On the cellular bases of vertebrate locomotion

A single motor neuron determines the rhythm of early motor behavior in Ciona

Recent work in tunicate supports the similarity between the motor circuits of vertebrates and basal deuterostome lineages. To understand how the rhythmic activity in motor circuits is acquired during development of protochordate Ciona, we investigated the coordination of the motor response by identifying a single pair of oscillatory motor neurons (MN2/A10.64). The MN2 neurons had Ca²⁺ oscillation with an ~80-s interval that was cell autonomous even in a dissociated single cell. The Ca²⁺ oscillation of MN2 coincided with the early tail flick (ETF). The spikes of the membrane potential in MN2 gradually correlated with the rhythm of ipsilateral muscle contractions in ETFs. The optogenetic experiments indicated that MN2 is a necessary and sufficient component of ETFs. These results indicate that MN2 is indispensable for the early spontaneous rhythmic motor behavior of Ciona. Our findings shed light on the understanding of development and evolution of chordate rhythmical locomotion.

Computational Modeling of Spinal Locomotor Circuitry in the Age of Molecular Genetics

Neuronal circuits in the spinal cord are essential for the control of locomotion. They integrate supraspinal commands and afferent feedback signals to produce coordinated rhythmic muscle activations necessary for stable locomotion. For several decades, computational modeling has complemented experimental studies by providing a mechanistic rationale for experimental observations and by deriving experimentally testable predictions. This symbiotic relationship between experimental and computational approaches has resulted in numerous fundamental insights. With recent advances in molecular and genetic methods, it has become possible to manipulate specific constituent elements of the spinal circuitry and relate them to locomotor behavior. This has led to computational modeling studies investigating mechanisms at the level of genetically defined neuronal populations and their interactions. We review literature on the spinal locomotor circuitry from a computational perspective. By reviewing examples leading up to and in the age of molecular genetics, we demonstrate the importance of computational modeling and its interactions with experiments. Moving forward, neuromechanical models with neuronal circuitry modeled at the level of genetically defined neuronal populations will be required to further unravel the mechanisms by which neuronal interactions lead to locomotor behavior.

Cephalopod Brains: An Overview of Current Knowledge to Facilitate Comparison With Vertebrates

Cephalopod and vertebrate neural-systems are often highlighted as a traditional example of convergent evolution. Their large brains, relative to body size, and complexity of sensory-motor systems and behavioral repertoires offer opportunities for comparative analysis. Despite various attempts, questions on how cephalopod 'brains' evolved and to what extent it is possible to identify a vertebrate-equivalence, assuming it exists, remain unanswered. Here, we summarize recent molecular, anatomical and developmental data to explore certain features in the neural organization of cephalopods and vertebrates to investigate to what extent an evolutionary convergence is likely. Furthermore, and based on whole body and brain axes as defined in early-stage embryos using the expression patterns of homeodomain-containing transcription factors and axonal tractography, we describe a critical analysis of cephalopod neural systems showing similarities to the cerebral cortex, thalamus, basal ganglia, midbrain, cerebellum, hypothalamus, brain stem, and spinal cord of vertebrates. Our overall aim is to promote and facilitate further, hypothesis-driven, studies of cephalopod neural systems evolution.

The CNS connectome of a tadpole larva of Ciona intestinalis (L.) highlights sidedness in the brain of a chordate sibling

Left-right asymmetries in brains are usually minor or cryptic. We report brain asymmetries in the tiny, dorsal tubular nervous system of the ascidian tadpole larva, Ciona intestinalis. Chordate in body plan and development, the larva provides an outstanding example of brain asymmetry. Although early neural development is well studied, detailed cellular organization of the swimming larva's CNS remains unreported. Using serial-section EM we document the synaptic connectome of the larva's 177 CNS neurons. These formed 6618 synapses including 1772 neuromuscular junctions, augmented by 1206 gap junctions. Neurons are unipolar with at most a single dendrite, and few synapses. Some synapses are unpolarised, others form reciprocal or serial motifs; 922 were polyadic. Axo-axonal synapses predominate. Most neurons have ciliary organelles, and many features lack structural specialization. Despite equal cell numbers on both sides, neuron identities and pathways differ left/right. Brain vesicle asymmetries include a right ocellus and left coronet cells.

The Pharmacology of Vertebrate Spinal Central Pattern Generators

Central pattern generators are networks of neurons capable of generating an output pattern of spike activity in a relatively stereotyped, rhythmic pattern that has been found to underlie vital functions like respiration and locomotion. The central pattern generator for locomotion in vertebrates seems to share some basic building blocks. Activation and excitation of activity is driven by descending, sensory, and intraspinal glutamatergic neurons. NMDA receptor activation may also lead to the activation of oscillatory properties in individual neurons that depend on an array of ion channels situated in those neurons. Coordination across joints or the midline of the animal is driven primarily by glycinergic inhibition. In addition to these processes, numerous modulatory mechanisms alter the function of the central pattern generator. These include metabotropic amino acid receptors activated by rhythmic release of glutamate and GABA as well as monoamines, ACh, and peptides. Function and stability of the central pattern generator is also critically dependent on the array of ion channels found in neurons that compose these oscillators, including Ca2+and voltage-gated K+channels and Ca2+channels.

A consistent muscle activation strategy underlies crawling and swimming in Caenorhabditis elegans

Although undulatory swimming is observed in many organisms, the neuromuscular basis for undulatory movement patterns is not well understood. To better understand the basis for the generation of these movement patterns, we studied muscle activity in the nematode Caenorhabditis elegans. Caenorhabditis elegans exhibits a range of locomotion patterns: in low viscosity fluids the undulation has a wavelength longer than the body and propagates rapidly, while in high viscosity fluids or on agar media the undulatory waves are shorter and slower. Theoretical treatment of observed behaviour has suggested a large change in force–posture relationships at different viscosities, but analysis of bend propagation suggests that short-range proprioceptive feedback is used to control and generate body bends. How muscles could be activated in a way consistent with both these results is unclear. We therefore combined automated worm tracking with calcium imaging to determine muscle activation strategy in a variety of external substrates. Remarkably, we observed that across locomotion patterns spanning a threefold change in wavelength, peak muscle activation occurs approximately 45° (1/8th of a cycle) ahead of peak midline curvature. Although the location of peak force is predicted to vary widely, the activation pattern is consistent with required force in a model incorporating putative length- and velocity-dependence of muscle strength. Furthermore, a linear combination of local curvature and velocity can match the pattern of activation. This suggests that proprioception can enable the worm to swim effectively while working within the limitations of muscle biomechanics and neural control.

Brainstem reticulospinal neurons are targets for corticotropin-releasing factor-Induced locomotion in roughskin newts

Stress-induced release or central administration of corticotropin-releasing factor (CRF) enhances locomotion in a wide range of vertebrates, including the roughskin newt, Taricha granulosa. Although CRF's stimulatory actions on locomotor behavior are well established, the target neurons through which CRF exerts this effect remain unknown. To identify these target neurons, we utilized a fluorescent conjugate of CRF (CRF-TAMRA 1) to track this peptide's internalization into reticulospinal and other neurons in the medullary reticular formation (MRF), a region critically involved in regulating locomotion. Epifluorescent and confocal microscopy revealed that CRF-TAMRA 1 was internalized by diverse MRF neurons, including reticulospinal neurons retrogradely labeled with Cascade Blue dextran. In addition, we immunohistochemically identified a distinct subset of serotonin-containing neurons, located throughout the medullary raphé, that also internalized the fluorescent CRF-TAMRA 1 conjugate. Chronic single-unit recordings obtained from microwire electrodes in behaving newts revealed that intracerebroventricular (icv) administration of CRF-TAMRA 1 increased medullary neuronal firing and that appearance of this firing was associated with, and strongly predictive of, episodes of CRF-induced locomotion. Furthermore, icv administered CRF-TAMRA 1 produced behavioral and neurophysiological effects identical to equimolar doses of unlabeled CRF. Collectively, these findings provide the first evidence that CRF directly targets reticulospinal and serotonergic neurons in the MRF and indicate that CRF may enhance locomotion via direct effects on the hindbrain, including the reticulospinal system.

Complexities and uncertainties of neuronal network function

The nervous system generates behaviours through the activity in groups of neurons assembled into networks. Understanding these networks is thus essential to our understanding of nervous system function. Understanding a network requires information on its component cells, their interactions and their functional properties. Few networks come close to providing complete information on these aspects. However, even if complete information were available it would still only provide limited insight into network function. This is because the functional and structural properties of a network are not fixed but are plastic and can change over time. The number of interacting network components, their (variable) functional properties, and various plasticity mechanisms endows networks with considerable flexibility, but these features inevitably complicate network analyses. This review will initially discuss the general approaches and problems of network analyses. It will then examine the success of these analyses in a model spinal cord locomotor network in the lamprey, to determine to what extent in this relatively simple vertebrate system it is possible to claim detailed understanding of network function and plasticity.

Role of AMPA Receptor Desensitization and the Side Effects of a DMSO Vehicle on Reticulospinal EPSPs and Locomotor Activity

Activation of the vertebrate locomotor network is mediated by glutamatergic synaptic drive, normally initiated by the brain stem. Previous investigations have studied the role of glutamate receptors, especially NMDA receptors, in generating and regulating locomotor pattern generation. Few studies, however, have focused on the role of AMPA receptors in shaping network activity, especially with regard to their rapid desensitization. It is important to determine whether AMPA receptor desensitization plays a role in regulating neuronal network activity. We examined this question on both the network and synaptic levels in the lamprey ( Lampetra fluviatilis) spinal cord using a selective and potent inhibitor of AMPA receptor desensitization, cyclothiazide (CTZ). The solvent dimethyl sulfoxide (DMSO) is commonly used to dissolve this drug, as well as many others. Unexpectedly, the vehicle alone already at 0.02%, but not at 0.01%, caused significant increases in excitatory postsynaptic potential (EPSP) amplitudes and NMDA-induced locomotor frequency. The results indicate that DMSO may have a profound influence when used ≥0.02%, a concentration 10–50 times less than that most commonly used. Subsequently we applied CTZ concentrations ≤10 μM (DMSO ≤0.01%). CTZ (1.25–5 μM) caused an appreciable and significant increase in EPSPs mediated by non-NMDA receptors and in both AMPA- and NMDA-induced locomotor frequency, but no effects on EPSPs mediated by NMDA receptors. From the effects of CTZ it is apparent that AMPA receptor desensitization plays an important role in determining locomotor frequency and that this is likely a result of its limiting function on AMPA receptor–mediated EPSPs.

Emergence of disinhibition-induced synchrony in the CA3 region of the guinea pig hippocampus in vitro

Suppressing inhibition mediated by GABAA receptors induces rhythmic bursts of synchronous firing in the CA3 region of the hippocampus. Extracellular and intracellular records were made from guinea pig hippocampal slices to examine the emergence of this synchrony. We found that application of GABAA receptor antagonists initiated a sequence of changes in the activity of the CA3 neuronal population. First, the frequency of firing detected in multiunit records increased. Then, firing began to oscillate with increases followed by decreases in firing that occurred at intervals of 0.5-2 s. The coherence of the rhythmic activity at a single site increased with time, and discharges at distant sites in the CA3 region became correlated. Fluctuations in firing were associated with extracellular field potentials. Finally, epileptiform events associated with large field potentials began to recur at intervals of 5-10 s. The onset of fully synchronous events was sudden and correlated with a large increase in the amplitude of the field potential. Thus the CA3 population can express states of partial population synchrony preceding the onset of epileptiform discharges. A similar activity was induced and maintained by applying low doses of GABAA receptor antagonists. Intracellular records suggest that inhibitory signalling mediated by GABAB receptors contributes to the emergence of this activity. States of partial synchrony in the CA3 region exposed to GABAA receptor antagonists therefore depend on alternating periods of firing, presumably dependent on excitatory synaptic mechanisms, and silence, mediated in part by the activation of GABAB receptors.

Changes in distribution of serotonin induced by spinal injury in larval lampreys: evidence from immunohistochemistry and HPLC

Larval lampreys are known to successfully recover normal behavior following spinal cord injury. More recently, we showed temperature can influence functional recovery, with colder temperatures more likely producing behavioral abnormality despite the cold being the animals' normal temperature. Here we analyze the differences associated with temperature effects. We examine serotonergic expression along the spinal cord following midbody lesions considering time from injury, temperature during recovery and fiber location. We also examine the relationship between regeneration and locomotion, insofar as the pattern of muscle potentials during unrestrained swimming is normal or abnormal. At 26 weeks after spinal cord injury in all groups of animals, immunohistochemistry and HPLC for serotonin and serotonin expression above and below the lesion can be significantly changed in all regional sources of serotonin independent of the temperature animals recover from their injuries. Animals from warmer tanks recover serotonin expression in the segment immediately caudal to the lesion site with little further away from the lesion; animals from the cold room aquaria have significantly less recovery of expression caudal to the lesion and none further away. There was no apparent relationship between the distribution of serotonin and recovery. The changes suggest that some intraspinal reorganization has occurred. We propose a relationship between the observed results and functional recovery, but it remains conjectural. The fact that some animals recover normal function suggests plasticity must occur in animals successful in recovering normal function. Thus, the lamprey can be used as a model system to study the adaptive changes that permit or prevent functional recovery.

Innate versus learned movements--a false dichotomy?

It is argued that the nervous systems of vertebrates are equipped with a "motor infrastructure," which enables them to perform the full extent of the motor repertoire characteristic of their particular species. In the human, it extends from the networks/circuits underlying locomotion and feeding to sound production in speech and arm-hand-finger coordination. Contrary to current opinion, these diverse motor patterns should be labeled as voluntary, because they can be recruited at will. Moreover, most, if not all, of the motor patterns available at birth are subject to maturation and are modified substantially through learning. We thus argue that the all-too-common distinction between learned and innate movements is based on a fundamental misconception about the neural control of the vertebrate motor system.

Differential contribution of reticulospinal cells to the control of locomotion induced by the mesencephalic locomotor region

In lampreys as in other vertebrates, the reticulospinal (RS) system relays inputs from the mesencephalic locomotor region (MLR) to the spinal locomotor networks. Semi-intact preparations of larval sea lamprey were used to determine the relative contribution of the middle (MRRN) and the posterior (PRRN) rhombencephalic reticular nuclei to swimming controlled by the MLR. Intracellular recordings were performed to examine the inputs from the MLR to RS neurons. Stimulation of the MLR elicited monosynaptic excitatory responses of a higher magnitude in the MRRN than in the PRRN. This differential effect was not attributed to intrinsic properties of RS neurons. Paired recordings showed that at threshold intensity for swimming, spiking activity was primarily elicited in RS cells of the MRRN. Interestingly, cells of the PRRN began to discharge at higher stimulation intensities only when MRRN cells had reached their maximal discharge rate. Glutamate antagonists were ejected in either nucleus to reduce their activity. Ejections over the MRRN increased the stimulation threshold for evoking locomotion and resulted in a marked decrease in the swimming frequency and the strength of the muscle contractions. Ejections over the PRRN decreased the frequency of swimming. This study provides support for the concept that RS cells show a specific recruitment pattern during MLR-induced locomotion. RS cells in the MRRN are primarily involved in initiation and maintenance of low-intensity swimming. At higher frequency locomotor rhythm, RS cells in both the MRRN and the PRRN are recruited.

Increasing plasticity and functional recovery of the lesioned spinal cord

In vitro assays have shown that adult CNS tissue, in particular oligodendrocytes and myelin, contains several molecular constituents (Nogo-A/NI-220, MAG, several proteoglycans) which exert neurite growth inhibitory activity. Elimination of oligodendrocytes or myelin, or application of antibodies against some of these constituents enhance regenerative growth and compensatory sprouting of lesioned and unlesioned fiber tracts in spinal cord and brain. Enhanced growth is paralleled by various degrees of functional recovery.

Associations between the morphology and physiology of ventral-horn neurons in the adult turtle

This study compared some morphologic and physiological properties of adult turtle spinal motoneurons (MNs) vs. interneurons (INs). Reconstructions were made of 20 biocytin-stained cells, which had been previously studied physiologically in 2-mm-thick slices of lumbosacral spinal cord. The intracellularly measured physiological properties included resting potential, input resistance (R(N)), threshold (rheobase, I(Rh)), and slope of the stimulus current (I) -spike frequency (f) relation. The seven morphologic properties that were quantified for each cell included three indices of somal size (diameter, area, volume), and four of dendritic size: the number of first- and last-order branches, rostrocaudal extent, and sigma individual lengths. Significant differences were shown between all seven morphologic parameters for MNs vs. INs. Despite the small sample size, significant differences were also shown for five of seven parameters for high-threshold vs. low-threshold MNs, and three of seven for low-threshold MNs vs. INs. These latter three parameters were the number of terminal dendritic branches, their rostrocaudal extent, and the sigma dendritic lengths. Linear associations for the MN + IN and the MN samples were stronger between the four dendritic parameters than between soma-dendritic ones. Exponential associations between morphologic and physiological properties were mostly significant (28 of 30), and their strength was in the order I(Rh) < R(N) < f/I slope for the MN +IN sample and I(Rh) < R(N) = f/I slope for the MN sample. There is discussion of the relevance of the above findings to the provisional classification of turtle ventral-horn neurons on the basis of electrophysiology alone.

Cellular bases of a vertebrate locomotor system-steering, intersegmental and segmental co-ordination and sensory control

The isolated brainstem-spinal cord of the lamprey is used as an experimental model in the analysis of the cellular bases of vertebrate locomotor behaviour. In this article we review the neural mechanisms involved in the control of steering, intersegmental co-ordination, as well as the segmental burst generation and the sensory contribution to motor pattern generation. Within these four components of the control system for locomotion, we now have good knowledge of not only the neurones that take part and their synaptic interactions, but also the membrane properties of these neurones, including ion channel subtypes, and their contribution to motor pattern generation.

Motoneurons: A preferred firing range across vertebrate species?

The term "preferred firing range" describes a pattern of human motor unit (MU) unitary discharge during a voluntary contraction in which the profile of the spike-frequency of the MU's compound action potential is dissociated from the profile of the presumed depolarizing pressure exerted on the unit's spinal motoneuron (MN). Such a dissociation has recently been attributed by inference to the presence of a plateau potential (PP) in the active MN. This inference is supported by the qualitative similarities between the firing pattern of human MUs during selected types of relatively brief muscle contraction and that of intracellularly stimulated, PP-generating cat MNs in a decerebrate preparation, and turtle MNs in an in vitro slice of spinal cord. There are also similarities between the stimulus-response behavior of intracellularly stimulated turtle MNs and human MUs during the elaboration of a slowly rising voluntary contraction. This review emphasizes that there are a variety of open issues concerning the PP. Nonetheless, a rapidly growing body of comparative vertebrate evidence supports the idea that the PP and other forms of non-linear MN behavior play a major role in the regulation of muscle force, from the lamprey to the human.

Central pattern generators and the control of rhythmic movements

Central pattern generators are neuronal circuits that when activated can produce rhythmic motor patterns such as walking, breathing, flying, and swimming in the absence of sensory or descending inputs that carry specific timing information. General principles of the organization of these circuits and their control by higher brain centers have come from the study of smaller circuits found in invertebrates. Recent work on vertebrates highlights the importance of neuro-modulatory control pathways in enabling spinal cord and brain stem circuits to generate meaningful motor patterns. Because rhythmic motor patterns are easily quantified and studied, central pattern generators will provide important testing grounds for understanding the effects of numerous genetic mutations on behavior. Moreover, further understanding of the modulation of spinal cord circuitry used in rhythmic behaviors should facilitate the development of new treatments to enhance recovery after spinal cord damage.

The zebrafish space cadet gene controls axonal pathfinding of neurons that modulate fast turning movements

All vertebrates depend on neural circuits to produce propulsive movements; however, the contribution of individual neural cell types to control such movements are not well understood. We report that zebrafish space cadet mutant larvae fail to initiate fast turning movements properly, and we show that this motor phenotype correlates with axonal defects in a small population of commissural hindbrain neurons, which we identify as spiral fiber neurons. Moreover, we demonstrate that severing spiral fiber axons produces space cadet-like locomotor defects, thereby providing compelling evidence that the space cadet gene plays an essential role in integrating these neurons into the circuitry that modulates fast turning movements. Finally, we show that axonal defects are restricted to a small set of commissural trajectories, including retinal ganglion cell axons and spiral fiber axons, and that the space cadet gene functions in axonal pathfinding. Together, our results provide a rare example in vertebrates of an individual neuronal cell type that contributes to the expression of a defined motor behavior.

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Plasticity of motor systems after incomplete spinal cord injury

Although spontaneous regeneration of lesioned fibres is limited in the adult central nervous system, many people that suffer from incomplete spinal cord injuries show significant functional recovery. This recovery process can go on for several years after the injury and probably depends on the reorganization of circuits that have been spared by the lesion. Synaptic plasticity in pre-existing pathways and the formation of new circuits through collateral sprouting of lesioned and unlesioned fibres are important components of this recovery process. These reorganization processes might occur in cortical and subcortical motor centres, in the spinal cord below the lesion, and in the spared fibre tracts that connect these centres. Functional and anatomical evidence exists that spontaneous plasticity can be potentiated by activity, as well as by specific experimental manipulations. These studies prepare the way to a better understanding of rehabilitation treatments and to the development of new approaches to treat spinal cord injury.

Spontaneous embryonic motility: an enduring legacy

This chapter addresses the influential contributions Viktor Hamburger has made to our understanding of embryonic motor behavior. With his classic review, published in 1963, Viktor Hamburger opened up the field of embryonic motor behavior, which had lain almost completely dormant for many years. He focused his observations and experimental studies on the spontaneously generated embryonic movements rather than on reflex responses. As a result, he and his colleagues firmly established the central generation of embryonic motility as a basic component of embryonic behavior in chicks. These studies were also extended to rat fetuses, showing that similar principles apply to mammalian fetuses. All of us who have followed after him owe Viktor Hamburger an enormous debt of gratitude for his pioneering work.