatory component of the developing respiratory rhythm generator.

Experiments and models of sensorimotor interactions during locomotion

During locomotion sensory information from cutaneous and muscle receptors is continuously integrated with the locomotor central pattern generator (CPG) to generate an appropriate motor output to meet the demands of the environment. Sensory signals from peripheral receptors can strongly impact the timing and amplitude of locomotor activity. This sensory information is gated centrally depending on the state of the system (i.e., rest vs. locomotion) but is also modulated according to the phase of a given task. Consequently, if one is to devise biologically relevant walking models it is imperative that these sensorimotor interactions at the spinal level be incorporated into the control system.

Oscillations and oscillatory behavior in small neural circuits

In order to determine the dynamical properties of central pattern generators (CPGs), we have examined the lobster stomatogastric ganglion using the tools of nonlinear dynamics. The lobster pyloric and gastric mill central pattern generators can be analyzed at both the cellular and network levels because they are small, i.e., contain only 25 neurons between them and each neuron and synapse are repeatedly identifiable from animal to animal. We discuss how the biophysical properties of each neuron and synapse in the two circuits act cooperatively to generate two different patterns of sequential activity, how these patterns are altered by neuromodulators and perturbed by noise and sensory inputs. Finally, we show how simplified Hindmarsh-Rose models can be made into analog electronic neurons that mimic the lobster neurons and in addition be incorporated into artificial CPGs with robotic applications.

The effects induced by the sulphonylurea glibenclamide on the neonatal rat spinal cord indicate a novel mechanism to control neuronal excitability and inhibitory neurotransmission

BACKGROUND AND PURPOSE

Using the neonatal rat spinal cord in vitro, we investigated the action of glibenclamide, a drug possessing dual pharmacological effects, namely block of K(ATP) channels and of the cystic fibrosis transmembrane conductance regulator (CFTR).

EXPERIMENTAL APPROACH

Intra- and extracellular recordings were performed on motoneurons and interneurons. RT-PCR and western immunoblotting were used to determine gene and protein expression.

KEY RESULTS

Glibenclamide (50 microM) facilitated mono- and polysynaptic reflexes, hyperpolarized motoneuron resting potential, increased action potential amplitude, decreased Renshaw cell-mediated recurrent inhibition, and increased network excitability by depressing GABA- and glycine-mediated transmission. The action of glibenclamide was mimicked by tolbutamide (500 microM) or the CFTR blocker diphenylamine-2,2-dicarboxylic acid (500 microM). The action of glibenclamide was independent from pharmacological inhibition of the Na(+)-K(+) pump with strophanthidin (4 microM) and was associated with a negative shift in the extrapolated reversal potential for CI(-) dependent synaptic inhibition. On interneurons, intracellularly-applied 8-bromo-cAMP elicited an inward current and resistance decrease; effects antagonized by the selective CFTR antagonist, CFTR(inh)-172 (5 microM). RT-PCR and western immunoblotting indicated strong expression of the CFTR in neonatal rat spinal cord.

CONCLUSIONS AND IMPLICATIONS

These data suggest the CFTR expressed in motoneurons and interneurons of the neonatal spinal cord is involved in the control of Cl(-) homeostasis and neuronal excitability. CFTR appeared to contribute to the relatively depolarized equilibrium potential for synaptic inhibition, an important process to control hyperexcitability and seizure-predisposition in neonates.

Spinal reflexes, mechanisms and concepts: From Eccles to Lundberg and beyond

This review focuses on investigations by Sir John Eccles and co-workers in Canberra, AUS in the 1950s, in which they used intracellular recordings to unravel the organization of neuronal networks in the cat spinal cord. Five classical spinal reflexes are emphasized: recurrent inhibition of motoneurons via motor axon collaterals and Renshaw cells, pathways from muscle spindles and Golgi tendon organs, presynaptic inhibition, and the flexor reflex. To set the scene for these major achievements I first provide a brief account of the understanding of the spinal cord in "reflex" and "voluntary" motor activities from the beginning of the 20th century. Next, subsequent work is reviewed on the convergence on spinal interneurons from segmental sensory afferents and descending motor pathways, much of which was performed and inspired by Anders Lundberg's group in Gothenburg, SWE. This work was the keystone for new hypotheses on the role of spinal circuits in normal motor control. Such hypotheses were later tested under more natural conditions; either by recording directly from interneurons in reduced animal preparations or by use of indirect non-invasive techniques in humans performing normal movements. Some of this latter work is also reviewed. These developments would not have been possible without the preceding work on spinal reflexes by Eccles and Lundberg. Finally, there is discussion of how Eccles' work on spinal reflexes remains central (1) as new techniques are introduced on direct recording from interneurons in behaving animals; (2) in experiments on plastic neuronal changes in relation to motor learning and neurorehabilitation; (3) in experiments on transgenic animals uncovering aspects of human pathophysiology; and (4) in evaluating the function of genetically identified classes of neurons in studies on the development of the spinal cord.