Joint angle signaling by muscle spindle receptors

Effects of simulated hypo-gravity on lower limb kinematic and electromyographic variables during anti-gravitational treadmill walking

Introduction: This study investigated kinematic and EMG changes in gait across simulated gravitational unloading levels between 100% and 20% of normal body weight. This study sought to identify if each level of unloading elicited consistent changes-particular to that percentage of normal body weight-or if the changes seen with unloading could be influenced by the previous level(s) of unloading. Methods: 15 healthy adult participants (26.3 ± 2.5 years; 53% female) walked in an Alter-G anti-gravity treadmill unloading system (mean speed: 1.49 ± 0.37 mph) for 1 min each at 100%, 80%, 60%, 40% and 20% of normal body weight, before loading back to 100% in reverse order. Lower-body kinematic data were captured by inertial measurement units, and EMG data were collected from the rectus femoris, biceps femoris, medial gastrocnemius, and anterior tibialis. Data were compared across like levels of load using repeated measures ANOVA and statistical parametric mapping. Difference waveforms for adjacent levels were created to examine the rate of change between different unloading levels. Results: This study found hip, knee, and ankle kinematics as well as activity in the rectus femoris, and medial gastrocnemius were significantly different at the same level of unloading, having arrived from a higher, or lower level of unloading. There were no significant changes in the kinematic difference waveforms, however the waveform representing the change in EMG between 100% and 80% load was significantly different from all other levels. Discussion: This study found that body weight unloading from 100% to 20% elicited distinct responses in the medial gastrocnemius, as well as partly in the rectus femoris. Hip, knee, and ankle kinematics were also affected differentially by loading and unloading, especially at 40% of normal body weight. These findings suggest the previous level of gravitational load is an important factor to consider in determining kinematic and EMG responses to the current level during loading and unloading below standard g. Similarly, the rate of change in kinematics from 100% to 20% appears to be linear, while the rate of change in EMG was non-linear. This is of particular interest, as it suggests that kinematic and EMG measures decouple with unloading and may react to unloading uniquely.

Discriminability of multiple cutaneous and proprioceptive hand percepts evoked by intraneural stimulation with Utah slanted electrode arrays in human amputees

BACKGROUND

Electrical stimulation of residual afferent nerve fibers can evoke sensations from a missing limb after amputation, and bionic arms endowed with artificial sensory feedback have been shown to confer functional and psychological benefits. Here we explore the extent to which artificial sensations can be discriminated based on location, quality, and intensity.

METHODS

We implanted Utah Slanted Electrode Arrays (USEAs) in the arm nerves of three transradial amputees and delivered electrical stimulation via different electrodes and frequencies to produce sensations on the missing hand with various locations, qualities, and intensities. Participants performed blind discrimination trials to discriminate among these artificial sensations.

RESULTS

Participants successfully discriminated cutaneous and proprioceptive sensations ranging in location, quality and intensity. Performance was significantly greater than chance for all discrimination tasks, including discrimination among up to ten different cutaneous location-intensity combinations (15/30 successes, p < 0.0001) and seven different proprioceptive location-intensity combinations (21/40 successes, p < 0.0001). Variations in the site of stimulation within the nerve, via electrode selection, enabled discrimination among up to five locations and qualities (35/35 successes, p < 0.0001). Variations in the stimulation frequency enabled discrimination among four different intensities at the same location (13/20 successes, p < 0.0005). One participant also discriminated among individual stimulation of two different USEA electrodes, simultaneous stimulation on both electrodes, and interleaved stimulation on both electrodes (20/24 successes, p < 0.0001).

CONCLUSION

Electrode location, stimulation frequency, and stimulation pattern can be modulated to evoke functionally discriminable sensations with a range of locations, qualities, and intensities. This rich source of artificial sensory feedback may enhance functional performance and embodiment of bionic arms endowed with a sense of touch.

Neural Coding of Leg Proprioception in Drosophila

Animals rely on an internal sense of body position and movement to effectively control motor behavior. This sense of proprioception is mediated by diverse populations of mechanosensory neurons distributed throughout the body. Here, we investigate neural coding of leg proprioception in Drosophila, using in vivo two-photon calcium imaging of proprioceptive sensory neurons during controlled movements of the fly tibia. We found that the axons of leg proprioceptors are organized into distinct functional projections that contain topographic representations of specific kinematic features. Using subclass-specific genetic driver lines, we show that one group of axons encodes tibia position (flexion/extension), another encodes movement direction, and a third encodes bidirectional movement and vibration frequency. Overall, our findings reveal how proprioceptive stimuli from a single leg joint are encoded by a diverse population of sensory neurons, and provide a framework for understanding how proprioceptive feedback signals are used by motor circuits to coordinate the body.

Wrist Proprioception: Amplitude or Position Coding?

This work examines physiological mechanisms underlying the position sense of the wrist, namely, the codification of proprioceptive information related to pointing movements of the wrist toward kinesthetic targets. Twenty-four healthy subjects participated to a robot-aided assessment of their wrist proprioceptive acuity to investigate if the sensorimotor transformation involved in matching targets located by proprioceptive receptors relies on amplitude or positional cues. A joint position matching test was performed in order to explore such dichotomy. In this test, the wrist of a blindfolded participant is passively moved by a robotic device to a preset target position and, after a removal movement from this position, the participant has to actively replicate and match it as accurately as possible. The test involved two separate conditions: in the first, the matching movements started from the same initial location; in the second one, the initial location was randomly assigned. Target matching accuracy, precision, and bias in the two conditions were then compared. Overall results showed a consistent higher performance in the former condition than in the latter, thus supporting the hypothesis that the joint position sense is based on vectorial or amplitude coding rather than positional.

Robot-Aided Mapping of Wrist Proprioceptive Acuity across a 3D Workspace

Proprioceptive signals from peripheral mechanoreceptors form the basis for bodily perception and are known to be essential for motor control. However we still have an incomplete understanding of how proprioception differs between joints, whether it differs among the various degrees-of-freedom (DoFs) within a particular joint, and how such differences affect motor control and learning. We here introduce a robot-aided method to objectively measure proprioceptive function: specifically, we systematically mapped wrist proprioceptive acuity across the three DoFs of the wrist/hand complex with the aim to characterize the wrist position sense. Thirty healthy young adults performed an ipsilateral active joint position matching task with their dominant wrist using a haptic robotic exoskeleton. Our results indicate that the active wrist position sense acuity is anisotropic across the joint, with the abduction/adduction DoF having the highest acuity (the error of acuity for flexion/extension is 4.64 ± 0.24°; abduction/adduction: 3.68 ± 0.32°; supination/pronation: 5.15 ± 0.37°) and they also revealed that proprioceptive acuity decreases for smaller joint displacements. We believe this knowledge is imperative in a clinical scenario when assessing proprioceptive deficits and for understanding how such sensory deficits relate to observable motor impairments.

Changes in muscle spindle firing in response to length changes of neighboring muscles

Skeletal muscle force can be transmitted to the skeleton, not only via its tendons of origin and insertion but also through connective tissues linking the muscle belly to surrounding structures. Through such epimuscular myofascial connections, length changes of a muscle may cause length changes within an adjacent muscle and hence, affect muscle spindles. The aim of the present study was to investigate the effects of epimuscular myofascial forces on feedback from muscle spindles in triceps surae muscles of the rat. We hypothesized that within an intact muscle compartment, muscle spindles not only signal length changes of the muscle in which they are located but can also sense length changes that occur as a result of changing the length of synergistic muscles. Action potentials from single afferents were measured intra-axonally in response to ramp-hold release (RHR) stretches of an agonistic muscle at different lengths of its synergist, as well as in response to synergist RHRs. A decrease in force threshold was found for both soleus (SO) and lateral gastrocnemius afferents, along with an increase in length threshold for SO afferents. In addition, muscle spindle firing could be evoked by RHRs of the synergistic muscle. We conclude that muscle spindles not only signal length changes of the muscle in which they are located but also local length changes that occur as a result of changing the length and relative position of synergistic muscles.

Changes in the length and three-dimensional orientation of muscle fascicles and aponeuroses with passive length changes in human gastrocnemius muscles

The mechanisms by which skeletal muscles lengthen and shorten are potentially complex. When the relaxed human gastrocnemius muscle is at its shortest in vivo lengths it falls slack (i.e. it does not exert any passive tension). It has been hypothesised that when the muscle is passively lengthened, slack is progressively taken up, first in some muscle fascicles then in others. Two-dimensional imaging methods suggest that, once the slack is taken up, changes in muscle length are mediated primarily by changes in the lengths of the tendinous components of the muscle. The aims of this study were to test the hypothesis that there is progressive engagement of relaxed muscle fascicles, and to quantify changes in the length and three-dimensional orientation of muscle fascicles and tendinous structures during passive changes in muscle length. Ultrasound imaging was used to determine the location, in an ultrasound image plane, of the proximal and distal ends of muscle fascicles at 14 sites in the human gastrocnemius muscle as the ankle was rotated passively through its full range. A three-dimensional motion analysis system recorded the location and orientation of the ultrasound image plane and the leg. These data were used to generate dynamic three-dimensional reconstructions of the architecture of the muscle fascicles and aponeuroses. There was considerable variability in the measured muscle lengths at which the slack was taken up in individual muscle fascicles. However, that variability was not much greater than the error associated with the measurement procedure. An analysis of these data which took into account the possible correlations between errors showed that, contrary to our earlier hypothesis, muscle fascicles are not progressively engaged during passive lengthening of the human gastrocnemius. Instead, the slack is taken up nearly simultaneously in all muscle fascicles. Once the muscle is lengthened sufficiently to take up the slack, about half of the subsequent increase in muscle length is due to elongation of the tendinous structures and half is due to elongation of muscle fascicles, at least over the range of muscle-tendon lengths that was investigated (up to ∼60 or 70% of the range of in vivo lengths). Changes in the alignment of muscle fascicles and flattening of aponeuroses contribute little to the total change in muscle length.

Joint position sense during a reaching task improves at targets located closer to the head but is unaffected by instruction

The purpose of the present study was twofold. Our first purpose was to test whether joint position sense is similar under instructions to memorize hand position and instructions to memorize shoulder and elbow angles. We hypothesized that instructions to memorize hand position would produce smaller errors due to evidence suggesting that the CNS directly determines hand position but indirectly determines joint angles from proprioceptive information. Our second purpose was to assess biases in joint position sense at various joint angles in a sagittal workspace. We hypothesized that akin to previous single-joint investigations, the shoulder and elbow would demonstrate better joint position sense as joint angles approached 90° during our multi-joint task. Sixteen healthy and right-hand-dominant subjects participated in the present investigation. Subjects were required to actively position their right upper extremity to one of three targets for a memorization period. After returning to the rest position, subjects then actively repositioned back into the target. We did not find evidence of a substantial difference in joint position sense between instructions to memorize the hand position or joint angle. This finding, when considered in conjunction with other evidence, suggests that studies employing either a joint angle protocol or a hand estimation protocol likely produce results that are similar enough to be compared. Proprioception has been shown to be non-uniform across a two-dimensional horizontal workspace. The present investigation provides evidence that proprioception is also non-uniform across a two-dimensional sagittal workspace. Specifically, angular errors decrease as upper extremity joint angles approach 90° of flexion and endpoint errors decrease as targets are located increasingly closer to the head.

Spike sorting of muscle spindle afferent nerve activity recorded with thin-film intrafascicular electrodes

Afferent muscle spindle activity in response to passive muscle stretch was recorded in vivo using thin-film longitudinal intrafascicular electrodes. A neural spike detection and classification scheme was developed for the purpose of separating activity of primary and secondary muscle spindle afferents. The algorithm is based on the multiscale continuous wavelet transform using complex wavelets. The detection scheme outperforms the commonly used threshold detection, especially with recordings having low signal-to-noise ratio. Results of classification of units indicate that the developed classifier is able to isolate activity having linear relationship with muscle length, which is a step towards online model-based estimation of muscle length that can be used in a closed-loop functional electrical stimulation system with natural sensory feedback.

Position sensitivity of feline paraspinal muscle spindles to vertebral movement in the lumbar spine

Muscle spindles contribute to sensorimotor control by supplying feedback regarding muscle length and consequently information about joint position. While substantial study has been devoted to determining the position sensitivity of spindles in limb muscles, there appears to be no data on their sensitivity in the low back. We determined the relationship between lumbar paraspinal muscle spindle discharge and paraspinal muscle lengthening estimated from controlled cranialward movement of the L(6) vertebra in anesthetized cats. Ramp (0.4 mm/s) and hold displacements (0.2, 0.4, 0.6, 0.8, and 1.2 mm for 2.5 s) were applied at the L(6) spinous process. Position sensitivity was defined as the slope of the relationship between the estimated increase in muscle length and mean instantaneous frequency at each length. To enable comparisons with appendicular muscle spindles where joint angle was measured, we also calculated sensitivity in terms of the L(6) and L(7) intervertebral flexion angle (IVA). This angle was estimated from measurements of facet joint capsule strain (FJC) based on a previously established relationship between IVA and FJC strain in the cat lumbar vertebral column during lumbar flexion. Single-unit recordings were obtained from 12 muscle spindle afferents. Longissimus and multifidus muscles contained the receptive field of 10 and 2 afferents, respectively. Mean position sensitivity was 16.3 imp.s(-1).mm(-1) [10.6-22.1, 95% confidence interval (CI), P < 0.001]. Mean angular sensitivity was 5.2 imp.s(-1). degrees (-1) (2.6-8.0, P < 0.003). These slope estimates were more than 3.5 times greater compared with appendicular muscle spindles, and their CIs did not contain previous slope estimates for the sensitivity of appendicular spindles from the literature. Potential reasons for and the significance of the apparently high position sensitivity in the lumbar spine are discussed.

Long lasting aftereffect of a single prism adaptation: directionally biased shift in proprioception and late onset shift of internal egocentric reference frame

We aimed to dissociate components in prism adaptation and its aftereffect by using prism adaptation training in healthy humans. Arm proprioceptive aftereffects are usually measured by indicating the subjective straight ahead direction with eyes closed (S). This measure however could be affected by other components besides proprioception, such as an efferent motor component and internal egocentric reference frame. Here we report a very long lasting proprioceptive shift, detected by two measuring methods, that is a component of the adaptation aftereffects to left wedge prism glasses. In order to minimize possible active motor components, arm passive proprioceptive midsagittal judgment was measured (P). The subject's arm was passively brought from the right or left lateral position, and stopped by subjects' verbal order. The results from these different measurements of midsagittal judgment were compared for 7 days after prism adaptation. Surprisingly, we found two distinctly separate aftereffects of proprioceptive shift depending on the directions of the passive arm movement. The shift of the midsagittal plane appeared only when tested from the left (Pl). This indicates that our strong prism adaptation procedure affected proprioception in a directionally biased way and not a spatially ubiquitous way. Further, the early aftereffect seen in active straight ahead pointing (S) was mostly similar to this biased shift in proprioception (Pl). However the long lasting aftereffect in straight ahead pointing was independently maintained up to day 7, when the passive proprioception had returned to pretest level. These results indicate that active straight ahead pointing (S) involves other components in addition to the passively measurable proprioceptive component. We suggest a late onset shift in the internal egocentric reference frame is involved in S. Possible neural mechanisms for these phenomena are discussed.

The role of M. popliteus in unpredictable and in self-initiated balance provocations

The purpose of this study was to determine whether m. popliteus (POP) activity would contribute to the control of knee joint position in unpredictable and in self-initiated provocations of standing balance. Ten healthy women (age 25.2 +/- 4.5 years, means and SD) without known knee pathology were tested for postural reactions (1) to unpredictable support surface translations in anterior and posterior directions, and (2) in self-initiated balance provocations in a reaction time (RT) forward reach-and-grip task. Electromyographic activity was recorded from POP and other leg muscles plus the deltoid muscle. Three-dimensional kinematics were captured for the knee joint and the body centre of mass was calculated. POP was active first of all the muscles recorded, regardless of translation direction, and knee joint movements elicited were either knee extension or external rotation of the tibia. In the RT task, the POP was active after initiation of reaching movement, and there was little consistency in the kinematic response. POP activity was not direction specific in response to support surface translation, but appeared triggered from reactive knee joint movement. The response to the support-surface translation suggests that POP served to control knee joint position rather than posture. In the RT task, we could not deduce whether POP activity was attributed to knee joint control or to postural control.

Deficits in detection of inversion and eversion movements among subjects with recurrent ankle sprains

STUDY DESIGN

Observational cross-sectional design.

OBJECTIVES

To determine whether a deficit exists in the ability to perceive inversion and eversion movements among subjects with recurrent ankle sprains.

BACKGROUND

Although unproven, ankle sprains are thought to recur because proprioception is impaired subsequent to the original sprain. Proprioception has been widely studied, however, the specific property of movement perception has not been rigorously examined for both inversion and eversion movements.

METHODS AND MEASURES

The ability to perceive passive inversion and eversion movements imposed at the relaxed ankle was measured in 39 subjects with recurrent ankle sprains (sprainers) and 30 subjects with no history of ankle injury (controls) by an assessor masked to subject group. The 70% detection level for movement perception was determined for 3 velocities, 0.1 degrees/s, 0.5 degrees/s, and 2.5 degrees/s, tested in random order.

RESULTS

The 70% detection level for inversion and eversion movements improved with increasing velocity in both groups. At all velocities, the 70% detection level for movements imposed at the ankle of the sprainers was significantly worse than for controls.

CONCLUSIONS

Perception of passive inversion and eversion movements imposed at the ankle was impaired in subjects with recurrent ankle sprains. The impairment was evident at the 3 velocities tested, 0.1 degrees/s, 0.5 degrees/s, and 2.5 degrees/s.

Position sensitivity of human muscle spindles: single afferent and population representations

The representation of joint position at rest and during movement was investigated in 44 muscle spindle primary afferents originating from the extensor carpi radialis brevis (ECRb) and extensor digitorum (ED) of normal human subjects. Position sensitivity was estimated for each afferent, and 43 of 44 were position sensitive. In each trial, six sequential ramp-and-hold movements (2-6 degrees, 2 degrees/s, total 24 degrees) flexed the relaxed wrist, beginning from the angle at which the afferent was just recruited. Joint position was represented by three specific features of afferent firing patterns: the steady-state firing rate during the 4-s hold period between ramps, the initial burst at the beginning of each ramp, and the ramp increase in firing rate later in the movement. The position sensitivity of the initial burst (1.27 +/- 0.90 pps/degree, mean +/- SD) was several times higher than that of the hold period (0.40 +/- 0.30 pps/degree) and not different from that of the ramp increase in firing rate (1.36 +/- 0.68 pps/degree). The wrist position sensitivities of ECRb and ED afferents were equivalent, as were their recruitment angles and angular ranges of position sensitivity. Muscle spindle afferents, both individually and as a population, were shown to represent static joint position via the hold rate and the initial burst. Afferents were recruited over the entire 110 degree range of wrist positions investigated; however, the angular range over which each feature represented joint position was extremely limited (approximately 15 degrees). The population response, based on the summed activity of the 43 afferents, was monotonically related to joint position, and it was strongly influenced by the afferent recruitment pattern, but less so by the position sensitivities of the individual afferents.

Proprioception from a spinocerebellar perspective

This review explores how proprioceptive sensory information is organized at spinal cord levels as it relates to a sense of body position and movement. The topic is considered in an historical context and develops a different framework that may be more in tune with current views of sensorimotor processing in other central nervous system structures. The dorsal spinocerebellar tract (DSCT) system is considered in detail as a model system that may be considered as an end point for the processing of proprioceptive sensory information in the spinal cord. An analysis of this system examines sensory processing at the lowest levels of synaptic connectivity with central neurons in the nervous system. The analysis leads to a framework for proprioception that involves a highly flexible network organization based in some way on whole limb kinematics. The functional organization underlying this framework originates with the biomechanical linkages in the limb that establish functional relationships among the limb segments. Afferent information from limb receptors is processed further through a distributed neural network in the spinal cord. The result is a global representation of hindlimb parameters rather than a muscle-by-muscle or joint-by-joint representation.

Influence of hysteresis on joint position sense in the human knee joint

During muscle lengthening in a movement cycle the firing rate of muscle spindles is higher than during shortening. This phenomenon, known as hysteresis, has implications for movement control. Therefore, it should have an impact on joint position sense (JPS), the subject's awareness of the static position of a joint. JPS has been tested on the human knee joint by means of an angle reproduction test. This task included the following sequences. The leg was moved passively, by means of a motor drive, from two different start positions (15 degrees and 75 degrees) to a certain target angle and, after a time of 8 s, it was returned to the start position; subjects had to reproduce the former target angle. Several target angles, mild flexion (30 degrees), intermediate flexion (45 degrees), and strong flexion (60 degrees), were used. Depending on the start position, the movements matching these targets were flexions or extensions. At least for the intermediate position different threshold values should be expected for flexions and extensions, if hysteresis has an impact. Moreover, the JPS measure should show a dependence on movement velocity and independence on distance. Of the variables tested, only movement direction but not movement velocity or distance had a statistically significant impact on the dependent constant angle error (difference between reproduction and target angle). The target angle of 30 degrees was exactly reproduced (-0.14 degrees), independently of the start position. The 45 degrees target angle was significantly underestimated (-4.39 degrees) when matching that position by flexions (starting at 15 degrees) compared to an overestimation (2.27 degrees) when matching that position by extensions (starting at 75 degrees). The target angle of 60 degrees has been constantly underestimated (-3.80 degrees), independently of the start position. Therefore, hysteresis, the dependency of the movement's direction, neglected in the past, should be considered in future tests of JPS or studies considering the role of movement parameters for motor control.

Nerve cuff recordings of muscle afferent activity from tibial and peroneal nerves in rabbit during passive ankle motion

Activity from muscle afferents regarding ankle kinesthesia was recorded using cuff electrodes in a rabbit preparation in which tactile input from the foot was eliminated. The purpose was to determine if such activity can provide information useful in controlling functional electrical stimulation (FES) systems that restore mobility in spinal injured man. The rabbit's ankle was passively flexed and extended while the activity of the tibial and peroneal nerves was recorded. Responses to trapezoidal stimulus profiles were investigated for excursions from 10 degrees to 60 degrees using velocities from 5 degrees/s to 30 degrees/s and different initial ankle positions. The recorded signals mainly reflect activity from primary and secondary muscle afferents. Dorsiflexion stretched the ankle extensors and produced velocity dependent activity in the tibial nerve, and this diminished to a tonic level during the stimulus plateau. The peroneal nerve was silent during dorsiflexion, but was activated by stretch of the peroneal muscles during ankle extension. The responses of the two nerves behaved in a reciprocal manner, but exhibited considerable hysteresis, since motion that relaxed the stretch to the driving muscle produced an immediate cessation of the prior stretch induced activity. A noted difference between the tibial and peroneal nerve responses is that the range of joint position change that activated the flexor afferents was greater then for the extensor afferents. Ankle rotation at higher velocities increased the dynamic stretch evoked responses during the stimulus ramp but showed no effect on the tonic activity during the stimulus plateau. Prestretching the muscles by altering the initial position increased the response to the ramp movement, however, for the peroneal nerve, when the prestretch brought the flexor muscles near to their maximal lengths, the response to additional stretch provided by the ramp movement was diminished. The results indicate that the whole nerve recorded muscle afferent activity may be useful for control of FES assisted standing, because it can indicate the direction of rotation of the passively moved ankle joint, along with coarse information regarding the rate of movement and static joint position.

Representation of wrist joint kinematics by the ensemble of muscle spindles from synergistic muscles

Proprioceptive information about movement is transmitted to the central nervous system by a variety of receptor types, which are widely distributed among the muscles, joints, and skin. Muscle spindles are known to be an important and reliable source of information for the perception of movement kinematics. Previous studies that focused on the characteristics of single muscle spindle firing patterns have left the impression that each receptor fires in relation to a number of kinematic variables, leaving the following question unanswered: what role is played by the ensemble of muscle spindles within the same muscle or within synergistic muscles? The study described in this paper addressed whether the perception of joint position and velocity is based on the net input of muscle spindles residing in all synergistic muscles crossing a joint. Normal human adults performed a motor coordination task that required perception of joint velocity and dynamic position at the wrist. The task was to open the left hand briskly as the right wrist was passively rotated in the flexion direction through a prescribed target angle. In randomly occurring trials, the tendons to three muscles [extensor carpi radialis (ECR), extensor carpi ulnaris (ECU), and extensor digitorum (ED)] were vibrated either individually or in different combinations during the performance of the motor task. Tendon vibration is known to distort muscle spindle firing patterns, and consequently, kinesthesia. By comparing performance errors with and without tendon vibration, the relative influences of muscle spindles residing in ECR, ECU, and ED were quantified. Vibration of the individual ECR, ECU, or ED tendons produced systematic undershoot errors in performance, consistent with the misperception of wrist velocity and dynamic position. Performance errors were larger when combinations of, rather than individual, muscle tendons were vibrated. The error resulting from simultaneous vibration of ECR and ECU was roughly equal to the sum of the errors produced by vibration of the individual tendons. These effects of vibrating synergistic tendons at the wrist suggest that kinesthesia is derived from the integrated input of muscle spindles from all synergistic muscles.

Effect of posture on the onset of fictive locomotion in the decerebrate rabbit preparation

Spontaneous locomotor episodes were recorded from hindlimb muscle nerves of decerebrate curarized rabbit preparations. Changes in the static position of both hindfeet (from extended to flexed) or of the head (from horizontal to bent forward) were shown to elicit a shift of the first locomotor burst from flexion to extension. Interneurones whose activity was recorded in the lumbar spinal cord were active throughout the first locomotor burst only when the latter was an extensor burst. Such data show that proprioceptive inputs are able to determine the onset of central locomotor programmation. Neuronal interactions which, at the spinal level, could account for this effect, are discussed.

Closed-loop control of ankle position using muscle afferent feedback with functional neuromuscular stimulation

This paper describes a closed-loop functional neuromuscular stimulation system that uses afferent neural activity from muscle spindle fibers as feedback for controlling position of the ankle joint. Ankle extension against a load was effected by neural stimulation through a dual channel intrafascicular electrode of a fascicle of the tibial nerve that innervated the gastrocnemius muscle. Ankle joint angle was estimated from recordings of tibialis anterior and lateral gastrocnemius spindle fiber activity made with dual channel intrafascicular electrodes. Experiments were conducted in neurally intact anesthetized cats and in unanesthetized decerebrate cats to demonstrate the feasibility of this system. The system was able to reach and maintain a fixed target ankle position in the presence of a varying external moment ranging in magnitude between 7.3 and 22 N-cm opposing the action of the ankle extensor, as well as track a sinusoidal target ankle position up to a frequency of 1 Hz in the presence of a constant magnitude 22- or 37-N-cm external moment.

Changes in pennation with joint angle and muscle torque: in vivo measurements in human brachialis muscle

1. Estimates of pennation in human muscles are usually obtained from cadavers. In this study, pennation of human brachialis was measured in vivo using sonography. Effects of static and dynamic changes in elbow angle and torque were investigated. 2. Pennation was measured in eight subjects using an 80 mm, 5 MHz, linear-array ultrasound transducer to generate sagittal images of the brachialis during maximal and submaximal isometric contractions at various elbow angles. It was shown that estimates of pennation were reproducible, representative of measurements made throughout the belly of the muscle and not distorted by compression of the muscle with the transducer or rotation of the muscle out of the plane of the transducer. 3. Mean resting pennation was 9.0 +/- 2.0 deg (S.D., range 6.5-12.9 deg). When the muscle was relaxed there was no effect of elbow angle on pennation. However, during a maximal isometric contraction (MVC), with the elbow flexed to 90 deg, pennation increased non-linearly with elbow torque to between 22 and 30 deg (mean 24.7 +/- 2.4 deg). The effect of increasing torque was small when the elbow was fully extended. The relationship between elbow angle, elbow torque and brachialis pennation suggests that the relaxed brachialis muscle is slack over much of its physiological range of lengths. 4. There was no hysteresis in the relationship between torque and pennation during slow isometric contractions (0.2 MVC s-1), and the relationship between elbow angle and pennation was similar during slow shortening and lengthening contractions. 5. Two consequences follow from these findings. Firstly, intramuscular mechanics are complex and simple planar models of muscles underestimate the increases in pennation which occur during muscle contraction. Second, spindle afferents from relaxed muscles may not encode joint angle over the full range of movement.

The constrained control of force and position in multi-joint movements

In many arm or leg movements the hand or foot has to exert an external force on the environment. Based on an inverse dynamical analysis of cycling, it is shown that the distribution of net moments in the joints needed to control the direction of the external force is often opposite to the direction of joint displacements associated with this task. Kinetic and kinematic data were obtained from five experienced cyclists during ergometer cycling by means of film analysis and pedal force measurement. An inverse dynamic analysis, based on a linked segments model, yielded net joint moments, joint powers and muscle shortening velocities of eight leg muscles. Activation patterns of the muscles were obtained by means of surface electromyography. The results show that the transfer of rotations in hip, knee and ankle joints into the translation of the pedal is constrained by conflicting requirements. This occurs between the joint moments necessary to contribute to joint power and the moments necessary to establish a direction of the force on the pedal which allows this force to do work on the pedal. Co-activation of mono-articular agonists and their bi-articular antagonists appear to provide a unique solution for these conflicting requirements: bi-articular muscles appear to be able to control the desired direction of the external force on the pedal by adjusting the relative distribution of net moments over the joints while mono-articular muscles appear to be primarily activated when they are in the position to shorten and thus to contribute to positive work. Examples are given to illustrate the universal nature of this constrained control of force (external) and position (joint). Based on this study and published data it is suggested that different processes may underlie the organization of the control of mono- and bi-articular muscles.

Classification of muscle spindle receptors

The conduction velocities of muscle spindle afferent fibers have a bimodal distribution, and classifications of spindle receptors based on afferent fiber diameter have therefore divided these receptors into two groups, the well known primary and secondary endings. However, measures of spindle function that are likely to be important for kinesthetic sensibility such as dynamic response, adaptation and linear directionality (hysteresis) are distributed rather uniformly. Therefore, from this functional perspective it might be argued that muscle spindle receptors should not be subdivided at all. On the other hand, different receptors demonstrate these properties to varying degrees, and there are simple, linear correlations among log (dynamic response), log (adaptation), linear directionality and conduction velocity. Thus, the receptors can be divided into as many as 5-10 different subpopulations that differ significantly in one or more of these properties.