The dynamic response of Golgi tendon organs to tetanic contraction of in-series motor units

Integration of proprioception in upper limb prostheses through non-invasive strategies: a review

Proprioception plays a key role in moving our body dexterously and effortlessly. Nevertheless, the majority of investigations evaluating the benefits of providing supplemental feedback to prosthetics users focus on delivering touch restitution. These studies evaluate the influence of touch sensation in an attempt to improve the controllability of current robotic devices. Contrarily, investigations evaluating the capabilities of proprioceptive supplemental feedback have yet to be comprehensively analyzed to the same extent, marking a major gap in knowledge within the current research climate. The non-invasive strategies employed so far to restitute proprioception are reviewed in this work. In the absence of a clearly superior strategy, approaches employing vibrotactile, electrotactile and skin-stretch stimulation achieved better and more consistent results, considering both kinesthetic and grip force information, compared with other strategies or any incidental feedback. Although emulating the richness of the physiological sensory return through artificial feedback is the primary hurdle, measuring its effects to eventually support the integration of cumbersome and energy intensive hardware into commercial prosthetic devices could represent an even greater challenge. Thus, we analyze the strengths and limitations of previous studies and discuss the possible benefits of coupling objective measures, like neurophysiological parameters, as well as measures of prosthesis embodiment and cognitive load with behavioral measures of performance. Such insights aim to provide additional and collateral outcomes to be considered in the experimental design of future investigations of proprioception restitution that could, in the end, allow researchers to gain a more detailed understanding of possibly similar behavioral results and, thus, support one strategy over another.

Proprioception: A New Era Set in Motion by Emerging Genetic and Bionic Strategies?

The generation of an internal body model and its continuous update is essential in sensorimotor control. Although known to rely on proprioceptive sensory feedback, the underlying mechanism that transforms this sensory feedback into a dynamic body percept remains poorly understood. However, advances in the development of genetic tools for proprioceptive circuit elements, including the sensory receptors, are beginning to offer new and unprecedented leverage to dissect the central pathways responsible for proprioceptive encoding. Simultaneously, new data derived through emerging bionic neural machine-interface technologies reveal clues regarding the relative importance of kinesthetic sensory feedback and insights into the functional proprioceptive substrates that underlie natural motor behaviors.

Evaluation of force feedback in walking using joint torques as "naturalistic" stimuli

Control of adaptive walking requires the integration of sensory signals of muscle force and load. We have studied how mechanoreceptors (tibial campaniform sensilla) encode “naturalistic” stimuli derived from joint torques of stick insects walking on a horizontal substrate. Previous studies showed that forces applied to the legs using the mean torque profiles of a proximal joint were highly effective in eliciting motor activities. However, substantial variations in torque direction and magnitude occurred at the more distal femorotibial joint, which can generate braking or propulsive forces and provide lateral stability. To determine how these forces are encoded, we used torque waveforms of individual steps that had maximum values in stance in the directions of flexion or extension. Analysis of kinematic data showed that the torques in different directions tended to occur in different ranges of joint angles. Variations within stance were not accompanied by comparable changes in joint angle but often reflected vertical ground reaction forces and leg support of body load. Application of torque waveforms elicited sensory discharges with variations in firing frequency similar to those seen in freely walking insects. All sensilla directionally encoded the dynamics of force increases and showed hysteresis to transient force decreases. Smaller receptors exhibited more tonic firing. Our findings suggest that dynamic sensitivity in force feedback can modulate ongoing muscle activities to stabilize distal joints when large forces are generated at proximal joints. Furthermore, use of “naturalistic” stimuli can reproduce characteristics seen in freely moving animals that are absent in conventional restrained preparations.

NEW & NOTEWORTHY Sensory encoding of forces during walking by campaniform sensilla was characterized in stick insects using waveforms of joint torques calculated by inverse dynamics as mechanical stimuli. Tests using the mean joint torque and torques of individual steps showed the system is highly sensitive to force dynamics (dF/dt). Use of “naturalistic” stimuli can reproduce characteristics of sensory discharges seen in freely walking insects, such as load transfer among legs.

Molecular correlates of muscle spindle and Golgi tendon organ afferents

Proprioceptive feedback mainly derives from groups Ia and II muscle spindle (MS) afferents and group Ib Golgi tendon organ (GTO) afferents, but the molecular correlates of these three afferent subtypes remain unknown. We performed single cell RNA sequencing of genetically identified adult proprioceptors and uncovered five molecularly distinct neuronal clusters. Validation of cluster-specific transcripts in dorsal root ganglia and skeletal muscle demonstrates that two of these clusters correspond to group Ia MS afferents and group Ib GTO afferent proprioceptors, respectively, and suggest that the remaining clusters could represent group II MS afferents. Lineage analysis between proprioceptor transcriptomes at different developmental stages provides evidence that proprioceptor subtype identities emerge late in development. Together, our data provide comprehensive molecular signatures for groups Ia and II MS afferents and group Ib GTO afferents, enabling genetic interrogation of the role of individual proprioceptor subtypes in regulating motor output.

Coordinated movement critically depends on sensory feedback from muscle spindles (MSs) and Golgi tendon organs (GTOs) but the afferents supplying this proprioceptive feedback have remained genetically inseparable. Here the authors use single cell transcriptome analysis to reveal the molecular basis of MS (groups Ia and II) and GTO (group Ib) afferent identities in the mouse.

The structure and response properties of Golgi tendon organs in control and hypodynamia–hypokinesia rats

The Golgi tendon organs (GTOs) are encapsulated mechano-receptors that, in normal conditions, monitor via Ib afferent fibers the contractile force. A 14-day period of hypodynamia, absence of weight bearing and hypokinesia, and reduction of motor activity (HH) is known to induce changes in postural muscles such as the soleus. At present, there is no data available regarding the Ib afferent feedback in normal rats (CONT group) and in rats after a hypodynamia-hypokinesia (HH group) period. Consequently, the aim of our study was to determine the HH effects on the morphological (histochemistry on gross morphology) and electrophysiological properties of the GTOs in rat soleus muscle. In the histological study, nine CONT and nineteen HH GTOs of the soleus muscle were identified. The results demonstrated that HH GTOs were morphologically similar to the CONT GTOs. Regarding the electrophysiological study, a L2-L6 laminectomy was performed under deep anesthesia (sodium pentobarbital, 60 mg kg(-1)). Responses in single Ib fibers from the L5 dorsal root to the isometric twitch and tetanic fused contractions of "in-series" motor units (MUs) were recorded. Twenty-three and twenty-eight GTO/MU pairs were studied in the CONT and HH groups, respectively. In the HH group, the Ib afferent response exhibited a decrease in dynamic peak for the high stimulation frequencies and an increase in static sensitivity for all stimulation frequencies. Our results suggest that after an HH period, the GTOs continue to fulfil their mechano-sensory function to signal the contractile force but with a higher static sensitivity.

Two groups of Golgi tendon organs in cat tibial anterior muscle identified from the discharge frequency recorded under a ramp-and-hold stretch

Twenty Golgi tendon organs (GTOs) from the tibial anterior muscle of the cat were investigated under a ramp-and-hold stretch of the passive muscle. The stretch rate was varied between 1 and 100 mm/s, the stretch amplitude between 0.1 and 7 mm, the prestretch of the muscle between 0 and 12 mm. The action potential sequences of the GTOs were recorded, and discharge patterns derived from them. The basic discharge frequencies, namely the initial frequency, the peak dynamic discharge, the maximum static value, and the final static value, were read from each discharge pattern. The tension of the muscle was determined at the same points in time at which one of the basic discharge frequencies was read from a discharge pattern. The static and dynamic properties of the GTOs were determined from the basic discharge frequencies. Two groups of GTOs were identified. Four GTOs discharged with an initial frequency and at the same time had static properties of small magnitude. Sixteen GTOs showed no initial activity and had static properties of large magnitude. The two groups of GTOs did not differ in their dynamic properties. The number of alpha-fibers activating a single GTO was determined from a further 11 GTOs. Eight GTOs without initial activity were activated by a mean number of 9.7 alpha-fibers. Three GTOs discharging with initial activity were activated by a mean number of 15.3 alpha-fibers. The two mean values were significantly different (p=0. 02). The identification of two groups of GTOs is explained by the GTOs being positioned differently within the muscle and its tendon.

Proportions of slow-twitch and fast-twitch extrafusal fibers in receptive fields of tendon organs in chicken leg muscles

Golgi tendon organs are mechanoreceptors that monitor the contractile force produced by motor units. Receptors are most responsive to contractions of extrafusal muscle fibers that terminate closest to them and on them. Three anterior and four posterior chicken leg muscles were examined. Proportions of immunohistochemically identified slow-twitch extrafusal fibers and fast-twitch extrafusal fibers were calculated for 374 tendon organ receptive fields. Tendon organs were observed in muscle regions occupied either by slow-twitch fibers or fast-twitch fibers only, but most were found in regions that contained both slow-twitch and fast-twitch extrafusal fibers. The frequency with which each fiber type occurred near tendon organs approached the frequency with which it occurred in more inclusive regions. In receptive fields with mixed fiber populations, fast-twitch fibers were the predominant type, especially in the anterior leg muscles. Distribution patterns of extrafusal fiber types adjacent to and farther removed from tendon organs suggest that afferent discharges from tendon organs are by and large unbiased measures of the contractile activity of the extrafusal fiber population of the muscle portion in which the tendon organs are located. In mixed muscle regions, slow-twitch fibers and fast-twitch fibers attach on given tendon organs, enabling them to monitor forces produced by slow motor units and by fast motor units. Most tendon organs are situated in mixed extrafusal fiber fields with high fast-twitch fiber content, indicating that in chicken leg muscles sensory feedback from tendon organs is largely one from fast motor units.

The dynamic response of feline Golgi tendon organs during recovery from nerve injury

The dynamic response of tendon organs to isometric contractions of activating motor units has been examined during recovery from nerve crush or nerve transection followed by suture repair. After nerve crush the characteristic response was rapidly restored, although the early and late phases of the dynamic response were altered differentially. Following nerve transection, recovery was much poorer and many responses were abnormal. Normal responses were only observed in a minority of tendon organ-motor unit interactions but every tendon organ studied did respond normally to at least one motor unit, with a range of dynamic sensitivities similar to normal. This suggests that the abnormalities observed reflect changes in the mechanical input to the organ, due to motor unit reorganisation, rather than abnormalities of the transduction process.