The Function of Long Propriospinal Pathways in the Co-Ordination of Quadrupedal Stepping in the Cat

Central control of interlimb coordination and speed-dependent gait expression in quadrupeds

KEY POINTS

Quadrupeds express different gaits depending on speed of locomotion. Central pattern generators (one per limb) within the spinal cord generate locomotor oscillations and control limb movements. Neural interactions between these generators define interlimb coordination and gait. We present a computational model of spinal circuits representing four rhythm generators with left-right excitatory and inhibitory commissural and fore-hind inhibitory interactions within the cord. Increasing brainstem drive to all rhythm generators and excitatory commissural interneurons induces an increasing frequency of locomotor oscillations accompanied by speed-dependent gait changes from walk to trot and to gallop and bound. The model closely reproduces and suggests explanations for multiple experimental data, including speed-dependent gait transitions in intact mice and changes in gait expression in mutants lacking certain types of commissural interneurons. The model suggests the possible circuit organization in the spinal cord and proposes predictions that can be tested experimentally.

ABSTRACT

As speed of locomotion is increasing, most quadrupeds, including mice, demonstrate sequential gait transitions from walk to trot and to gallop and bound. The neural mechanisms underlying these transitions are poorly understood. We propose that the speed-dependent expression of different gaits results from speed-dependent changes in the interactions between spinal circuits controlling different limbs and interlimb coordination. As a result, the expression of each gait depends on (1) left-right interactions within the spinal cord mediated by different commissural interneurons (CINs), (2) fore-hind interactions on each side of the spinal cord and (3) brainstem drives to rhythm-generating circuits and CIN pathways. We developed a computational model of spinal circuits consisting of four rhythm generators (RGs) with bilateral left-right interactions mediated by V0 CINs (V0_D and V0_V sub-types) providing left-right alternation, and conditional V3 CINs promoting left-right synchronization. Fore and hind RGs mutually inhibited each other. We demonstrate that linearly increasing excitatory drives to the RGs and V3 CINs can produce a progressive increase in the locomotor speed accompanied by sequential changes of gaits from walk to trot and to gallop and bound. The model closely reproduces and suggests explanations for the speed-dependent gait expression observed in vivo in intact mice and in mutants lacking V0_V or all V0 CINs. Specifically, trot is not expressed after removal of V0_V CINs, and only bound is expressed after removal of all V0 CINs. The model provides important insights into the organization of spinal circuits and neural control of locomotion.

Cyclic modulation of H-reflex depression in ipsilateral and contralateral soleus muscles during rhythmic arm swing

The objective of the present study was to investigate the effects of rhythmic arm swing on ipsilateral and contralateral soleus motoneuron pool excitability. Ten healthy human subjects participated in this study. Soleus H-reflexes were recorded from the ipsilateral and contralateral soleus muscles while the subject swung the right arm anteroposteriorly as if during gait. The soleus H-reflex was depressed throughout the whole arm swing cycle except in the ipsilateral leg during the onset of the backward arm swing, and in the contralateral leg during the last half of the backward arm swing and the onset of the forward arm swing. The depression was cyclically modulated in accordance with the time course of the arm swing periods, and the pattern of the modulation was reciprocal between the ipsilateral and contralateral legs. This cyclical and reciprocal modulation may be related to the regulation of soleus motoneuron pool excitability during gait.

Premotor nitric oxide synthase immunoreactive pathway connecting lumbar segments with the ventral motor nucleus of the cervical enlargement in the dog

In this study we investigate the occurrence and origin of punctate nitric oxide synthase immunoreactivity in the neuropil of the ventral motor nucleus in C7-Th1 segments of the dog spine, which are supposed to be the terminal field of an ascending premotor propriospinal nitric oxide synthase-immunoreactive pathway. As the first step, nitric oxide synthase immunohistochemistry was used to distinguish nitric oxide synthase-immunoreactive staining of the ventral motor nucleus. Dense, punctate nitric oxide synthase immunoreactivity was found on control sections in the neuropil of the ventral motor nucleus. After hemisection at Th10-11, axotomy-induced retrograde changes consisting in a strong upregulation of nitric oxide synthase-containing neurons were found mostly unilaterally in lamina VIII, the medial part of lamina VII and in the pericentral region in all segments of the lumbosacral enlargement. Concurrently, a strong depletion of the punctate nitric oxide synthase immunopositivity in the neuropil of the ventral motor nucleus ipsilaterally with the hemisection was detected, thus revealing that an uncrossed ascending premotor propriospinal pathway containing a fairly high number of nitric oxide synthase-immunoreactive fibers terminates in the ventral motor nucleus. Application of the retrograde fluorescent tracer Fluorogold injected into the ventral motor nucleus and analysis of alternate sections processed for nitric oxide synthase immunocytochemistry revealed the presence of Fluorogold-labeled and nitric oxide synthase-immunoreactive axons in the ventrolateral funiculus and in the lateral and medial portions of the ventral column throughout the thoracic and upper lumbar segments. A noticeable number of Fluorogold-labeled and nitric oxide synthase-immunoreactive somata detected on consecutive sections were found in the lumbosacral enlargement, mainly in laminae VIII-IX, the medial part of lamina VII and in the pericentral region (lamina X), ipsilaterally with the injection of Fluorogold into the ventral motor nucleus. In summary, the present study provides evidence for a hitherto unknown ascending premotor propriospinal nitric oxide synthase-immunoreactive pathway connecting the lumbosacral enlargement with the motoneurons of the ventral motor nucleus in the dog.

Ascending projections of long descending propriospinal tract (LDPT) neurons

Ascending projections of long descending propriospinal tract (LDPT) cells were investigated using the technique of double retrograde labeling. In rat, injection of one fluorescent dye was made into either the reticular formation or the cerebellum, and a second dye was injected into the lumbosacral enlargement (LSE). In cat, injections were made into the reticular formation and into the lumbosacral enlargement. Using fluorescence microscopy, observation of neurons in the cervical enlargement (CE) revealed single- and double-labeled cells which were either spinoreticular or spinocerebellar tract cells and/or LDPT cells. In both cat and rat, the location of double-labeled LDPT-spinoreticular cells were in the ventromedial spinal gray matter of the CE and were coextensive with single-labeled LDPT and spinoreticular cells. The locations of double-labeled LDPT-spinocerebellar cells in rat were in the ventromedial gray and were coextensive with single-labeled LDPT cells, but not with single-labeled spinocerebellar cells. The latter group was located in central lamina VII and medial laminae V and VI. Overall, the mean number of double-labeled cells was 40% of rat and 7% of cat LDPT cells, indicating projections to either the brainstem reticular formation or cerebellum as well as to the lumbosacral enlargement. Thus, a subpopulation of LDPT cells apparently also serves as a spinoreticular (SR) and spinocerebellar (SC) projection system.

Anatomical organization of long ascending propriospinal neurons in the cat spinal cord

Retrograde transport of lectin-HRP conjugate (WGA-HRP) was used to examine the anatomical organization of long ascending propriospinal neurons (LAPNs) projecting to the cervical enlargement (C5-T1) and to the upper part of the cervical cord (C3-4) in cats. Small injections (0.05-1.0 microliter) of dilute (1-4%) WGA-HRP were made into the C5-T1 or C3-4 regions. The field potential evoked from stimulation of the superficial radial nerve served to position the micropipette delivering injections. Small and localized populations of labelled LAPNs were found in the dorsal horn (laminae IV-V), the intermediate zone (dorsal and medial lamina VII), and the ventral horn (ventral lamina VII, laminae VIII and IX). Ventral horn LAPNs projecting to the C5-T1 region were preferentially located in rostral lumbar regions. Ventral LAPNs projecting to the C3-4 region were more caudally situated. No regional differences in distribution of dorsal horn and intermediate zone LAPNs were noted in comparing the results of C3-4 with C5-T1 injection protocols. It is concluded that the caudally located ventral LAPNs may exert their influence on cervical motor output through C3-4 propriospinal interneurons. Other LAPNs are considered to exert their effect more directly, either at the C5-T1 or the C3-4 levels.

Mathematical Models of Central Pattern Generators in Locomotion

As a background for subsequent studies of mathematical models of central pattern generators in locomotion (Stafford & Barnwell, 1985a, b) relevant aspects of the literature on locomotion are reviewed, concepts of locomotion discussed, and extant models considered. Advantages and disadvantages of present models are discussed, and the need for mathematical models is emphasized. It is shown that realistic models of pattern generation in locomotion must take numerous factors into account, including phases of step cycle, muscle sequencing, gait and interlimb coordination, initiation and cessation of locomotion, and many aspects of neuromuscular control and function.

Mathematical models of central pattern generators in locomotion: III. Interlimb model for the cat

Possible neural connective patterns and functions with respect to interlimb coordination are studied theoretically with a mathematical model of the central pattern generating system for cat locomotion. Activities in populations of neurons controlling limb joint flexors and extensors in all four limbs are represented by a system of nonlinear differential equations. Solutions of the system for various parameter values simulate various gaits of the cat. The model is shown to be capable of generating all gaits of the cat and accounting for corresponding phase changes in interlimb coordination. The model also exhibits smooth changes of gait, and smooth initiation and termination of stepping. Further, within each limb, muscle sequencing, step cycle phases, and flexor-extensor interactions can be studied. The model suggests that one of the simplest mechanisms for a central command system to change the gait is via inhibition of specific interlimb propriospinal pathways. In a final section, properties of both proposed single limb and interlimb models are reviewed with specific reference to planning future experimental and theoretical studies.

Propriospinal fibers interconnecting the spinal enlargements in some quadrupedal reptiles

The cells of origin, course and site of termination of long propriospinal fibers interconnecting the intumescences have been studied with the aid of the horseradish peroxidase technique, as well as with anterograde degeneration techniques, in some quadrupedal reptiles (the lizards Tupinambis nigropunctatus and Varanus exanthematicus, and the turtles Testudo hermanni and Pseudemys scripta elegans). The anterograde degeneration findings suggest that long descending propriospinal fibers from the cervical intumescence are distributed bilaterally to the ventral gray of the lumbar enlargement, including the lateral motoneuron column. Long ascending fibers from the lumbar to the cervical intumescence are distributed, also bilaterally, to the ventromedial part of area VII--VIII. The cells of origin of long descending propriospinal fibers wre found in the medial part of area VII--VIII in the cervical intumescence, particularly contralateral to the injection side. The cells of origin of long ascending propriospinal fibers were found in the lumbar intumescence, also particularly contralateral to the injection side, in the ventromedial part of area VII--VIII. It seems likely that in the reptiles studied the long propriospinal fibers interconnecting the spinal enlargements are in large part organized as crossed connections. The demonstration of long propriospinal fibers in lizards and turtles--i.e. quadrupedal reptiles that move their limbs in a particular diagonal pattern--suggests that these pathways are of great importance for the coordination of forelimb and hindlimb movements.

Functional analysis of the shoulder girdle of cats during locomotion

The movements of the shoulder girdle of eight adult cats during overground stepping were studied, using standard slow motion cinematographic techniques. The patterns of activity of shoulder muscles were examined, using simultaneous intramuscular electromyography. Walking, trotting and galloping steps were analyzed from digitized single motion picture frame images. Angular movements of the shoulder girdle consist of biphasic flexion and extension of the shoulder joint and a monophasic flexion-extension alternation of the scapula on the thorax during each step cycle. In addition, the center of the scapula moves craniad during the swing phase and caudad during the stance phase with respect to a fixed reference point on the animal. Similar vertical movements of the center of the scapula also occur in each step cycle. Results of EMG studies of the 17 muscles capable of acting on the shoulder girdle indicate that three overall patterns of activity are found: (1) a pattern typical of extensor muscles, active during all the extension epochs; (2) a pattern typical of flexor muscles, active during the flexion epoch; and (3) a biphasic pattern of activity, active twice in each step. There data are used, along with a re-examination of previous models of the mechanics of the shoulder girdle of carnivores to examine the function and mechanics of shoulder motion. It is concluded that the rotary and translatory movements of the shoulder girdle during stepping combine to enhance step length.