Distortion suppression in neuromuscular information transmission due to interchannel dispersion in muscle spindle firing thresholds

What muscle variable(s) does the nervous system control in limb movements?

To control force accurately under a wide range of behavioral conditions, the central nervous system would either require a detailed, continuously updated representation of the state of each muscle (and the load against which each is acting) or else force feedback with sufficient gain to cope with variations in the properties of the muscles and loads. The evidence for force feedback with adequate gain or for an appropriate central representation is not sufficient to conclude that force is the major controlled variable in normal limb movements.

Morton's hypothesis, that length is controlled by a follow-up servo, has a number of difficulties related to the delays, gains, variability, and specificity in feedback pathways comprising potential servo loops. However, experimental evidence is consistent with these pathways providing servo assistance for some movements produced by coactivation of α- and static γ-motoneurons. Dynamic γ-motoneurons may provide an additional input for adaptive control of different types of movements.

The idea that feedback is used to compensate for changes in muscle stiffness has received experimental support under static postural conditions. However, reflexes tend to increase rather than decrease the range of variation in muscle stiffness during some cyclic movements. Theoretical problems associated with the regulation of stiffness are also discussed. The possibilities of separate control systems for velocity or viscosity are considered, but the evidence is either negative or lacking. I conclude that different physical variables can be controlled depending on the type of limb movement required. The concept of stiffness regulation is also useful under some conditions, but should probably be extended to the regulation of the visco-elastic properties (i.e., the mechanical impedance) of a muscle or joint.

Computational motor control: feedback and accuracy

Speed/accuracy trade-off is a ubiquitous phenomenon in motor behaviour, which has been ascribed to the presence of signal-dependent noise (SDN) in motor commands. Although this explanation can provide a quantitative account of many aspects of motor variability, including Fitts' law, the fact that this law is frequently violated, e.g. during the acquisition of new motor skills, remains unexplained. Here, we describe a principled approach to the influence of noise on motor behaviour, in which motor variability results from the interplay between sensory and motor execution noises in an optimal feedback-controlled system. In this framework, we first show that Fitts' law arises due to signal-dependent motor noise (SDN(m)) when sensory (proprioceptive) noise is low, e.g. under visual feedback. Then we show that the terminal variability of non-visually guided movement can be explained by the presence of signal-dependent proprioceptive noise. Finally, we show that movement accuracy can be controlled by opposite changes in signal-dependent sensory (SDN(s)) and SDN(m), a phenomenon that could be ascribed to muscular co-contraction. As the model also explains kinematics, kinetics, muscular and neural characteristics of reaching movements, it provides a unified framework to address motor variability.

Estimation of muscle spindle information rate by pattern matching and the effect of gamma system activity on parallel spindles

The information transmission properties of ensembles of MSs and the effect of the gamma system on these properties were studied. Three converging lines of research were taken: (1) the development of information theoretic estimation tools, and the formulation of an "operational" interpretation for the information rate; (2) animal experiments in which the mutual information rate was estimated and the effect of the gamma system was quantified; (3) simulation of a muscle spindle model with gamma activation in order to corroborate the results of the animal experiments. The main hypothesis was that the gamma system will enhance information theoretic measures that quantify the quality of the sensory neural channel comprised from an ensemble of primary muscle spindle afferents. A random stimulus was applied to a muscle in the hind limb of a cat, while spike trains from several primary MS afferents were recorded simultaneously. The stimulus was administered twice, with an operative and a disconnected gamma system. The mutual information rate between the stimulus and spike trains, as well as other information theoretic measures, was estimated. The information rate of ensembles of MSs increased with increasing ensemble size. However, with an operative gamma system the "ensemble effect" was much higher. In addition, the ensemble effect was influenced by the stimulus spectrum. A muscle spindle population model with gamma activation was simulated with stimuli that were identical to that of the animal experiments. The simulation results supported the experimental results and corroborated the main hypothesis. The results indicate that the gamma system has an important role in enhancing information transmission from ensembles of MSs to the spinal cord.

Stochastic resonance in muscle receptors

Noise is generally considered to have deleterious effects on the sensitivity of a signal detection system. There are, however, several mechanisms whereby the addition of noise to the input of a system can in fact improve sensitivity. One such mechanism is stochastic resonance. Although first proposed in 1981, conclusive experimental evidence for "fully tuneable stochastic resonance" in biological systems has not previously been reported. Evidence of fully tuneable stochastic resonance in the response of afferents from Golgi tendon organs and the primary and secondary endings of muscle spindles to imposed muscle length changes is presented.

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.

Alterations in information transmission in ensembles of primary muscle spindle afferents after muscle fatigue in heteronymous muscle

This study showed that fatigue of the ipsilateral medial gastrocnemius muscle caused a clear-cut reduction in the ability of ensembles of primary muscle spindle afferents from the lateral gastrocnemius muscle to discriminate between muscle stretches of varying amplitude. The results were probably caused by reflex-mediated effects from chemosensitive group III and IV afferents onto the gamma-motoneurons projecting to lateral gastrocnemius muscle spindles. The experiments were conducted on seven cats anaesthetized with alpha-chloralose and a total of 41 primary muscle spindle afferents from the lateral gastrocnemius were registered. Afferents were simultaneously recorded in ensembles of three to 10 afferents. A method based on principal component analysis and algorithms for quantification of stimulus discrimination in ensembles of muscle afferents was used prior to, immediately following and five or more minutes after muscle fatigue had been induced to the ipsilateral medial gastrocnemius muscle. It is well established that the primary muscle spindle afferents play an important role in proprioception and kinaesthesia. Therefore the decrease in the accuracy of the information transmitted by ensembles of primary muscle spindle afferents caused by fatigue in an ipsilateral muscle implies concomitant effects on proprioception and kinaesthesia.

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.

Noise and neuronal populations conspire to encode simple waveforms reliably

Sensory systems rely on populations of neurons to encode information transduced at the periphery into meaningful patterns of neuronal population activity. This transduction occurs in the presence of intrinsic neuronal noise. This is fortunate. The presence of noise allows more reliable encoding of the temporal structure present in the stimulus than would be possible in a noise-free environment. Simulations with a parallel model of signal processing at the auditory periphery have been used to explore the effects of noise and a neuronal population on the encoding of signal information. The results show that, for a given set of neuronal modeling parameters and stimulus amplitude, there is an optimal amount of noise for stimulus encoding with maximum fidelity.

The role of the gamma-system for improving information transmission in populations of Ia afferents

Ensemble coding of simple mechanical stimuli (small sinusoidal stretches) was studied in populations of simultaneously recorded primary muscle spindle afferents (MSAs). The experiments were made on 39 primary MSAs in chloralose anaesthetised cats. For the analyses we used a combination of principal component analysis and algorithms for quantification of stimulus discrimination. Ensembles of primary MSAs discriminated better between different muscle stretches than individuals, and showed a successive increase in discriminative ability with increasing ensemble size. The ensemble effect disappeared after cutting the ventral roots, indicating an important role for the fusimotor system in ensemble coding. Simultaneously recorded ensembles of MSAs showed significantly better discriminative ability than pooled sequentially recorded MSAs. This difference was abolished by the cutting of the ventral roots. It is hypothesised that, since the muscle spindles are connected to each other via secondary MSAs (projecting to gamma-motoneurones to other spindles), the fusimotor-muscle spindle system may constitute a neural network, in which each 'neuron' (i.e., each individual muscle spindle) is influenced by the activity in the whole network. In populations of pooled sequentially recorded MSAs, the connections would not exist. Thus, the population would lose its neural network quality, and the encoding ability of the population would decrease.

Linear and non-linear summation of alpha-motoneuron potential changes elicited by contractions of homonymous motor units in cat medial gastrocnemius

An analysis is made of linear and non-linear summation of the motor unit (MU) tension and motoneuron (MN) membrane potential (PSP) trajectories evoked by stimulation of MUs as previously reported. In most cases, summation of both averaged responses was linear. Seldom, PSPs summed non-linearly, then usually coinciding with non-linear summation of the responsible MU twitches. The results suggest that the afferent pathways mediating the mechanical events in muscle to MNs behave rather linearly, at least in the small-signal range of interest here.

Effects of muscle model parameter dispersion and multi-loop segmental interaction on the neuromuscular system performance

The effects of parameter dispersion among motor units on the neuromuscular system performance as well as interaction between muscle segments and spinal cord mechanisms are investigated. Elementary components of the system are modeled to simulate with simple models their input-output characteristics. A leaky SS-IPFM encoder with a time-dependent threshold simulates the motor-neuron encoding characteristics. An amplitude and time dependent nonlinear model represent the motor unit mechanical output to neuronal input relationship. The dispersion of parameters in the components of the whole muscle control model is investigated in the open loop mode. It is shown that the dispersion of parameters in the multi-efferent channels converging on a common tendon provides a spatial filtration generating a smoother muscle force in addition to extending the linear dynamic range compared to a similar system having identical motor units. Muscle segmental interaction is investigated in this distributed model by closing the loop through a coupling matrix, representing afferent-motorneuron interaction on the spinal cord level. A diagonal matrix represents no segmental interaction and a uniform matrix represents a uniform interaction between segments through the muscle spindles and Golgi tendon feedback elements. The close loop simulation studied shows that (a). The type of segmental interaction has little effect on the overall system performance, i.e., range of linerity and stability, which is the result of having a muscle system with a large number of motor units. (b) There are only minor differences in results between the uniform and normal parameter distributions tested. (c) A loop gain of 4 divided by 8 in the distributed model can provide linearity through the full physiological force range. (d) Type of segmental interaction has significant effects on the individual segment. A uniform matrix provides a more stable segment due to the spatial filtration resulting from the segmental interaction, while the diagonal noninteracting matrix shows instabilities on the local segmental level despite global stability. The more realistic exponentially decaying spatial interaction matrix yields both global neuromuscular and local segmental stability with the same linear dynamic range generated with the uniform or diagonal matrices.

Statistical analysis of multipath neural systems

Peripheral sensory and motor systems may be characterized by models consisting of multiple parallel convergent pathways, each described by the same set of equations, but having different parameter values in each path. Such models, although deterministic, are best analyzed using a statistical approach, which is illustrated here by analysis of several simple multipath models composed of linear dynamic elements and static non-linear elements. Relationships between instantaneous means of signals at different points in such systems are used to show that a multipath system can exhibit behaviour which would not be expected from observations of individual pathways. Mechanisms for linearization of static nonlinearities are briefly described. Important implications for neurophysiologists are discussed.

The influence of the gamma system on cross-correlated activity of Ia muscle spindles and its relation to information transmission

In the decerebrate cat during static or slowly varying (less than 0.3 Hz) muscle stretches, the activity of muscle spindle (MS) pairs was poorly correlated and such correlation was not changed after ventral root sectioning. With slightly faster sinusoidal stretches (0.3-20 Hz) activity in pairs of MS was also poorly correlated. However, sectioning of the ventral roots produced preferential firing frequencies in the same muscle spindle pairs and increased their degree of correlation. The increase in correlation between MS activity detected after suppressing the gamma bias appeared to arise from extrinsic 60 Hz power line vibration in the range of micrometers. Nevertheless, activation of the gamma system could suppress such phase locking. When frequencies above 20 Hz were used, the gamma system could not decorrelate the MS pair activity since the two units became locked to their common input signal. It is suggested that decorrelation of MS activity by gamma influence may improve the fidelity of the information transmitted by the Ia MS ensemble by filtering distortion harmonics, as well as damping tremor oscillations in the stretch reflex loop.

The influence of extrafusal muscle activity on discharge patterns of primary muscle spindle endings

The influence of extrafusal muscle activity in anaemically decerebrate cats upon discharge patterns of primary spindle endings was ascertained by simultaneously recording spike trains from several Ia afferents and muscle tension fluctuations of the triceps-surae muscle. 1. Tension fluctuations were averaged with respect to spikes from primary endings yielding tension "trajectories" of specific shape for each spindle and probably reflecting frequently recurring mechanical events in the spindles' surroundings. 2. Spindles situated in close vicinity and influenced by similar mechanical events as evidenced by similar average tension trajectories are correlated in their discharge patterns to a degree depending on the strength of their mechanical coupling. 3. The modulation of spindle discharge frequency in response to average tension changes at the muscle tendon is very different in amplitude for different spindles; this response may show a high sensitivity. It is usually phase advanced by 90-180 degrees with respect to the "internal length" changes; between spindles ther may be phase differences of up to 180 degrees. 4. It is concluded that primary endings react very sensitively to local extrafusal events. The CNS receives much more accurate information about these events in the correlation of several Ia afferents than in the discharge of a single fibre.