Functional organization within the medullary reticular formation of intact unanesthetized cat. I. Movements evoked by microstimulation

Bilateral spike-triggered average effects in arm and shoulder muscles from the monkey pontomedullary reticular formation

Pontomedullary reticular formation (PMRF) neurons (309) were recorded simultaneously with electromyographic activity from arm and shoulder muscles in four monkeys performing arm-reaching tasks. Spike-triggered averages (SpikeTAs) were compiled for 292 neurons (3836 neuron-muscle pairs). Fourteen PMRF neurons located in a region ventral to the abducens nucleus produced 42 significant SpikeTA effects in arm and shoulder muscles. Of these 14 PMRF neurons, nine produced SpikeTA effects bilaterally. Overall, PMRF neurons facilitated ipsilateral flexors and contralateral extensors, while suppressing ipsilateral extensors and contralateral flexors. Spike- and stimulus-triggered averaging effects obtained from the same recording site were similar. These findings indicate that single PMRF neurons can directly influence movements of both upper limbs.

Interaction between hindbrain and spinal networks during the development of locomotion in zebrafish

Little is known about the role of the hindbrain during development of spinal network activity. We set out to identify the activity patterns of reticulospinal (RS) neurons of the hindbrain in fictively swimming (paralyzed) zebrafish larvae. Simultaneous recordings of RS neurons and spinal motoneurons revealed that these were coactive during spontaneous fictive swim episodes. We characterized four types of RS activity patterns during fictive swimming: (i) a spontaneous pattern of discharges resembling evoked high-frequency spiking during startle responses to touch stimuli, (ii) a rhythmic pattern of excitatory postsynaptic potentials (EPSPs) whose frequency was similar to the motoneuron EPSP frequency during swim episodes, (iii) an arrhythmic pattern consisting of tonic firing throughout swim episodes, and (iv) RS cell activity uncorrelated with motoneuron activity. Despite lesions to the rostral spinal cord that prevented ascending spinal axons from entering the hindbrain (normally starting at approximately 20 h), RS neurons continued to display the aforementioned activity patterns at day 3. However, removal of the caudal portion of the hindbrain prior to the descent of RS axons left the spinal cord network unable to generate the rhythmic oscillations normally elicited by application of N-methyl-d-aspartate (NMDA), but in approximately 40% of cases chronic incubation in NMDA maintained rhythmic activity. We conclude that there is an autonomous embryonic hindbrain network that is necessary for proper development of the spinal central pattern generator, and that the hindbrain network can partially develop independently of ascending input.

Organization in the descending tracts of the dorsolateral funiculus in the cat

Organization of the fibers in the descending tracts of the dorsolateral funiculus of the cervical spinal cord was investigated in cats. The spinal cord was penetrated with microelectrodes at 400 mum intervals in the medio-lateral direction at the c5/c6 and c6/c7 segmental borders. Silicon substrate microelectrodes with a linear arrangement of activated iridium contacts were used. The stimulus consisted of a 20 ms train of charge balanced biphasic current pulses at 330 Hz. The evoked activities from selected forelimb muscles were acquired into computer. Only the data points with an activation threshold of less than 35 muA were considered in the analysis. Muscle contractions were mostly in the form of short twitches. In both spinal segments, an area of high threshold was found in the middle of the dorsolateral funiculus. Majority of the muscles studied had a dorsal or ventral concentration of activation points. The distal muscles were mostly activated in the ventro-lateral aspect of the funiculus, while the elbow muscle maps spread to both dorsal and ventral sides. These results show a functional organization in both cervical segments studied, with overlapping regions between the areas dedicated for each forelimb muscle.

Plasticity of connections underlying locomotor recovery after central and/or peripheral lesions in the adult mammals

This review discusses some aspects of plasticity of connections after spinal injury in adult animal models as a basis for functional recovery of locomotion. After reviewing some pitfalls that must be avoided when claiming functional recovery and the importance of a conceptual framework for the control of locomotion, locomotor recovery after spinal lesions, mainly in cats, is summarized. It is concluded that recovery is partly due to plastic changes within the existing spinal locomotor networks. Locomotor training appears to change the excitability of simple reflex pathways as well as more complex circuitry. The spinal cord possesses an intrinsic capacity to adapt to lesions of central tracts or peripheral nerves but, as a rule, adaptation to lesions entails changes at both spinal and supraspinal levels. A brief summary of the spinal capacity of the rat, mouse and human to express spinal locomotor patterns is given, indicating that the concepts derived mainly from work in the cat extend to other adult mammals. It is hoped that some of the issues presented will help to evaluate how plasticity of existing connections may combine with and potentiate treatments designed to promote regeneration to optimize remaining motor functions.

Position-dependent torque coupling and associated muscle activation in the hemiparetic upper extremity

Previous studies have demonstrated abnormal joint torque coupling and associated muscle coactivations of the upper extremity in individuals with unilateral stroke. We investigated the effect of upper limb configuration on the expression of the well-documented patterns of shoulder abduction/elbow flexion and shoulder adduction/elbow extension. Maximal isometric shoulder and elbow torques were measured in stroke subjects in four different arm configurations. Additionally, an isometric combined torque task was completed where subjects were required to maintain various levels of shoulder abduction/adduction torque while attempting to maximize elbow flexion or extension torque. The dominant abduction/elbow flexion pattern was insensitive to changes in limb configuration while the elbow extension component of the adduction/extension pattern changed to elbow flexion at smaller shoulder abduction angles. This effect was not present in control subjects without stroke. The reversal of the torque-coupling pattern could not be explained by mechanical factors such as muscle length changes or muscle strength imbalances across the elbow joint. Potential neural mechanisms underlying the sensitivity of the adduction/elbow extension pattern to different somatosensory input resultant from changes in limb configuration are discussed along with the implications for future research.

Descending signals from the pontomedullary reticular formation are bilateral, asymmetric, and gated during reaching movements in the cat

We examined the contribution of neurons within the pontomedullary reticular formation (PMRF) to the control of reaching movements in the cat. We recorded the activity of 127 reticular neurons, including 56 reticulospinal neurons, during movements of each forelimb; 67/127 of these neurons discharged prior to the onset of activity in the prime flexor muscles during the reach of the ipsilateral limb and form the focus of this report. Most neurons (63/67) showed similar patterns and levels of discharge activity during reaches of either limb, although activity was slightly greater during reach of the ipsilateral limb. In 26/67 cells, the initial change in discharge activity was time-locked to the go signal during reaches of either limb; we have argued that this early discharge contributes to the anticipatory postural adjustments that precede movement. In 11/26 cells, the initial change in activity was reciprocal for reaches with the left and right limbs, although activity during the movement was nonreciprocal. Spike-triggered averaging produced postspike facilitation or depression (PSD) in 12/50 cells during reaches of the limb ipsilateral to the recording site and in 17/49 cells during reach of the contralateral limb. Some cells produced PSD in ipsilateral extensor muscles before the start of the reach and during reaches made with the contralateral, but not the ipsilateral limb; this suggests the signal must be differentially gated. Overall, the results suggest a strong bilateral, albeit asymmetric, contribution from the PMRF to the control of posture and movement during voluntary movement.

How can corticospinal tract neurons contribute to ipsilateral movements? A question with implications for recovery of motor functions

In this review, the authors discuss some recent findings that bear on the issue of recovery of function after corticospinal tract lesions. Conventionally the corticospinal tract is considered to be a crossed pathway, in keeping with the clinical findings that damage to one hemisphere, for example, in stroke, leads to a contralateral paresis and, if the lesion is large, a paralysis. However, there has been great interest in the possibility of compensatory recovery of function using the undamaged hemisphere. There are several substrates for this including ipsilaterally descending corticospinal fibers and bilaterally operating neuronal networks. Recent studies provide important evidence bearing on both of these issues. In particular, they reveal networks of neurons interconnecting two sides of the gray matter at both brainstem and spinal levels, as well as intrahemispheric transcallosal connections. These may form "detour circuits" for recovery of function, and here the authors will consider some possibilities for exploiting these networks for motor control, even though their analysis is still at an early stage.

Bilateral actions of the reticulospinal tract on arm and shoulder muscles in the monkey: stimulus triggered averaging

The motor output of the pontomedullary reticular formation (PMRF) was investigated to determine the reticulospinal system's capacity for bilateral control of the upper limbs. Stimulus triggered electromyographic averages (StimulusTA) were constructed from muscles of both upper limbs while two awake monkeys (Macaca fascicularis) performed a reaching task using either arm. Extensor and flexor muscles were studied at the wrist, elbow, and shoulder; muscles acting on the scapula were also studied. Post-stimulus effects (PStEs) resulted from 435 (81%) of 535 sites tested. Of 1611 PStEs analyzed, 58% were post-stimulus suppression (PStS), and 42% were post-stimulus facilitation (PStF). Onset latency was earlier for PStF than PStS, duration was longer for PStS, and amplitude was larger for PStF. Ipsilateral and contralateral PStEs were equally prevalent; bilateral responses were typical. In the ipsilateral forelimb and shoulder, the prevalent pattern was flexor PStF and extensor PStS; the opposite pattern was prevalent contralaterally. Sites producing strong ipsilateral upper trapezius PStF were concentrated in a region caudal and ventral to abducens. The majority of muscles studied had no clear somatotopic organization. Overall, the results indicate the monkey PMRF has the capacity to support bilateral coordination of limb movements using reciprocal actions within a limb and between sides.

Dynamic sensorimotor interactions in locomotion

Locomotion results from intricate dynamic interactions between a central program and feedback mechanisms. The central program relies fundamentally on a genetically determined spinal circuitry (central pattern generator) capable of generating the basic locomotor pattern and on various descending pathways that can trigger, stop, and steer locomotion. The feedback originates from muscles and skin afferents as well as from special senses (vision, audition, vestibular) and dynamically adapts the locomotor pattern to the requirements of the environment. The dynamic interactions are ensured by modulating transmission in locomotor pathways in a state- and phase-dependent manner. For instance, proprioceptive inputs from extensors can, during stance, adjust the timing and amplitude of muscle activities of the limbs to the speed of locomotion but be silenced during the opposite phase of the cycle. Similarly, skin afferents participate predominantly in the correction of limb and foot placement during stance on uneven terrain, but skin stimuli can evoke different types of responses depending on when they occur within the step cycle. Similarly, stimulation of descending pathways may affect the locomotor pattern in only certain phases of the step cycle. Section ii reviews dynamic sensorimotor interactions mainly through spinal pathways. Section iii describes how similar sensory inputs from the spinal or supraspinal levels can modify locomotion through descending pathways. The sensorimotor interactions occur obviously at several levels of the nervous system. Section iv summarizes presynaptic, interneuronal, and motoneuronal mechanisms that are common at these various levels. Together these mechanisms contribute to the continuous dynamic adjustment of sensorimotor interactions, ensuring that the central program and feedback mechanisms are congruous during locomotion.

Movement-Related Discharge of Ventromedial Medullary Neurons

Studies in anesthetized animals implicate nonserotonergic cells in the ventromedial medulla (VMM) in opioid modulation of nociceptive transmission but do not reveal the conditions that engage VMM cells in unanesthetized rats. The few studies of VMM cells in unanesthetized rats show that VMM cells change their discharge across the sleep-wake cycle and during active movements. Since active movements are more likely to occur during waking than sleep, state-related discharge may in fact represent movement-related discharge. In this study, we recorded the discharge of VMM neurons in unanesthetized, drug-free, freely moving rats and examined whether neuronal activity was related to wake/sleep state, to motor activity, or to both factors. Most cells (45/67) were more active during waking states than sleeping states, 1 cell was more active during sleep states, and the remaining 21 cells did not fire preferentially across the sleep-wake cycle. Most wake-active cells (36/45) showed discharge bursts during movement bursts, and 9/11 wake-active cells were excited by noxious heat and innocuous air puff stimulation. In contrast, few state-independent cells (9/21) showed movement-related bursts in discharge. These results suggest that VMM neurons modulate spinal processes during phasic motor activity.

Adaptive changes of locomotion after central and peripheral lesions

This paper reviews findings on the adaptive changes of locomotion in cats after spinal cord or peripheral nerve lesions. From the results obtained after lesions of the ventral/ventrolateral pathways or the dorsal/dorsolateral pathways, we conclude that with extensive but partial spinal lesions, cats can regain voluntary quadrupedal locomotion on a treadmill. Although tract-specific deficits remain after such lesions, intact descending tracts can compensate for the lesioned tracts and access the spinal network to generate voluntary locomotion. Such neuroplasticity of locomotor control mechanisms is also demonstrated after peripheral nerve lesions in cats with intact or lesioned spinal cords. Some models have shown that recovery from such peripheral nerve lesions probably involves changes at the supra spinal and spinal levels. In the case of somesthesic denervation of the hindpaws, we demonstrated that cats with a complete spinal section need some cutaneous inputs to walk with a plantigrade locomotion, and that even in this spinal state, cats can adapt their locomotion to partial cutaneous denervation. Altogether, these results suggest that there is significant plasticity in spinal and supraspinal locomotor controls to justify the beneficial effects of early proactive and sustained locomotor training after central (Rossignol and Barbeau 1995; Barbeau et al. 1998) or peripheral lesions.Key words: spinal lesions, nerve lesions, locomotion, neuroplisticity, locomotor training.

Motor outputs from the primate reticular formation to shoulder muscles as revealed by stimulus-triggered averaging

The motor output of the medial pontomedullary reticular formation (mPMRF) was investigated using stimulus-triggered averaging (StimulusTA) of EMG responses from proximal arm and shoulder muscles in awake, behaving monkeys (M. fascicularis). Muscles studied on the side ipsilateral (i) to stimulation were biceps (iBic), triceps (iTri), anterior deltoid (iADlt), posterior deltoid (iPDlt), and latissimus dorsi (iLat). The upper and middle trapezius were studied on the ipsilateral and contralateral (c) side (iUTr, cUTr, iMTr, cMTr). Of 133 sites tested, 97 (73%) produced a poststimulus effect (PStE) in one or more muscles; on average, 38% of the sampled muscles responded per effective site. For responses that were observed in the arm and shoulder, poststimulus facilitation (PStF) was prevalent for the flexors, iBic (8 responses, 100% PStF) and iADlt (13 responses, 77% PStF), and poststimulus suppression (PStS) was prevalent for the extensors, iTri (22 responses, 96% PStS) and iLat (16 responses, 81% PStS). For trapezius muscles, PStS of upper trapezius (iUTr, 49 responses, 73% PStS) and PStF of middle trapezius (iMTr, 22 responses, 64% PStF) were prevalent ipsilaterally, and PStS of middle trapezius (cMTr, 6 responses, 67% PStS) and PStF of upper trapezius (cUTr, 46 responses, 83% PStS) were prevalent contralaterally. Onset latencies were significantly earlier for PStF (7.0 +/- 2.2 ms) than for PStS (8.6 +/- 2.0 ms). At several sites, extremely strong PStF was evoked in iUTr, even though PStS was most common for this muscle. The anatomical antagonists iBic/iTri were affected reciprocally when both responded. The bilateral muscle pair iUTr/cUTr demonstrated various combinations of effects, but cUTr PStF with iUTr PStS was prevalent. Overall, the results are consistent with data from the cat and show that outputs from the mPMRF can facilitate or suppress activity in muscles involved in reaching; responses that would contribute to flexion of the ipsilateral arm were prevalent.

Locomotor role of the corticoreticular-reticulospinal-spinal interneuronal system

In vertebrates, the descending reticulospinal pathway is the primary means of conveying locomotor command signals from higher motor centers to spinal interneuronal circuits, the latter including the central pattern generators for locomotion. The pathway is morphologically heterogeneous, being composed of various types of inparallel-descending axons, which terminate with different arborization patterns in the spinal cord. Such morphology suggests that this pathway and its target spinal interneurons comprise varying types of functional subunits, which have a wide variety of functional roles, as dictated by command signals from the higher motor centers. Corticoreticular fibers are one of the major output pathways from the motor cortex to the brainstem. They project widely and diffusely within the pontomedullary reticular formation. Such a diffuse projection pattern seems well suited to combining and integrating the function of the various types of reticulospinal neurons, which are widely scattered throughout the pontomedullary reticular formation. The corticoreticular-reticulospinal-spinal interneuronal connections appear to operate as a cohesive, yet flexible, control system for the elaboration of a wide variety of movements, including those that combine goal-directed locomotion with other motor actions.

Neuronal basis of crossed actions from the reticular formation on feline hindlimb motoneurons

Pathways through which reticulospinal neurons can influence contralateral limb movements were investigated by recording from motoneurons innervating hindlimb muscles. Reticulospinal tract fibers were stimulated within the brainstem or in the lateral funiculus of the thoracic spinal cord contralateral to the motoneurons. Effects evoked by ipsilaterally descending reticulospinal tract fibers were eliminated by a spinal hemisection at an upper lumbar level. Stimuli applied in the brainstem evoked EPSPs, IPSPs, or both at latencies of 1.42 +/- 0.03 and 1.53 +/- 0.04 msec, respectively, from the first components of the descending volleys and with properties indicating a disynaptic linkage, in most contralateral motoneurons: EPSPs in 76% and IPSPs in 26%. EPSPs with characteristics of monosynaptically evoked responses, attributable to direct actions of crossed axon collaterals of reticulospinal fibers, were found in a small proportion of the motoneurons, whether evoked from the brainstem (9%) or from the thoracic cord (12.5%). Commissural neurons, which might mediate the crossed disynaptic actions (i.e., were antidromically activated from contralateral motor nuclei and monosynaptically excited from the ipsilateral reticular formation), were found in Rexed's lamina VIII in the midlumbar segments (L3-L5). The results reveal that although direct actions of reticulospinal fibers are much more potent on ipsilateral motoneurons, interneuronally mediated actions are as potent contralaterally as ipsilaterally, and midlumbar commissural neurons are likely to contribute to them. They indicate a close coupling between the spinal interneuronal systems used by the reticulospinal neurons to coordinate muscle contractions ipsilaterally and contralaterally.

Heterogeneity of the population of command neurons in the lamprey

The effects of signals transmitted from the brain to the spinal locomotor networks by a population of command neurons are determined by specific functional projections of each individual neuron. To reveal these projections, we used a simple vertebrate model, the lamprey, in which responses of the spinal networks to spikes in single reticulospinal axons were detected by using the spike-triggered averaging of the motoneuronal activity. We found that individual neurons exert a uniform effect on the segmental motor output along the whole extent of their axons. Twenty different patterns of effect, that is, combinations of influences on the segmental motoneuron pools, were found. The widespread projections and heterogeneity of the population of command neurons present a basis for formation of different gross motor synergies.

Contributions of the reticulospinal system to the postural adjustments occurring during voluntary gait modifications

To test the hypothesis that reticulospinal neurons (RSNs) are involved in the formation of the dynamic postural adjustments that accompany visually triggered, voluntary modifications of limb trajectory during locomotion, we recorded the activity of 400 cells (183 RSNs; 217 unidentified reticular cells) in the pontomedullary reticular formation (PMRF) during a locomotor task in which intact cats were required to step over an obstacle attached to a moving treadmill belt. Approximately one half of the RSNs (97/183, 53%) showed significant changes in cell activity as the cat stepped over the obstacle; most of these cells exhibited either single (26/97, 26.8%) or multiple (63/97, 65.0%) increases of activity. There was a range of discharge patterns that varied in the number, timing, and sequencing of the bursts of modified activity, although individual bursts in different cells tended to occur at similar phases of the gait cycle. Most modified cells, regardless of the number of bursts of increased discharge, or of the discharge activity of the cell during unobstructed, control, locomotion, discharged during the passage of the lead forelimb over the obstacle. Thus, 86.9% of the modified cells increased their discharge when the forelimb ipsilateral to the recording site was the first to pass over the obstacle, and 72.2% when the contralateral limb was the first. Approximately one quarter of the RSNs increased their discharge during the passage of each of the four limbs over the obstacle in both the lead (27.1%) and trail (27.9%) conditions. In general, in any one cell, the number and relative sequencing of the subsequent bursts (with respect to the lead forelimb) was maintained during both lead and trail conditions. Patterns of activity observed in unidentified cells were very similar to the RSN activity despite the diverse population of cells this unidentified group may represent. We suggest that the increased discharge that we observed in these reticular neurons reflects the integration of afferent activity from several sources, including the motor cortex, and that this increased discharge signals the timing and the relative magnitude of the postural patterns that accompany the voluntary gait modification. However, based on the characteristics of the patterns of neuronal activity in these cells, we further suggest that while individual RSNs probably contribute to the selection of different patterns of postural activity, the ultimate expression of the postural response may be determined by the excitability of the locomotor circuits within the spinal cord.

Vestibulospinal and reticulospinal neuronal activity during locomotion in the intact cat. II. Walking on an inclined plane

The experiments described in this report were designed to determine the contribution of vestibulospinal neurons (VSNs) in Deiters' nucleus and of reticulospinal neurons (RSNs) in the medullary reticular formation to the modifications of the walking pattern that are associated with locomotion on an inclined plane. Neuronal discharge patterns were recorded from 44 VSNs and 63 RSNs in cats trained to walk on a treadmill whose orientation was varied from +20 degrees (uphill) to -10 degrees (downhill), referred to as pitch tilt, and from 20 degrees roll tilt left to 20 degrees roll tilt right. During uphill locomotion, a majority of VSNs (25/44) and rhythmically active RSNs (24/39) showed an increase in peak discharge frequency, above that observed during locomotion on a level surface. VSNs, unlike some of the RSNs, exhibited no major deviations from the overall pattern of the activity recorded during level walking. The relative increase in discharge frequency of the RSNs (on average, 31.8%) was slightly more than twice that observed in the VSNs (on average, 14.4%), although the average absolute change in discharge frequency was similar (18.2 Hz in VSNs and 21.6 Hz in RSNs). Changes in discharge frequency during roll tilt were generally more modest and were more variable, than those observed during uphill locomotion as were the relative changes in the different limb muscle electromyograms that we recorded. In general, discharge frequency in VSNs was more frequently increased when the treadmill was rolled to the right (ear down contralateral to the recording site) than when it was rolled to the left. Most VSNs that showed significant linear relationships with treadmill orientation in the roll plane increased their activity during right roll and decreased activity during left roll. Discharge activity in phasically modulated RSNs was also modified by roll tilt of the treadmill. Modulation of activity in RSNs that discharged twice in each step cycle was frequently reciprocal in that one burst of activity would increase during left roll and the other during right roll. The overall results indicate that each system contributes to the changes in postural tone that are required to adapt the gait for modification on an inclined surface. The characteristics of the discharge activity of the VSNs suggest a role primarily in the overall control of the level of electromyographic activity, while the characteristics of the RSNs suggest an additional role in determining the relative level of different muscles, particularly when the pattern is asymmetric.

Brainstem regions with neuronal activity patterns correlated with priming of locomotor stepping in the anesthetized rat

Locomotor stimulation in the perifornical hypothalamus produces a transient facilitation of subsequent locomotion, a priming effect, such that stepping to a second train of stimulation occurs with a shorter latency of onset and increased amplitude. Neurons responsible for the initiation of this facilitated stepping presumably respond to locomotor stimulation with a similar priming effect, i.e. either a shorter latency or a larger change in activity rate. This study used anesthetized rats (urethane, 800mg/kg) to compare brainstem regions in terms of the relative rates of occurrence of single neurons that showed both specific responses to locomotor stimulation and also priming effects. Specific responses were characterized by a progressive increase in activity prior to the first step (a Type I pattern). In that they co-varied in time with the increased probability of stepping onset, Type I responses were more specific than Type II responses, which peaked early in the stimulation train several seconds before the onset of stepping. Regions with high proportions of neurons showing Type I responses and priming effects included the anterior dorsal tegmentum lateral to the central gray, the oral pontine reticular nucleus and the medial gigantocellular nucleus. Few Type I neurons showed a modulation of activity related to the step cycle. Type I primed neurons were uncommon in the cuneiform and the pedunculopontine regions, but neurons showing other patterns (decreases and antidromic responses) were relatively prevalent there. The ventral tegmental area was generally unresponsive. The results indicate that stepping elicited by perifornical stimulation in the anesthetized rat is mediated by circuits that differ at midbrain levels from the circuits implicated in other types of locomotion. Two regions, the anterior dorsal tegmentum and the oral pontine reticular nucleus, warrant further attention to determine their possible roles in the initiation of locomotion.

Tapping into spinal circuits to restore motor function

Motivated by the challenge of improving neuroprosthetic devices, the authors review current knowledge relating to harnessing the potential of spinal neural circuits, such as reflexes and pattern generators. If such spinal interneuronal circuits could be activated, they could provide the coordinated control of many muscles that is so complex to implement with a device that aims to address each participating muscle individually. The authors' goal is to identify candidate spinal circuits and areas of research that might open opportunities to effect control of human limbs through electrical activation of such circuits. David McCrea's discussion of the ways in which hindlimb reflexes in the cat modify motor activity may help in developing optimal strategies for functional neuromuscular stimulation (FNS), by using knowledge of how reflex actions can adapt to different conditions. Michael O'Donovan's discussion of the development of rhythmogenic networks in the chick embryo may provide clues to methods of generating rhythmic activity in the adult spinal cord. Serge Rossignol examines the spinal pattern generator for locomotion in cats, its trigger mechanisms, modulation and adaptation, and suggests how this knowledge can help guide therapeutic approaches in humans. Hugues Barbeau applies the work of Rossignol and others to locomotor training in human subjects who have suffered spinal cord injury (SCI) with incomplete motor function loss (IMFL). Michel Lemay and Warren Grill discuss some of the technical challenges that must be addressed by engineers to implement a neuroprosthesis using electrical stimulation of the spinal cord, particularly the control issues that would have to be resolved.

Stimulation of a restricted region in the midline cerebellar white matter evokes coordinated quadrupedal locomotion in the decerebrate cat

In the reflexively standing acute decerebrate cat, we have previously shown that pulse train microstimulation of the hook bundle of Russel in the midline of the cerebellar white matter, through which crossed fastigiofugal fibers decussate, augments the postural tone of neck, trunk, fore-, and hindlimb extensor muscles. In the present study we examined the possible role of such stimulation in evoking locomotion as the animal is supported by a rubber hammock with its feet contacting the moving surface of a treadmill. We were able to provoke well-coordinated, bilaterally symmetrical, fore- and hindlimb movements, whose cycle time and pattern were controlled by appropriate changes in stimulus intensity and treadmill speed. We carefully and systematically mapped this cerebellar locomotor region (CLR) through repeated dorsoventral penetrations with a glass-coated tungsten microelectrode in a single animal and between animals. We found that the optimal locus for evoking locomotion was centered on the midline, at Horsley-Clarke coordinates H0 and P7.0, and extended over a rostrocaudal and dorsolateral range of approximately 0.5 mm. The lowest effective stimulus intensity at the optimal site was in the range of 5-8 microA. Along penetration tracks to left or right of the midline, effective stimulus intensity increased and evoked locomotor patterns were no longer symmetrical, but rather shifted toward the contralateral limbs. In the same animals, controlled locomotion was evoked by stimulating the mesencephalic locomotor region (MLR). With concomitant stimulation of the optimal sites in the CLR and the MLR, each at subthreshold strength, locomotor movements identical to those seen with suprathreshold stimulation of each site alone were evoked. With concomitant stimulation at suprathreshold strength for each site, locomotion became vigorous, with a shortened cycle time. After making ablative lesions at either the CLR or MLR (unilateral or bilateral), controlled locomotion was still evoked at the prior stimulus strength by stimulating the remaining site. Together, these results demonstrate that selective stimulation of the hook bundle of Russel in the midsagittal plane of the cerebellar white matter evokes "controlled" locomotion identical to that evoked by stimulating the MLR. We have shown that the fastigial nucleus is one of the supraspinal locomotion inducing sites and that it can independently and simultaneously trigger brain stem and spinal locomotor subprograms formerly believed to be the domain of various brain stem regions including the MLR and the subthalamic locomotor region.

Recovery of locomotion after ventral and ventrolateral spinal lesions in the cat. I. Deficits and adaptive mechanisms

The recovery of treadmill locomotion of eight adult cats, subjected to chronic ventral and ventrolateral spinal lesions at low thoracic levels (T11 or T13), preserving at least one dorsolateral funiculus and the dorsal columns, was documented daily using electromyographic (EMG) and kinematic methods. The data show that all cats eventually recovered quadrupedal voluntary locomotion despite extensive damage to important pathways (such as the reticulospinal and the vestibulospinal) as verified by injection of wheat germ agglutinin-horseradish peroxidase (WGA-HRP) caudal to the site of lesion. Initially (in the early period after the spinal lesion), all the cats suffered from pronounced locomotor and postural deficits, and they could not support their hindquarters or walk with their hindlimbs. Gradually, during the recovery period, they regained quadrupedal walking, although their locomotion was wobbly and inconsistent, and they suffered from poor lateral stability. EMG and kinematic data analyses showed a tendency for an increase in the variability of the step cycle duration but no major changes in the step cycle structure or in the intralimb coupling of the joints. However, the homolateral fore- and hindlimb coupling was highly perturbed in cats with the largest lesions. Although the general alternating pattern of extensor and flexors was maintained, there were various changes in the duration and amplitude of the EMG bursts as well as a lack of amplitude modulation during walking uphill or downhill on the treadmill. In cats with larger lesions, the forelimbs also seem to take a greater propulsive role than usual as revealed by a consistent increase of the activity of the triceps. In cats with smaller lesions, these deficits were transient, but, for the most extensively lesioned cats, they were pronounced and lasted long term postlesion even after reaching a more or less stable locomotor behavior (plateau period). It is concluded that recovery of quadrupedal locomotion is possible even after a massive lesion to ventral and ventrolateral quadrants, severing the vestibulospinal pathway and causing severe, although incomplete, damage to the reticulospinal tract. The quick recovery in the less lesioned cats can be attributed to remaining pathways normally implicated in locomotor function. However, in the most extensively lesioned cats, the long period of recovery and the pronounced deficits during the plateau period may indicate that the compensation, attributed to remaining reticulospinal pathways, is not sufficient and that other pathways in the dorsolateral funiculi, such as the corticospinal, can sustain and adapt, up to a certain extent, the voluntary quadrupedal walking.

Contribution of the rostral fastigial nucleus to the control of orienting gaze shifts in the head-unrestrained cat

The implication of the caudal part of the fastigial nucleus (cFN) in the control of saccadic shifts of the visual axis is now well established. In contrast a possible involvement of the rostral part of the fastigial nuceus (rFN) remains unknown. In the current study we investigated in the head-unrestrained cat the contribution of the rFN to the control of visually triggered saccadic gaze shifts by measuring the deficits after unilateral muscimol injection in the rFN. A typical gaze dysmetria was observed: gaze saccades directed toward the inactivated side were hypermetric, whereas those with an opposite direction were hypometric. For both movement directions, gaze dysmetria was proportional to target retinal eccentricity and could be described as a modified gain in the translation of visual signals into eye and head motor commands. Correction saccades were triggered when the target remained visible and reduced the gaze fixation error to 2.7 +/- 1.3 degrees (mean +/- SD) on average. The hypermetria of ipsiversive gaze shifts resulted predominantly from a hypermetric response of the eyes, whereas the hypometria of contraversive gaze shifts resulted from hypometric responses of both eye and head. However, even in this latter case, the eye saccade was more affected than the motion of the head. As a consequence, for both directions of gaze shift the relative contributions of the eye and head to the overall gaze displacement were altered by muscimol injection. This was revealed by a decreased contribution of the head for ipsiversive gaze shifts and an increased head contribution for contraversive movements. These modifications were associated with slight changes in the delay between eye and head movement onsets. Inactivation of the rFN also affected the initiation of eye and head movements. Indeed, the latency of ipsiversive gaze and head movements decreased to 88 and 92% of normal, respectively, whereas the latency of contraversive ones increased to 149 and 145%. The deficits induced by rFN inactivation were then compared with those obtained after muscimol injection in the cFN of the same animals. Several deficits differed according to the site of injection within the fastigial nucleus (tonic orbital eye rotation, hypermetria of ipsiversive gaze shifts and fixation offset, relationship between dysmetria and latency of contraversive gaze shifts, postural deficit). In conclusion, the present study demonstrates that the rFN is involved in the initiation and the control of combined eye-head gaze shifts. In addition our findings support a functional distinction between the rFN and cFN for the control of orienting gaze shifts. This distinction is discussed with respect to the segregated fastigiofugal projections arising from the rFN and cFN.

Orienting gaze shifts during muscimol inactivation of caudal fastigial nucleus in the cat. II. Dynamics and eye-head coupling

We have shown in the companion paper that muscimol injection in the caudal part of the fastigial nucleus (cFN) consistently leads to dysmetria of visually triggered gaze shifts that depends on movement direction. Based on the observations of a constant error and misdirected movements toward the inactivated side, we have proposed that the cFN contributes to the specification of the goal of the impending ipsiversive gaze shift. To test this hypothesis and also to better define the nature of the hypometria that affects contraversive gaze shifts, we report in this paper on various aspects of movement dynamics and of eye/head coordination patterns. Unilateral muscimol injection in cFN leads to a slight modification in the dynamics of both ipsiversive and contraversive gaze shifts (average velocity decrease = 55 degrees/s). This slowing in gaze displacements results from changes in both eye and head. In some experiments, a larger gaze velocity decrease is observed for ipsiversive gaze shifts as compared with contraversive ones, and this change is restricted to the deceleration phase. For two particular experiments testing the effect of visual feedback, we have observed a dramatic decrease in the velocity of ipsiversive gaze shifts after the animal had received visual information about its inaccurate gaze responses; but virtually no change in hypermetria was noted. These observations suggest that there is no obvious causal relationship between changes in dynamics and in accuracy of gaze shifts after muscimol injection in the cFN. Eye and head both contribute to the dysmetria of gaze. Indeed, muscimol injection leads to parallel changes in amplitude of both ocular and cephalic components. As a global result, the relative contribution of eye and head to the amplitude of ipsiversive gaze shifts remains statistically indistinguishable from that of control responses, and a small (1.6 degrees) increase in the head contribution to contraversive gaze shifts is found. The delay between eye and head movement onsets is increased by 7.3 +/- 7.4 ms for contraversive and decreased by 8.3 +/- 10.1 ms for ipsiversive gaze shifts, corresponding respectively to an increased or decreased lead time of head movement initiation. The modest changes in gaze dynamics, the absence of a link between eventual dynamics changes and dysmetria, and a similar pattern of eye-head coordination to that of control responses, altogether are compatible with the hypothesis that the hypermetria of ipsiversive gaze shifts results from an impaired specification of the metrics of the impending gaze shift. Regarding contraversive gaze shifts, the weak changes in head contribution do not seem to reflect a pathological coordination between eye and head but would rather result from the tonic deviations of gaze and head toward the inactivated side. Hence, our data suggest that the hypometria of contraversive gaze shifts also might result largely from an alteration of processes that specify the goal rather than the on-going trajectory, of saccadic gaze shifts.

Organization of the projections from the pericruciate cortex to the pontomedullary brainstem of the cat: a study using the anterograde tracer Phaseolus vulgaris-leucoagglutinin

The anterograde tracer Phaseolus vulgaris-leucoagglutinin (PHA-L) was used to study the distribution and density of the projections that originate from four identified subdivisions of the pericruciate cortex (namely, the forelimb and hind limb representations of area 4, area 6a beta, and area 6a gamma) and that terminate in the pontomedullary brainstem in the cat. Injections of PHA-L in all areas of the pericruciate cortex labelled numerous fibers and their terminal swellings in the brainstem. The major target regions of all four cortical areas were the pontine nuclei and the pontomedullary reticular formation (PMRF). Injections into both the forelimb and hind limb representations of area 4 and into area 6a beta resulted in a dense pattern of terminal labelling in restricted regions of the medial and lateral parts of the ipsilateral pontine nuclei. The labelling following the area 6a beta injection was spatially distinct from that seen following the area 4 injections. Injections into the forelimb representation of area 4 as well as into area 6a beta and 6a gamma resulted in the labelling of numerous terminal swellings bilaterally in the PMRF; in contrast, there were few labelled terminal swellings in the PMRF following injections into the hind limb representation of area 4. Terminal swellings on individual corticoreticular fibers were far less densely aggregated than those in the pontine nuclei. The dense pattern of innervation to restricted regions of the pontine nuclei supports previous suggestions that the corticopontine projections retain a high degree of topographical specificity that could be used in the control of discrete voluntary movements. In contrast, the more diffuse pattern of the projections to the PMRF may facilitate the selection and activation of the complex postural patterns that accompany voluntary movement.

Organization of the projections from the pericruciate cortex to the pontomedullary reticular formation of the cat: a quantitative retrograde tracing study

Dextran-amines were used as retrograde tracers to investigate the organization of cortical projections to different cytoarchitectonic regions of the pontomedullary reticular formation of the cat. Injections into the nucleus reticularis pontis oralis resulted in labelling of neurones in the proreus cortex and area 6a beta of the premotor cortex, with little labelling in the motor cortex (area 4). This labelling was predominantly ipsilateral to the injection site. In contrast, injections into the nucleus reticularis pontis caudalis (NRPc), nucleus reticularis gigantocellularis (NRGc), and nucleus reticularis magnocellularis (NRMc) resulted in bilateral labelling--primarily in areas 6a beta, 6a gamma, and in the rostromedial region of area 4--with little labelling in the proreus cortex. In general, the cortical projections to the caudal NRGc and the NRMc were larger than those to the NRPc. More than 25% of the total projections to each of the latter three reticular regions arose from the medial part of area 4. Labelling in the hindlimb regions of area 4 was largest following the NRMc injections and smallest after injections in the NRPc. The projections to the NRPc originated from more medial parts of areas 4 and 6 than did the projections to the caudal region of the NRGc. These results suggest that areas 4 and 6 may be able to differentially activate different regions of the pontomedullary reticular formation depending on the movement that is made and perhaps also on the context of that movement.

Primary motor cortex influences on the descending and ascending systems

The motor cortex plays a crucial role in the co-ordination of movement and posture. This is possible because the pyramidal tract fibres have access both directly and through collateral branches to structures governing eye, head, neck trunk and limb musculature. Pyramidal tract axons also directly reach the dorsal laminae of the spinal cord and the dorsal column nuclei, thus aiding in the selection of the sensory ascendant transmission. No other neurones in the brain besides pyramidal tract cells have such a wide access to different structures within the central nervous system. The majority of the pyramidal tract fibres that originate in the motor cortex and that send collateral branches to multiple supraspinal structures do not reach the spinal cord. Also, the great majority of the corticospinal neurones that emit multiple intracraneal collateral branches terminate at the cervical spinal cord level. The pyramidal tract fibres directed to the dorsal column nuclei that send collateral branches to supraspinal structures also show a clear tendency to terminate at supraspinal and cervical cord levels. These facts suggest that a substantial co-ordination between descending and ascending pathways might be produced by the same motor cortex axons at both supraspinal and cervical spinal cord sites. This may imply that the motor cortex co-ordination will be mostly directed to motor responses involving eye-neck-forelimb muscle synergies. The review makes special emphasis in the available evidence pointing to the role of the motor cortex in co-ordinating the activities of both descending and ascending pathways related to somatomotor integration and control. The motor cortex may function to co-operatively select a unique motor command by selectively filter sensory information and by co-ordinating the activities of the descending systems related to the control of distal and proximal muscles.

Electrophysiological study of nucleus gigantocellularis neurons in guinea-pig brainstem slices

Gigantocellular neurons of the medullary nucleus gigantocellularis represent a major source of reticulospinal pathways. Among other roles, they have been involved in the processing of vestibular information. The aim of the present study was to describe the major intrinsic membrane properties of these cells in guinea-pig brainstem slices. We found nucleus gigantocellularis neurons to be segregated in two cell types. Type A nucleus gigantocellularis neurons were characterized by the presence of a single large afterhyperpolarization and a potent transient 4-aminopyridine-sensitive rectification likely due to the presence of a transient outward potassium current. In contrast, type B nucleus gigantocellularis neurons had a narrower and faster rising action potential followed by an early fast and a delayed slower after-hyperpolarization. In contrast to type A neurons, type B neurons were, in addition, endowed with subthreshold tetrodotoxin-sensitive sodium-dependent plateau potentials. Whereas both cell types were endowed with high-threshold calcium-dependent action potentials, only type B nucleus gigantocellularis neurons also displayed long-lasting calcium-dependent plateau potentials. These results show that nucleus gigantocellularis neurons can be segregated by their intrinsic membrane properties it two cell types which are very similar to those that we have previously described in the medial vestibular nucleus. The possibility that these differences between type A and B neurons might play a role in the segregation between tonic and kinetic cells is discussed.

Pericruciate fibres to the red nucleus and to the medial bulbar reticular formation

Extracellular single activity was recorded from pericruciate neurons in anaesthetized, paralysed, artificially ventilated cats. A total of 455 neurons were classified antidromically according to their sites of termination along the corticospinal tract and whether they sent collateral branches to the ipsilateral red nucleus and/or to the contralateral nucleus reticularis gigantocellularis. It was found that the majority of the branching fibres that reached the most caudal segments of the cord were fast conducting, while the slower branching axons tended to terminate at more rostral levels of the corticospinal tract. Most of the branching fibres terminated at bulbar and cervical levels (153/182: 84%), and the remaining ended at thoracic (21/182: 11.5%) and at lumbar (8/182: 4.4%) segments of the cord. The non-corticospinal, pyramidal tract fibres branched more (56%) than the corticospinal fibres (26.6%). Within the corticospinal neurons, the degree of branching decreased with distance along the spinal cord. While 57.5% of the pericruciate fibres that projected only as far as the pyramidal tract were slow conducting, the majority of the corticospinal neurons were fast conducting (74.6%). Both pyramidal tract and corticospinal neurons that sent branches to one or to the two sites tested were significantly faster conducting than the neurons which did not branch. A total of 101 corticorubral and corticobulbar neurons which did not respond to pyramidal tract stimulation was also recorded. The data can be of significance in the understanding of co-ordination of different muscles in order to couple movement and posture into a common act. The results are discussed from this point of view.

Monitoring neuronal activity during discrete behaviors: a crawling, swimming and shortening device for tethered leeches

An apparatus is described which facilities continuous electrophysiological recordings in segmental ganglia of leeches while the animal performs different behavioral patterns: crawling, swimming or shortening. Both the behaviors and neuronal recordings are monitored by a video camera system and can be evaluated simultaneously. The device is well suited to investigate questions of behavioral choice and neuronal decision-making mechanisms in these animals. It can also be modified to study the neural control of behavior in other aquatic animals, such as snails.