Control of flexor motoneuron activity during single leg walking of the stick insect on an electronically controlled treadwheel

Synaptic architecture of leg and wing premotor control networks in Drosophila

Animal movement is controlled by motor neurons (MNs), which project out of the central nervous system to activate muscles. MN activity is coordinated by complex premotor networks that allow individual muscles to contribute to many different behaviors. Here, we use connectomics to analyze the wiring logic of premotor circuits controlling the Drosophila leg and wing. We find that both premotor networks cluster into modules that link MNs innervating muscles with related functions. Within most leg motor modules, the synaptic weights of each premotor neuron are proportional to the size of their target MNs, establishing a circuit basis for hierarchical MN recruitment. In contrast, wing premotor networks lack proportional synaptic connectivity, which may allow wing steering muscles to be recruited with different relative timing. By comparing the architecture of distinct limb motor control systems within the same animal, we identify common principles of premotor network organization and specializations that reflect the unique biomechanical constraints and evolutionary origins of leg and wing motor control.

Recruitment of Motoneurons

Beginning about half a century ago, the rules that determine how motor units are recruited during movement have been deduced. These classical experiments led to the formulation of the 'size principle'. It is now clear that motoneuronal size is not the only indicator of recruitment order. In fact, motoneuronal passive, active and synaptic conductances are carefully tuned to achieve sequential recruitment. More recent studies, over the last decade or so, show that the premotor circuitry is also functionally specialized and differentially recruited. Modular sub networks of interneurons and their post-synaptic motoneurons have been shown to drive movements with varying intensities. In addition, these modular networks are under the influence of neuromodulators, which are capable of acting upon multiple motor and premotor targets, thereby altering behavioral outcomes. We discuss the recruitment patterns of motoneurons in light of these new and exciting studies.

A size principle for recruitment of Drosophila leg motor neurons

To move the body, the brain must precisely coordinate patterns of activity among diverse populations of motor neurons. Here, we use in vivo calcium imaging, electrophysiology, and behavior to understand how genetically-identified motor neurons control flexion of the fruit fly tibia. We find that leg motor neurons exhibit a coordinated gradient of anatomical, physiological, and functional properties. Large, fast motor neurons control high force, ballistic movements while small, slow motor neurons control low force, postural movements. Intermediate neurons fall between these two extremes. This hierarchical organization resembles the size principle, first proposed as a mechanism for establishing recruitment order among vertebrate motor neurons. Recordings in behaving flies confirmed that motor neurons are typically recruited in order from slow to fast. However, we also find that fast, intermediate, and slow motor neurons receive distinct proprioceptive feedback signals, suggesting that the size principle is not the only mechanism that dictates motor neuron recruitment. Overall, this work reveals the functional organization of the fly leg motor system and establishes Drosophila as a tractable system for investigating neural mechanisms of limb motor control.

Descending octopaminergic neurons modulate sensory-evoked activity of thoracic motor neurons in stick insects

Neuromodulatory neurons located in the brain can influence activity in locomotor networks residing in the spinal cord or ventral nerve cords of invertebrates. How inputs to and outputs of neuromodulatory descending neurons affect walking activity is largely unknown. With the use of matrix-assisted laser desorption/ionization time-of-flight mass spectrometry and immunohistochemistry, we show that a population of dorsal unpaired median (DUM) neurons descending from the gnathal ganglion to thoracic ganglia of the stick insect Carausius morosus contains the neuromodulatory amine octopamine. These neurons receive excitatory input coupled to the legs’ stance phases during treadmill walking. Inputs did not result from connections with thoracic central pattern-generating networks, but, instead, most are derived from leg load sensors. In excitatory and inhibitory retractor coxae motor neurons, spike activity in the descending DUM (desDUM) neurons increased depolarizing reflexlike responses to stimulation of leg load sensors. In these motor neurons, descending octopaminergic neurons apparently functioned as components of a positive feedback network mainly driven by load-detecting sense organs. Reflexlike responses in excitatory extensor tibiae motor neurons evoked by stimulations of a femur-tibia movement sensor either are increased or decreased or were not affected by the activity of the descending neurons, indicating different functions of desDUM neurons. The increase in motor neuron activity is often accompanied by a reflex reversal, which is characteristic for actively moving animals. Our findings indicate that some descending octopaminergic neurons can facilitate motor activity during walking and support a sensory-motor state necessary for active leg movements.

NEW & NOTEWORTHY We investigated the role of descending octopaminergic neurons in the gnathal ganglion of stick insects. The neurons become active during walking, mainly triggered by input from load sensors in the legs rather than pattern-generating networks. This report provides novel evidence that octopamine released by descending neurons on stimulation of leg sense organs contributes to the modulation of leg sensory-evoked activity in a leg motor control system.

Fiber-type distribution in insect leg muscles parallels similarities and differences in the functional role of insect walking legs

Previous studies have demonstrated that myofibrillar ATPase (mATPase) enzyme activity in muscle fibers determines their contraction properties. We analyzed mATPase activities in muscles of the front, middle and hind legs of the orthopteran stick insect (Carausius morosus) to test the hypothesis that differences in muscle fiber types and distributions reflected differences in their behavioral functions. Our data show that all muscles are composed of at least three fiber types, fast, intermediate and slow, and demonstrate that: (1) in the femoral muscles (extensor and flexor tibiae) of all legs, the number of fast fibers decreases from proximal to distal, with a concomitant increase in the number of slow fibers. (2) The swing phase muscles protractor coxae and levator trochanteris, have smaller percentages of slow fibers compared to the antagonist stance muscles retractor coxae and depressor trochanteris. (3) The percentage of slow fibers in the retractor coxae and depressor trochanteris increases significantly from front to hind legs. These results suggest that fiber-type distribution in leg muscles of insects is not identical across leg muscles but tuned towards the specific function of a given muscle in the locomotor system.

A three-leg model producing tetrapod and tripod coordination patterns of ipsilateral legs in the stick insect

Insect locomotion requires the precise coordination of the movement of all six legs. Detailed investigations have revealed that the movement of the legs is controlled by local dedicated neuronal networks, which interact to produce walking of the animal. The stick insect is well suited to experimental investigations aimed at understanding the mechanisms of insect locomotion. Beside the experimental approach, models have also been constructed to elucidate those mechanisms. Here, we describe a model that replicates both the tetrapod and tripod coordination pattern of three ipsilateral legs. The model is based on an earlier insect leg model, which includes the three main leg joints, three antagonistic muscle pairs, and their local neuronal control networks. These networks are coupled via angular signals to establish intraleg coordination of the three neuromuscular systems during locomotion. In the present three-leg model, we coupled three such leg models, representing front, middle, and hind leg, in this way. The coupling was between the levator-depressor local control networks of the three legs. The model could successfully simulate tetrapod and tripod coordination patterns, as well as the transition between them. The simulations showed that for the interleg coordination during tripod, the position signals of the levator-depressor neuromuscular systems sent between the legs were sufficient, while in tetrapod, additional information on the angular velocities in the same system was necessary, and together with the position information also sufficient. We therefore suggest that, during stepping, the connections between the levator-depressor neuromuscular systems of the different legs are of primary importance.

A leg-local neural mechanism mediates the decision to search in stick insects

In many animals, individual legs can either function independently, as in behaviors such as scratching or searching, or be used in coordinated patterns with other legs, as in walking or climbing. While the control of walking has been extensively investigated, the mechanisms mediating the behavioral choice to activate individual legs independently are poorly understood. We examined this issue in stick insects, in which each leg can independently produce a rhythmic searching motor pattern if it doesn't find a foothold [1-4]. We show here that one non-spiking interneuron, I4, controls searching behavior in individual legs. One I4 is present in each hemi-segment of the three thoracic ganglia [5, 6]. Search-inducing sensory input depolarizes I4. I4 activity was necessary and sufficient to initiate and maintain searching movements. When substrate contact was provided, I4 depolarization no longer induced searching. I4 therefore both integrates search-inducing sensory input and is gated out by other sensory input (substrate contact). Searching thus occurs only when it is behaviorally appropriate. I4 depolarization never elicited stepping. These data show that individual, locally activated neurons can mediate the behavioral choice to use individual legs independently. This mechanism may be particularly important in insects' front legs, which can function independently like vertebrate arms and hands [7]. Similar local command mechanisms that selectively activate the pattern generators controlling repeated functional units such as legs or body segments may be present in other systems.

Task-dependent modification of leg motor neuron synaptic input underlying changes in walking direction and walking speed

Animals modify their behavior constantly to perform adequately in their environment. In terrestrial locomotion many forms of adaptation exist. Two tasks are changes of walking direction and walking speed. We investigated these two changes in motor output in the stick insect Cuniculina impigra to see how they are brought about at the level of leg motor neurons. We used a semi-intact preparation in which we can record intracellularly from leg motor neurons during walking. In this single-leg preparation the middle leg of the animal steps in a vertical plane on a treadwheel. Stimulation of either abdomen or head reliably elicits fictive forward or backward motor activity, respectively, in the fixed and otherwise deafferented thorax-coxa joint. With a change of walking direction only thorax-coxa-joint motor neurons protractor and retractor changed their activity. The protractor switched from swing activity during forward to stance activity during backward walking, and the retractor from stance to swing. This phase switch was due to corresponding change of phasic synaptic inputs from inhibitory to excitatory and vice versa at specific phases of the step cycle. In addition to phasic synaptic input a tonic depolarization of the motor neurons was present. Analysis of changes in stepping velocity during stance showed only a significant correlation to flexor motor neuron activity, but not to that of retractor and depressor motor neurons during forward walking. These results show that different tasks in the stick insect walking system are generated by altering synaptic inputs to specific leg joint motor neurons only.

Inhibitory motoneurons in arthropod motor control: organisation, function, evolution

Miniaturisation of somatic cells in animals is limited, for reasons ranging from the accommodation of organelles to surface-to-volume ratio. Consequently, muscle and nerve cells vary in diameters by about two orders of magnitude, in animals covering 12 orders of magnitude in body mass. Small animals thus have to control their behaviour with few muscle fibres and neurons. Hexapod leg muscles, for instance, may consist of a single to a few 100 fibres, and they are controlled by one to, rarely, 19 motoneurons. A typical mammal has thousands of fibres per muscle supplied by hundreds of motoneurons for comparable behavioural performances. Arthopods—crustaceans, hexapods, spiders, and their kin—are on average much smaller than vertebrates, and they possess inhibitory motoneurons for a motor control strategy that allows a broad performance spectrum despite necessarily small cell numbers. This arthropod motor control strategy is reviewed from functional and evolutionary perspectives and its components are described with a focus on inhibitory motoneurons. Inhibitory motoneurons are particularly interesting for a number of reasons: evolutionary and phylogenetic comparison of functional specialisations, evolutionary and developmental origin and diversification, and muscle fibre recruitment strategies.

A neuro-mechanical model of a single leg joint highlighting the basic physiological role of fast and slow muscle fibres of an insect muscle system

In legged animals, the muscle system has a dual function: to produce forces and torques necessary to move the limbs in a systematic way, and to maintain the body in a static position. These two functions are performed by the contribution of specialized motor units, i.e. motoneurons driving sets of specialized muscle fibres. With reference to their overall contraction and metabolic properties they are called fast and slow muscle fibres and can be found ubiquitously in skeletal muscles. Both fibre types are active during stepping, but only the slow ones maintain the posture of the body. From these findings, the general hypothesis on a functional segregation between both fibre types and their neuronal control has arisen. Earlier muscle models did not fully take this aspect into account. They either focused on certain aspects of muscular function or were developed to describe specific behaviours only. By contrast, our neuro-mechanical model is more general as it allows functionally to differentiate between static and dynamic aspects of movement control. It does so by including both muscle fibre types and separate motoneuron drives. Our model helps to gain a deeper insight into how the nervous system might combine neuronal control of locomotion and posture. It predicts that (1) positioning the leg at a specific retraction angle in steady state is most likely due to the extent of recruitment of slow muscle fibres and not to the force developed in the individual fibres of the antagonistic muscles; (2) the fast muscle fibres of antagonistic muscles contract alternately during stepping, while co-contraction of the slow muscle fibres takes place during steady state; (3) there are several possible ways of transition between movement and steady state of the leg achieved by varying the time course of recruitment of the fibres in the participating muscles.

A laser-supported lowerable surface setup to study the role of ground contact during stepping

We introduce a laser-supported setup to study the influence of afferent input on muscle activation during walking, using a movable ground platform. This approach allows investigating if and how the activity of stance phase muscles of an insect (e.g. stick insect) responds to a missing ground contact signal. The walking surface consists of a fixed and a lowerable part, which can be lowered to defined levels below the previous ground level at any time point during a walking sequence. As a consequence, the leg under investigation finds either a lower ground level or no ground support at all. The lowerable walking surface consists of a 49 mm × 34 mm stainless steel surface, made slippery and equipped for tarsal contact monitoring, similar to the system that was described by Gruhn and colleagues (Gruhn et al., 2006). The setup controller allows pneumatic lowering of the surface and subsequent detection of tarsal entry into the previous ground level with the help of a thin sheet of laser light and a corresponding detector. Here, we describe basic properties of the new setup and show the results of first experiments to demonstrate its use for the study of sensory and central influences in stepping of a small animal. In the experiments, we compare the effect of ground-support ("control") with either steps into the hole (SiH), ground support at a lower surface level, or the amputation of the tarsus on the onset of EMG activity in the flexor tibiae muscle of the stick insect.

Single perturbations cause sustained changes in searching behavior in stick insects

Stick insects (Cuniculina impigra) possessing only a single front leg perform untargeted stereotypical cyclic searching movements with that leg when it loses contact with the ground. When encountering an object, the animals grasp it. We hypothesized that removal of the object immediately after contact with the leg's tibia would result in a change in searching strategy, i.e. searching movements confined to the former location of the object to regain contact. In our experimental setup, searching movements were restricted to upward and downward movements. After removal of the object, searching movements were continued. However, in post-contact searching, two movement parameters were usually changed: (1) average positions of searching movements were shifted towards the former position of the object; and (2) movement amplitudes were considerably smaller and accompanied by a decrease in cycle period. This confinement of searching movements to the location of contact was interpreted as targeting behavior. All parameters regained initial values after approximately 6 s. Changes in position and amplitudes were independently controlled. Neither of the changes was under visual control, but rather depended on the presence of the trochanteral hairplate, a sensory organ that measures the coxa-trochanter joint position. Changes in average leg position were linked to changes in the ratio of electrical activity in the levator and depressor trochanteris muscles, which were based on altered activity in both or either one of the muscles. Our data demonstrate a switch in a simple behavior that is under local sensory control and may utilize a form of short-term memory.

A gradient in endogenous rhythmicity and oscillatory drive matches recruitment order in an axial motor pool

The rhythmic firing behavior of spinal motoneurons is a function of their electrical properties and synaptic inputs. However, the relative contribution of endogenous versus network-based rhythmogenic mechanisms to locomotion is unclear. To address this issue, we have recorded from identified motoneurons and compared their current-evoked firing patterns to network-driven ones in the larval zebrafish (Danio rerio). Zebrafish axial motoneurons are recruited topographically from the bottom of the spinal cord up. Here, we have explored differences in the morphology of axial motoneurons, their electrical properties, and their synaptic drive, to reveal how they match the topographic pattern of recruitment. More ventrally located "secondary" motoneurons generate bursts of action potentials in response to constant current steps, demonstrating a strong inherent rhythmogenesis. The membrane potential oscillations underlying bursting behavior occur in the normal frequency range of swimming. In contrast, more dorsal secondaries chatter in response to current, while the most dorsally distributed "primary" motoneurons all fire tonically. We find that systematic variations in excitability and endogenous rhythmicity are inversely related to the level of oscillatory synaptic drive within the entire axial motor pool. Specifically, bursting cells exhibit the least amount of drive, while tonic cells exhibit the most. Our data suggest that increases in swimming frequency are accomplished by the recruitment of axial motoneurons that progressively rely on instructive synaptic drive to shape their oscillatory activity appropriately. Thus, within the zebrafish spinal cord, there are differences in the relative contribution of endogenous versus network-based rhythms to locomotion and these vary predictably according to order of recruitment.

Dominance of local sensory signals over inter-segmental effects in a motor system: experiments

Legged locomotion requires that information local to one leg, and inter-segmental signals coming from the other legs are processed appropriately to establish a coordinated walking pattern.However, very little is known about the relative importance of local and inter-segmental signals when they converge upon the central pattern generators (CPGs) of different leg joints.We investigated this question on the CPG of the middle leg coxa–trochanter (CTr)-joint of the stick insect which is responsible for lifting and lowering the leg.We used a semi-intact preparation with an intact front leg stepping on a treadmill, and simultaneously stimulated load sensors of the middle leg.We found that middle leg load signals induce bursts in the middle leg depressor motoneurons(MNs). The same local load signals could also elicit rhythmic activity in the CPG of the middle leg CTr-joint when the stimulation of middle leg load sensors coincided with front leg stepping. However, the influence of front leg stepping was generally weak such that front leg stepping alone was only rarely accompanied by switching between middle leg levator and depressor MN activity. We therefore conclude that the impact of the local sensory signals on the levator–depressor motor system is stronger than the inter-segmental influence through front leg stepping.

Dominance of local sensory signals over inter-segmental effects in a motor system: modeling studies

Recent experiments, reported in the accompanying paper, have supplied key data on the impact afferent excitation has on the activity of the levator–depressor motor system of an extremity in the stick insect. The main finding was that, stimulation of the campaniform sensillae of the partially amputated middle leg in an animal where all other but one front leg had been removed, had a dominating effect over that of the stepping ipsilateral front leg. In fact,the latter effect was minute compared to the former. In this article, we propose a local network that involves the neuronal part of the levator–depressor motor system and use it to elucidate the mechanisms that underlie the generation of neuronal activity in the experiments. In particular, we show that by appropriately modulating the activity in the neurons of the central pattern generator of the levator–depressor motor system, we obtain activity patterns of the motoneurons in the model that closely resemble those found in extracellular recordings in the stick insect. In addition, our model predicts specific properties of these records which depend on the stimuli applied to the stick insect leg. We also discuss our results on the segmental mechanisms in the context of inter-segmental coordination.

Activity of the claw retractor muscle in stick insects in wall and ceiling situations

The activity of the middle part of the claw retractor muscle was examined in two species of stick insects (Carausius morosus and Cuniculina impigra). We performed electromyographic recordings while the animals were standing on a smooth or a rough surface of a platform in horizontal, vertical or inverted positions, as well as during rotations of the platform. We recorded tonic and phasic motor units. The tonic units were active all the time without significant differences in spike frequency, regardless of the position of the animals (although there was a tendency for higher discharge frequencies to occur during platform rotations). The phasic units were active almost exclusively during platform movement. In contrast to the tonic units, we detected significant differences in the activities of the phasic units; namely, higher spike frequencies during rotations compared with the stationary phases, especially for rotations into 'more awkward' positions. A comparison of the two species revealed no difference in muscle activity, despite differences in the animals' tarsal attachment structures. The same was true when comparing the muscle activity of the two species on both the smooth and the rough surfaces.

Deriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller

This article presents modular recurrent neural network controllers for single legs of a biomimetic six-legged robot equipped with standard DC motors. Following arguments of Ekeberg et al. (Arthropod Struct Dev 33:287-300, 2004), completely decentralized and sensori-driven neuro-controllers were derived from neuro-biological data of stick-insects. Parameters of the controllers were either hand-tuned or optimized by an evolutionary algorithm. Employing identical controller structures, qualitatively similar behaviors were achieved for robot and for stick insect simulations. For a wide range of perturbing conditions, as for instance changing ground height or up- and downhill walking, swing as well as stance control were shown to be robust. Behavioral adaptations, like varying locomotion speeds, could be achieved by changes in neural parameters as well as by a mechanical coupling to the environment. To a large extent the simulated walking behavior matched biological data. For example, this was the case for body support force profiles and swing trajectories under varying ground heights. The results suggest that the single-leg controllers are suitable as modules for hexapod controllers, and they might therefore bridge morphological- and behavioral-based approaches to stick insect locomotion control.

Activity Patterns and Timing of Muscle Activity in the Forward Walking and Backward Walking Stick Insect Carausius morosus

Understanding how animals control locomotion in different behaviors requires understanding both the kinematics of leg movements and the neural activity underlying these movements. Stick insect leg kinematics differ in forward and backward walking. Describing leg muscle activity in these behaviors is a first step toward understanding the neuronal basis for these differences. We report here the phasing of EMG activities and latencies of first spikes relative to precise electrical measurements of middle leg tarsus touchdown and liftoff of three pairs ( protractor/retractor coxae, levator/depressor trochanteris, extensor/flexor tibiae) of stick insect middle leg antagonistic muscles that play central roles in generating leg movements during forward and backward straight walking. Forward walking stance phase muscle (depressor, flexor, and retractor) activities were tightly coupled to touchdown, beginning on average 93 ms prior to and 9 and 35 ms after touchdown, respectively. Forward walking swing phase muscle (levator, extensor, and protractor) activities were less tightly coupled to liftoff, beginning on average 100, 67, and 37 ms before liftoff, respectively. In backward walking the protractor/retractor muscles reversed their phasing compared with forward walking, with the retractor being active during swing and the protractor during stance. Comparison of intact animal and reduced two- and one-middle-leg preparations during forward straight walking showed only small alterations in overall EMG activity but changes in first spike latencies in most muscles. Changing body height, most likely due to changes in leg joint loading, altered the intensity, but not the timing, of depressor muscle activity.

Cholinergic Currents in Leg Motoneurons of Carausius morosus

We used patch-clamp recordings and fast optical Ca2+ imaging to characterize an acetylcholine-induced current ( IACh) in leg motoneurons of the stick insect Carausius morosus. Our long-term goal is to better understand the synaptic and integrative properties of the leg sensory-motor system, which has served extremely successfully as a model to study basic principles of walking and locomotion on the network level. The experiments were performed under biophysically controlled conditions on freshly dissociated leg motoneurons to avoid secondary effects from the network. To allow for unequivocal identification, the leg motoneurons were backfilled with a fluorescent label through the main leg nerve prior to cell dissociation. In 87% of the motoneurons, IACh consisted of a fast-desensitizing ( IACh1) and a slow-desensitizing component ( IACh2), both of which were concentration dependent, with EC50 values of 3.7 × 10−5 and 2.0 × 10−5 M, respectively. Ca2+ imaging revealed that a considerable portion of IACh (∼18%) is carried by Ca2+, suggesting that IACh, besides mediating fast synaptic transmission, could also induce Ca2+-dependent processes. Using specific nicotinic and muscarinic acetylcholine receptor ligands, we showed that IACh was exclusively mediated by nicotinic acetylcholine receptors. Distinct concentration–response relations of IACh1 and IACh2 for these ligands indicated that they are mediated by different types of nicotinic acetylcholine receptors.

Premotor Interneurons in the Local Control of Stepping Motor Output for the Stick Insect Single Middle Leg

In insect walking systems, nonspiking interneurons (NSIs) play an important role in the control of posture and movement. As such NSIs are known to contribute to state-dependent modifications in processing of proprioceptive signals from the legs. For example, NSIs process a flexion of the femur-tibia (FTi) joint signaled by the femoral chordotonal organ (fCO) such that the stance phase motor output is reinforced in the active locomotor system. This phenomenon representing a reflex reversal is the first part of the “active reaction” (AR) and was hypothesized to functionally represent a major control feature by which sensory feedback supports stance generation. As NSIs are known to contribute to the AR, the question arises, whether they serve similar functions during stepping and whether the AR is generally part of the control system for walking. We studied these issues in vivo, in a single leg preparation of Carausius morosus with the leg kinematics being confined to changes in one plane, along the coxa-trochanteral and the FTi-joint. Following kinematic analysis, identified NSIs (E1-E8, I1, I2, and I4) were recorded intracellularly during single leg stepping at different velocities. We detected clear similarities between the activity pattern of NSIs during single leg stepping and their responses to fCO-stimulation during the generation of the AR. This strongly supports the notion that the motor output generated during the AR reflects part of the control regime for stepping. Furthermore, our experiments revealed that alterations in stepping velocity result from modifications in the activity of the premotor NSIs involved in stance phase generation.

Control of stepping velocity in the stick insect Carausius morosus

We performed electrophysiological and behavioral experiments in single-leg preparations and intact animals of the stick insect Carausius morosus to understand mechanisms underlying the control of walking speed. At the level of the single leg, we found no significant correlation between stepping velocity and spike frequency of motor neurons (MNs) other than the previously shown modification in flexor (stance) MN activity. However, pauses between stance and swing motoneuron activity at the transition from stance to swing phase and stepping velocity are correlated. Pauses become shorter with increasing speed and completely disappear during fast stepping sequences. By means of extra- and intracellular recordings in single-leg stick insect preparations we found no systematic relationship between the velocity of a stepping front leg and the motoneuronal activity in the ipsi- or contralateral mesothoracic protractor and retractor, as well as flexor and extensor MNs. The observations on the lack of coordination of stepping velocity between legs in single-leg preparations were confirmed in behavioral experiments with intact stick insects tethered above a slippery surface, thereby effectively removing mechanical coupling through the ground. In this situation, there were again no systematic correlations between the stepping velocities of different legs, despite the finding that an increase in stepping velocity in a single front leg is correlated with a general increase in nerve activity in all connectives between the subesophageal and all thoracic ganglia. However, when the tethered animal increased walking speed due to a short tactile stimulus, provoking an escape-like response, stepping velocities of ipsilateral legs were found to be correlated for several steps. These results indicate that there is no permanent coordination of stepping velocities between legs, but that such coordination can be activated under certain circumstances.

Pharmacological analysis of tonic activity in motoneurons during stick insect walking

Stick insect middle leg (mesothoracic) motoneurons receive tonic excitatory input during front leg stepping on a treadmill. We studied the pharmacology of this excitatory input to the motoneurons during single-legged treadmill walking (in situ). During bath application of drugs restricted to the mesothoracic ganglion, activity in motoneurons contralateral to the stepping front leg was recorded from neuropilar processes. Application of the cholinergic antagonist atropine reduced the tonic depolarization amplitude. These results were compared with findings in acutely dissociated motoneuron cell bodies (in vitro) under whole cell voltage-clamp conditions. The presence of an acetylcholine-induced current in situ was supported by the finding of an acetylcholine evoked biphasic inward current with a sustained component that could be blocked by atropine. In situ the tonic depolarization was generally increased by application of the neuro-modulator octopamine and decreased by its antagonist mianserin. In vitro, however, octopamine reduced the inward current evoked by acetylcholine application to motoneurons. Intracellular application of bis-(o-aminophenoxy)-N,N,N',N'-tetraacetic acid (BAPTA) into motoneurons in situ revealed a dependence of the tonic depolarization on Ca(2+) and application of the membrane-permeable cAMP analogue 8-bromo-cAMP increased the tonic depolarization. In contrast, 8-bromo-cAMP reduced the inward current evoked by acetylcholine application to motoneurons in vitro. We conclude that during walking, acetylcholine contributes to mediating the tonic depolarization possibly by acting on atropine-sensitive receptors on motoneurons. Octopamine that is released during walking increases the tonic depolarization. This increase, however, is not based on modulation of cholinergic action on motoneurons but rather on effects on premotor neurons. Both, Ca(2+) and cAMP are likely second messengers involved in mediating the tonic depolarization, but whereas Ca(2+) acts in motoneurons, cAMP does not appear to mediate a cholinergic depolarization in motoneurons.

Sensory feedback induced by front-leg stepping entrains the activity of central pattern generators in caudal segments of the stick insect walking system

Legged locomotion results from a combination of central pattern generating network (CPG) activity and intralimb and interlimb sensory feedback. Data on the neural basis of interlimb coordination are very limited. We investigated here the influence of stepping in one leg on the activities of neighboring-leg thorax-coxa (TC) joint CPGs in the stick insect (Carausius morosus). We used a new approach combining single-leg stepping with pharmacological activation of segmental CPGs, sensory stimulation, and additional stepping legs. Stepping of a single front leg could activate the ipsilateral mesothoracic TC CPG. Activation of the metathoracic TC CPG required that both ipsilateral front and middle legs were present and that one of these legs was stepping. Unlike the situation in real walking, ipsilateral mesothoracic and metathoracic TC CPGs activated by front-leg stepping fired in phase with the front-leg stepping. Local (intralimb) sensory feedback from load sensors could override this intersegmental influence of front-leg stepping, shifting retractor motoneuron activity relative to the front-leg step cycle and thereby uncoupling them from front-leg stepping. These data suggest that front-leg stepping in isolation would result in in-phase activity of all ipsilateral legs, and functional stepping gaits (in which the three ipsilateral legs do not step in synchrony) emerge because of local load sensory feedback overriding this in-phase influence.

Continuous shifts in the active set of spinal interneurons during changes in locomotor speed

The classic 'size principle' of motor control describes how increasingly forceful movements arise by the recruitment of motoneurons of progressively larger size and force output into the active pool. We explored the activity of pools of spinal interneurons in larval zebrafish and found that increases in swimming speed were not associated with the simple addition of cells to the active pool. Instead, the recruitment of interneurons at faster speeds was accompanied by the silencing of those driving movements at slower speeds. This silencing occurred both between and within classes of rhythmically active premotor excitatory interneurons. Thus, unlike motoneurons, there is a continuous shift in the set of cells driving the behavior, even though changes in the speed of the movements and the frequency of the motor pattern appear to be smoothly graded. We conclude that fundamentally different principles may underlie the recruitment of motoneuron and interneuron pools.

Recruitment in a heterogeneous population of motor neurons that innervates the depressor muscle of the crayfish walking leg muscle

According to the size principle the fine control of muscle tension depends on the orderly recruitment of motor neurons from a heterogeneous pool. We took advantage of the small number of excitatory motor neurons (about 12) that innervate the depressor muscle of the crayfish walking leg to determine if the size principle applies to this muscle. We found that in accordance with the size principle, when stimulated by proprioceptive input, neurons with small extracellular spikes were recruited before neurons with medium or large spikes. Because only a small fraction of the motor neurons responded strongly enough to sensory input to be recruited in this way, we extended our analysis to all neurons by characterizing properties that have classically been associated with recruitment order such as speed of axonal conduction and extracellular spike amplitude. Through a combination of physiological and anatomical criteria we were able to identify seven classes of excitatory depressor motor neurons. The majority of these classes responded to proprioceptive input with a resistance reflex, while a few responded with an assistance reflex, and yet others did not respond. Our results are in general agreement with the size principle. However, we found qualitative differences between neuronal classes in terms of synaptic input and neuronal structure that would in theory be unnecessary, according to a strict interpretation of the size principle. We speculate that the qualitative heterogeneity observed may be due to the fact that the depressor is a complex muscle, consisting of two muscle bundles that share a single insertion but have multiple origins.

Activity of neuromodulatory neurones during stepping of a single insect leg

Octopamine plays a major role in insect motor control and is released from dorsal unpaired median (DUM) neurones, a group of cells located on the dorsal midline of each ganglion. We were interested whether and how these neurones are activated during walking and chose the semi-intact walking preparation of stick insects that offers to investigate single leg-stepping movements. DUM neurones were characterized in the thoracic nerve cord by backfilling lateral nerves. These backfills revealed a population of 6-8 efferent DUM cells per thoracic segment. Mesothoracic DUM cells were subsequently recorded during middle leg stepping and characterized by intracellular staining. Seven out of eight identified individual different types of DUM neurones were efferent. Seven types except the DUMna nl2 were tonically depolarized during middle leg stepping and additional phasic depolarizations in membrane potential linked to the stance phase of the middle leg were observed. These DUM neurones were all multimodal and received depolarizing synaptic drive when the abdomen, antennae or different parts of the leg were mechanically stimulated. We never observed hyperpolarising synaptic inputs to DUM neurones. Only one type of DUM neurone, DUMna, exhibited spontaneous rhythmic activity and was unaffected by different stimuli or walking movements.

Motor control of aimed limb movements in an insect

Limb movements that are aimed toward tactile stimuli of the body provide a powerful paradigm with which to study the transformation of motor activity into context-dependent action. We relate the activity of excitatory motor neurons of the locust femoro-tibial joint to the consequent kinematics of hind leg movements made during aimed scratching. There is posture-dependence of motor neuron activity, which is stronger in large amplitude (putative fast) than in small (putative slow and intermediate) motor neurons. We relate this posture dependency to biomechanical aspects of the musculo-skeletal system and explain the occurrence of passive tibial movements that occur in the absence of agonistic motor activity. There is little recorded co-activation of antagonistic tibial extensor and flexor motor neurons, and there is differential recruitment of proximal and distal flexor motor neurons. Large-amplitude motor neurons are often recruited soon after a switch in joint movement direction. Motor bursts containing large-amplitude spikes exhibit high spike rates of small-amplitude motor neurons. The fast extensor tibiae neuron, when recruited, exhibits a pattern of activity quite different to that seen during kicking, jumping, or righting: there is no co-activation of flexor motor neurons and no full tibial flexion. Changes in femoro-tibial joint angle and angular velocity are most strongly dependent on variations in the number of motor neuron spikes and the duration of motor bursts rather than on firing frequency. Our data demonstrate how aimed scratching movements result from interactions between biomechanical features of the musculo-skeletal system and patterns of motor neuron recruitment.

Slow temporal filtering may largely explain the transformation of stick insect (Carausius morosus) extensor motor neuron activity into muscle movement

Understanding how nervous systems generate behavior requires understanding how muscles transform neural input into movement. The stick insect extensor tibiae muscle is an excellent system in which to study this issue because extensor motor neuron activity is highly variable during single leg walking and extensor muscles driven with this activity produce highly variable movements. We showed earlier that spike number, not frequency, codes for extensor amplitude during contraction rises, which implies the muscle acts as a slow filter on the time scale of burst interspike intervals (5-10 ms). We examine here muscle response to spiking variation over entire bursts, a time scale of hundreds of milliseconds, and directly measure muscle time constants. Muscle time constants differ during contraction and relaxation, and contraction time constants, although variable, are always extremely slow (200-700 ms). Models using these data show that extremely slow temporal filtering alone can explain much of the observed transform properties. This work also revealed an unexpected (to us) ability of slow filtering to transform steadily declining inputs into constant amplitude outputs. Examination of the effects of time constant variability on model output showed that variation within an SD primarily altered output amplitude, but variation across the entire range also altered contraction shape. These substantial changes suggest that understanding the basis of this variation is central to predicting extensor activity and that the animal could theoretically vary muscle time constant to match extensor response to changing behavioral need.

Intersegmental coordination: influence of a single walking leg on the neighboring segments in the stick insect walking system

A key element of walking is the coordinated interplay of multiple limbs to achieve a stable locomotor pattern that is adapted to the environment. We investigated intersegmental coordination of walking in the stick insect, Carausius morosus by examining the influence a single stepping leg has on the motoneural activity of the other hemiganglia, and whether this influence changes with the walking direction. We used a reduced single leg walking preparation with only one intact front, middle, or hind leg. The intact leg performed stepping movements on a treadmill, thus providing intersegmental signals about its stepping to the other hemiganglia. The activity of coxal motoneurons was simultaneously recorded extracellularly in all other segments. Stepping sequences of any given single leg in either walking direction were accompanied by an increase in coxal motoneuron (MN) activity of all other segments, which was mostly modulated and slightly in phase with stance of the walking leg. In addition, forward stepping of the front leg and, to a lesser extent, backward stepping of the hind leg elicited alternating activity in mesothoracic coxal MNs. Forward and backward stepping of the middle leg did not elicit alternating activity in coxal MNs in any other hemiganglia, indicating that the influence of middle leg stepping is qualitatively different from that of forward front and backward hind leg stepping. Our results indicate that in an insect walking system individual segments differ with respect to their intersegmental influences and thus cannot be treated as similar within the chain of segmental walking pattern generators. Consequences for the current concepts on intersegmental coordination are discussed.

The extensor tibiae muscle of the stick insect: biomechanical properties of an insect walking leg muscle

We investigated the properties of the extensor tibiae muscle of the stick insect (Carausius morosus) middle leg. Muscle geometry of the middle leg was compared to that of the front and hind legs and to the flexor tibiae, respectively. The mean length of the extensor tibiae fibres is 1.41+/-0.23 mm and flexor fibres are 2.11+/-0.30 mm long. The change of fibre length with joint angle was measured and closely follows a cosine function. Its amplitude gives effective moment arm lengths of 0.28+/-0.02 mm for the extensor and 0.56+/-0.04 mm for the flexor. Resting extensor tibiae muscle passive tonic force increased from 2 to 5 mN in the maximum femur-tibia (FT)-joint working range when stretched by ramps. Active muscle properties were measured with simultaneous activation (up to 200 pulses s(-1)) of all three motoneurons innervating the extensor tibiae, because this reflects most closely physiological muscle activation during leg swing. The force-length relationship corresponds closely to the typical characteristic according to the sliding filament hypothesis: it has a plateau at medium fibre lengths, declines nearly linearly in force at both longer and shorter fibre lengths, and the muscle's working range lies in the short to medium fibre length range. Maximum contraction velocity showed a similar relationship. The force-velocity relationship was the traditional Hill curve hyperbola, but deviated from the hyperbolic shape in the region of maximum contraction force close to the isometric contraction. Step-like changes in muscle length induced by loaded release experiments characterised the non-linear series elasticity as a quadratic spring.

Control of stepping velocity in a single insect leg during walking

In the single middle leg preparation of the stick insect walking on a treadmill, the activity of flexor and extensor tibiae motor neurons and muscles, which are responsible for the movement of the tibia in stance and swing phases, respectively, was investigated with respect to changes in stepping velocity. Changes in stepping velocity were correlated with cycle period. There was a close correlation of flexor motor neuron activity (stance phase) with stepping velocity, but the duration and activation of extensor motor neurons (swing phase) was not altered. The depolarization of flexor motor neurons showed two components. At all step velocities, a stereotypic initial depolarization was generated at the beginning of stance phase activity. A subsequent larger depolarization and activation was tightly linked to belt velocity, i.e. it occurred earlier and with larger amplitude during fast steps compared with slow steps. Alterations in a tonic background excitation appear not to play a role in controlling the motor neuron activity for changes in stepping velocity. Our results indicate that in the single insect leg during walking, mechanisms for altering stepping velocity become effective only during an already ongoing stance phase motor output. We discuss the putative mechanisms involved.

Different motor neuron spike patterns produce contractions with very similar rises in graded slow muscles

Graded muscles produce small twitches in response to individual motor neuron spikes. During the early part of their contractions, contraction amplitude in many such muscles depends primarily on the number of spikes the muscle has received, not the frequency or pattern with which they were delivered. Stick insect (Carausius morosus) extensor muscles are graded and thus would likely show spike-number dependency early in their contractions. Tonic stimulations of the extensor motor nerve showed that the response of the muscles differed from the simplest form of spike-number dependency. However, these differences actually increased the spike-number range over which spike-number dependency was present. When the motor nerve was stimulated with patterns mimicking the motor neuron activity present during walking, amplitude during contraction rises also depended much more on spike number than on spike frequency. A consequence of spike-number dependency is that brief changes in spike frequency do not alter contraction slope and we show here that extensor motor neuron bursts with different spike patterns give rise to contractions with very similar contraction rises. We also examined in detail the early portions of a large number of extensor motor neuron bursts recorded during single-leg walking and show that these portions of the bursts do not appear to have any common spike pattern. Although alternative explanations are possible, the simplest interpretation of these data is that extensor motor neuron firing during leg swing is not tightly controlled.

Tethered stick insect walking: A modified slippery surface setup with optomotor stimulation and electrical monitoring of tarsal contact

A modified and improved setup based on Epstein and Graham [Epstein S, Graham D. Behaviour and motor output of stick insects walking on a slippery surface. I. Forward walking. J Exp Biol 1983;105: 215-29] to study straight and curve walking in the stick insect was developed and applications for its use are described. The animal is fixed on a balsa stick and walks freely on a slippery surface created with a thin film of a glycerin/water solution on a black, Ni-coated, polished brass plate. The glycerine/water ratio controls the viscosity of the lubricant and thereby the forces necessary to move the legs of the stick insect. A small amount of NaCl is added to ensure electric conductivity. Walking is induced through an optomotor stimulus given by two stripe-projectors producing rotatory and translatory stimuli to influence walking direction. The walking pattern is monitored in two ways: (1) tarsal contact with the slippery surface is measured electrically using a lock-in-amplifier. The tarsal contact signal allows correlation with the activity in different muscles of the stick insect leg recorded with EMG electrodes; (2) leg kinematics in the horizontal plane is monitored using synchronized high speed video. This setup allows us to determine the coupling of activity in different leg muscles to either swing or stance phase during straight and curve walking in the intact animal or the reduced single-leg preparation with a high time resolution.

Load signals assist the generation of movement-dependent reflex reversal in the femur-tibia joint of stick insects

Reinforcement of movement is an important mechanism by which sensory feedback contributes to motor control for walking. We investigate how sensory signals from movement and load sensors interact in controlling the motor output of the stick insect femur-tibia (FT) joint. In stick insects, flexion signals from the femoral chordotonal organ (fCO) at the FT joint and load signals from the femoral campaniform sensilla (fCS) are known to individually reinforce stance-phase motor output of the FT joint by promoting flexor and inhibiting extensor motoneuron activity. We quantitatively compared the time course of inactivation in extensor tibiae motoneurons in response to selective stimulation of fCS and fCO. Stimulation of either sensor generates extensor activity in a qualitatively similar manner but with a significantly different time course and frequency of occurrence. Inactivation of extensor motoneurons arising from fCS stimulation was more reliable but more than threefold slower compared with the extensor inactivation in response to flexion signals from the fCO. In contrast, simultaneous stimulation of both sense organs produced inactivation in motoneurons with a time course typical for fCO stimulation alone, but with a frequency of occurrence characteristic for fCS stimulation. This increase in probability of occurrence was also accompanied by a delayed reactivation of the extensor motoneurons. Our results indicate for the first time that load signals from the leg affect the processing of movement-related feedback in controlling motor output.

Natural neural output that produces highly variable locomotory movements

We recorded fast extensor tibiae motor neuron activity during single-legged treadmill walking in the stick insect, Carausius morosus. We used this activity to stimulate the extensor muscle motor nerve, observed the resulting extensor muscle contractions under isotonic conditions, and quantified these contractions with a variety of measures. Extensor contractions induced in this manner were highly variable, with contraction measures having SDs of 12 to 51%, and ranges of 82 to 275%, when expressed as percentages of the means, an unexpectedly wide range for a locomotory pattern. Searches for correlations among the contraction measures showed that, in general, this high variability is not reduced by contraction measure covariation. Comparing responses (to identical input) across animals showed that extensor muscles from different animals generally significantly differed from one another. However, correlation analyses on these data suggested that these differences do not indicate that multiple extensor muscle subtypes exist. Extensor muscles instead appear to belong to a single class, albeit one with high animal to animal variability. These data thus provide another well-quantified example (along with Aplysia feeding) of a repetitive but highly variable motor pattern (in contrast to the high rhythmicity and stereotypy present in most other well-quantified repetitive motor patterns). We suggest this high variability could be an adaptive combination of locomotion, active sensing, and crypsis arising from the relatively low demand for locomotion in Carausius behavior, the highly fragmented environment the animal inhabits, and its need to avoid predatory attention.

Modulation of Membrane Potential in Mesothoracic Moto- and Interneurons During Stick Insect Front-Leg Walking

During walking, maintenance and coordination of activity in leg motoneurons requires intersegmental signal transfer. In a semi-intact preparation of the stick insect, we studied membrane potential modulations in mesothoracic (middle leg) motoneurons and local premotor nonspiking interneurons that were induced by stepping of a front leg on a treadmill. The activity in motoneurons ipsi- and contralateral to the stepping front leg was recorded from neuropilar processes. Motoneurons usually exhibited a tonic depolarization of ≤5 mV throughout stepping sequences. This tonic depolarization depended on membrane potential and was found to reverse in the range of −32 to −47 mV. It was accompanied by a mean membrane resistance decrease of ∼12%. During front-leg stepping, an increased spike activity to depolarizing current pulses was observed in 73% of contralateral flexor motoneurons that were tested. Motoneurons ipsilateral to the walking front leg exhibited phasic membrane potential modulations coupled to steps in accordance with previously published results. Coupling patterns were typical for a given motoneuron pool. Local nonspiking mesothoracic interneurons that provide synaptic drive to tibial motoneurons also contribute to the modulation of membrane potential of tibial motoneurons during front-leg walking. We hypothesize that the tonic depolarization of motoneurons during walking is a cellular correlate of arousal that usually increases effectiveness of phasic excitation in supporting motoneuron firing.

The action of spike frequency adaptation in the postural motoneurons of hermit crab abdomen during the first phase of reflex activation

Cuticular strain associated with support of the shell of the hermit crab, Pagurus pollicarus, by its abdomen activates mechanoreceptors that evoke a stereotyped reflex in postural motoneurons. This reflex consists of three phases: a brief high-frequency burst of motoneuron spikes, a pause, and a much longer duration but lower frequency period of spiking. These phases are correlated with a rapid increase in muscle force followed by a slight decline to a level of tone that is greater than that at rest but less than maximal. The present experiments address the mechanisms underlying the transition from the first to second phase of the reflex and their role in force generation. Although centrally generated inhibitory post-synaptic potentials (IPSPS) are present during the pause period of the reflex, intracellular current injection of motoneurons reveals a spike frequency adaptation that rapidly and substantially reduces motoneuron firing frequency and is unchanged in saline that reduces synaptic transmission. The adaptation is voltage sensitive and persists for several hundred milliseconds upon repolarization. Hyperpolarization partially restores the initial response of the motoneuron to depolarizing current. Spike frequency adaptation and synaptic inhibition are important mechanisms in the generation of force that maintains abdominal stiffness at a constant, submaximal level.

Intersegmental coordination of walking movements in stick insects

Locomotion requires the coordination of movements across body segments, which in walking animals is expressed as gaits. We studied the underlying neural mechanisms of this coordination in a semi-intact walking preparation of the stick insect Carausius morosus. During walking of a single front leg on a treadmill, leg motoneuron (MN) activity tonically increased and became rhythmically modulated in the ipsilateral deafferented and deefferented mesothoracic (middle leg) ganglion. The pattern of modulation was correlated with the front leg cycle and specific for a given MN pool, although it was not consistent with functional leg movements for all MN pools. In an isolated preparation of a pair of ganglia, where one ganglion was made rhythmically active by application of pilocarpine, we found no evidence for coupling between segmental central pattern generators (CPGs) that could account for the modulation of MN activity observed in the semi-intact walking preparation. However, a third preparation provided evidence that signals from the front leg's femoral chordotonal organ (fCO) influenced activity of ipsilateral MNs in the adjacent mesothoracic ganglion. These intersegmental signals could be partially responsible for the observed MN activity modulation during front leg walking. While afferent signals from a single walking front leg modulate the activity of MNs in the adjacent segment, additional afferent signals, local or from contralateral or posterior legs, might be necessary to produce the functional motor pattern observed in freely walking animals.

Load sensing and control of posture and locomotion

This article reviews recent findings on how forces are detected by sense organs of insect legs and how this information is integrated in control of posture and walking. These experiments have focused upon campaniform sensilla, receptors that detect forces as strains in the exoskeleton, and include studies of sensory discharges in freely moving animals and intracellular characterization of connectivity of afferent inputs in the central nervous system. These findings provide insights into how campaniform sensilla can contribute to the adjustment of motor outputs to changes in load. In this review we discuss (1) anatomy of the receptors and their activities in freely moving insects, (2) mechanisms by which inputs are incorporated into motor outputs and (3) the integration of sensory signals of diverse modalities. The discharges of some groups of receptors can encode body load when standing. Responses are also correlated with muscle-generated forces during specific times in walking. These activities can enhance motor outputs through reflexes and can affect the timing of motoneuron firing through inputs to pattern generating interneurons. Flexibility in the system is also provided by interactions of afferent inputs at several levels. These mechanisms can contribute to the adaptability of insect locomotion to diverse terrains and environments.

Signals From Load Sensors Underlie Interjoint Coordination During Stepping Movements of the Stick Insect Leg

During stance and swing phase of a walking stick insect, the retractor coxae (RetCx) and protractor coxae (ProCx) motoneurons and muscles supplying the thorax-coxa (TC)-joint generate backward and forward movements of the leg. Their activity is tightly coupled to the movement of the more distal leg segments, i.e., femur, tibia, and tarsus. We used the single middle leg preparation to study how this coupling is generated. With only the distal leg segments of the middle leg being free to move, motoneuronal activity of the de-afferented and -efferented TC-joint is similarly coupled to leg stepping. RetCx motoneurons are active during stance and ProCx motoneurons during swing. We studied whether sensory signals are involved in this coordination of TC-joint motoneuronal activity. Ablation of the load measuring campaniform sensilla (CS) revealed that they substantially contribute to the coupling of TC-joint motoneuronal activity to leg stepping. Individually ablating trochanteral and femoral CS revealed the trochanteral CS to be necessary for establishing the coupling between leg stepping and coxal motoneuron activity. When the locomotor system was active and generated alternating bursts of activity in ProCx and RetCx motoneurons, stimulation of the CS by rearward bending of the femur in otherwise de-afferented mesothoracic ganglion terminated ongoing ProCx motoneuronal activity and initiated RetCx motoneuronal activity. We show that cuticular strain signals from the trochanteral CS play a major role in shaping TC-joint motoneuronal activity during walking and contribute to their coordination with the stepping pattern of the distal leg joints. We present a model for the sensory control of timing of motoneuronal activity in walking movements of the single middle leg.

Synaptic drive contributing to rhythmic activation of motoneurons in the deafferented stick insect walking system

A general feature of motor patterns for locomotion is their cyclic and alternating organization. In walking, for example, rhythmic activity in leg motoneurons innervating antagonistic muscles of a joint is primarily antiphasic within each cycle. We investigate which role central pattern generating networks play in the generation of leg motoneuron activity in the absence of sensory feedback. We elicited activity in antagonistic flexor and extensor tibiae motoneurons in the deafferented mesothoracic ganglion of the stick insect by mechanically stimulating the head or abdomen, while recording intracellularly from their neuropilar processes. In most cases, tactile stimulation induced coactivation of tibial motoneurons. However, in approximately 25% of the trials, tibial motoneurons generated alternating cycles consisting of bursts of action potentials that were terminated by strong inhibitory synaptic inputs. Injection of depolarizing current increased the amplitude of the inhibitory phase of the oscillation, while hyperpolarizing current decreased it and revealed a tonic depolarization of the motor neurons during the bout of rhythmic motor activity. The same results were gathered from recording tibial leg motoneurons during 'twitching' motor activity in decerebrated animals. Our results indicate that alternating rhythmic motoneuron activity in the deafferented stick insect walking system results from phasic inhibitory drive provided by central pattern generating networks. This inhibitory input patterns the firing of the motoneurons that results from a tonic depolarizing drive. This tonic depolarizing drive was also observed in tibial motoneurons of the deafferented mesothoracic ganglion during walking movements of the intact ipsilateral front leg.