The dependence of the response of cat spindle Ia afferents to sinusoidal stretch on the velocity of concomitant movement

Temporal development of anticipatory reflex modulation to dynamical interactions during arm movement

It is known that somatosensory reflex during voluntary arm movement is modulated anticipatorily according to given tasks or environments. However, when and how reflex amplitude is set remains controversial. Is the reflex modulation completed preparatorily before movement execution or does it vary with the movement? Is the reflex amplitude coded in a temporal manner or in a spatial (or state-dependent) manner? Here we studied these issues while subjects performed planar reaching movements with upcoming opposite (rightward/leftward) directions of force fields. Somatosensory reflex responses of shoulder muscles induced by a small force perturbation were evaluated at several points before the arm encountered predictable force fields after movement start. We found that the shoulder flexor reflex responses were generally higher for the rightward than for the leftward upcoming force fields, whereas the extensor reflex responses were higher for the leftward force field. This reflex amplitude depending on the upcoming force field direction became prominent as the reflex was evoked closer to the force fields, indicating continuous changes in reflex modulation during movement. An additional experiment further showed that the reflex modulation developed as a function of the temporal distance to the force fields rather than the spatial distance. Taken together, the results suggest that, in the force field interaction task, somatosensory reflex amplitude during the course of movement is set anticipatorily on the basis of an estimate of the time-to-contact rather than the state-to-contact, to upcoming dynamical interaction during voluntary movement.

Information capacity of the thumb and the index finger in communication

Due to its large number of degrees of freedom and extensive connection to the brain, the human hand has been used to create channels of communication for a variety of human-machine systems. However, a fundamental question about the hand channel is still unanswered: what is its information capacity? This study aims to provide quantitative indication of effectiveness of the hand as a communication channel. We estimated that per gesture, the thumb and the index finger may deliver at most 10 and 7 bits of information, respectively. Based on this, we derived an upper bound for the information capacity of the hand in gesture-based communication: 150 b/s. Knowing this bound is critical to evaluating the potential and limitation of the hand channel for various forms of human-machine interactions.

A method for the study of the effects of combining multiple pseudorandom fusimotor stimulation on the responses of muscle-spindle primary-ending afferents

We describe a new method of investigation of the integrative action of fusimotor inputs in mammalian muscle spindles by stimulation of multiple fusimotor axons using independent pseudorandom pulse trains, each of low mean rate with pseudorandomly distributed stimulus intervals. Technically it was feasible only because of the development of (1) a novel, highly efficient approach to functional isolation of fusimotor efferents in ventral-root filaments, which we have called the isodyne strategy; (2) a real-time, microprocessor-based stimulus artefact cancellation device (SACAD); and (3) a highly adjustable, multi-branch stimulation electrode array. The general approach of using multiple, independent, pseudorandom stimulation of several input channels has wider applications in controlled-activation paradigms.

Discharges in human muscle spindle afferents during a key-pressing task

Most manual tasks demand a delicate control of the wrist. Sensory information for this control, e.g. about the position and movement velocity of the hand, is assumed to be primarily provided by muscle spindle afferents. It is known that human muscle spindles in relaxed muscles behave as stretch receptors but it is unclear how they discharge during 'natural' hand movements, since their discharges can also be affected by extrafusal contractions and fusimotor activity. We therefore let subjects perform a centre-out-centre key-pressing task on buttons laid out in a 3 x 3 pattern, a task that allowed unconstrained hand and finger movements and required precise control of the wrist. Microneurography recordings from muscle spindle afferents of the wrist extensor muscles were obtained along with wrist kinematics and electromyographic signals. The discharge rates of afferents were more phase advanced than expected on the length of the radial wrist extensor, which acted as an anti-gravity muscle in the key-pressing task. As such, both acceleration and velocity had significant impacts on the discharge rate of primary afferents, velocity on that of secondary afferents, and length had no impact on either afferent type. The response patterns were different for the two types of muscle spindle afferents from the predominantly eccentrically contracting ulnar wrist extensor: muscle length and velocity had significant impacts on the ensemble response of secondary afferents whereas the primary afferents showed highly variable responses. Accordingly, good predictions of the radial ulnar angular velocity were possible from spindle ensemble responses (R(2) = 0.85) whereas length could be predicted only for phases with lengthening of the ulnar wrist extensor. There are several possible explanations for the unexpectedly large phase advance of spindle afferents in the radial wrist extensor. Given the compliance of tendons, for instance, the phase relationship between the muscle fascicle length and the whole muscle length is conjectured to depend on the load. While additional phase advances are advantageous in motor control, it is concluded that if the central nervous system estimates length or velocity of a muscle from its muscle spindle discharges, this would require additional information about not only the concomitant extrafusal and fusimotor drive but also about the mechanical properties of the load on which the muscle acts.

Cross-bridge mechanisms underlying the history-dependent properties of muscle spindles and stretch reflexes

The effects of prior movement on the force responses of skeletal muscle are compared with the effects of movement history on the changes in firing rate of muscle spindle receptors. Prior release results in the linearization of the mechanical properties of skeletal muscles, which can be provisionally explained by cross-bridge models of muscular contraction. The history-dependence of responses of muscle spindle receptors in unanesthetized decerebrate preparations appears to result from the kinetics of cycling and noncycling cross-bridges. The results of this comparison indicate that the integration of mechanical properties of muscle and spindle receptor promotes stiffness regulation.Key words: predictive control, muscular stiffness, muscle receptors, reflex compensation, cross-bridge cycling, nonlinear mechanical properties, feline motor control.

The effects of muscle history on short latency stretch reflex response of soleus muscle

The purpose of the present study was to investigate the combined effects of muscle history, activation and stretching velocity on short latency stretch response (SLR). Stretches (70, 120 and 200 deg s-1) were elicited to both passive and active (10-25% MVC) triceps surae muscle with constant (ISO), lengthened (LEN) or shortened (SHO) muscle length. Under the passive SHO pre-condition both SLR amplitude and reflex torque (RT) decreased where as latency increased compared with the passive ISO pre-condition. Such observations were absent in active trials. Stretches applied to a lengthening passive muscle (LEN) resulted in smaller SLR amplitude and RT compared with passive ISO. In active muscle the stretch response increased with stretching velocity in ISO and SHO. However, in LEN there was large interindividual variability and no velocity dependent increase in SLR amplitude was observed. Smaller amplitude and longer latency of passive SLR in SHO could result from increased slack in the intrafusal fibres, which may be compensated by fusimotor activation during the active condition. The mechanism behind the smaller amplitude in passive LEN and the lack of velocity dependence in active LEN may be related to changes in motoneuron pool excitability or changes in the spindle sensitivity to stretch.

Movement reduces the dynamic response of muscle spindle afferents and motoneuron synaptic potentials in rat

Among the mechanisms that may result in modulation of the stretch reflex by the recent history of muscle contraction is the history dependence observed under some conditions in the response properties of muscle spindles. The present study was designed to test one report that in successive trials of muscle stretch-release, spindle afferent firing during stretch, i.e., the dynamic response shows no history dependence beyond the initial burst of firing at stretch onset. Firing responses of spindle afferents were recorded during sets of three consecutive trials of triangular stretch-release applied to triceps surae muscles in barbiturate-anesthetized rats. All 69 spindle afferents fired more action potentials (spikes) during the dynamic response of the first trial, excluding the initial burst, than in the following two trials. The reduced dynamic response (RDR) was nearly complete after trial 1 and amounted to an average of approximately 12 fewer spikes (16 pps slower firing rate) in trial 3 than in trial 1. RDR was sensitive to the interval between stretch sets but independent of stretch velocity (4-32 mm/s). RDR was reflected in the synaptic potentials recorded intracellularly from 16 triceps surae alpha-motoneurons: depolarization during muscle stretch was appreciably reduced after trial 1. These findings demonstrate history dependence of spindle afferent responses that extends throughout the dynamic response in successive muscle stretches and that is synaptically transmitted to motoneurons with the probable effect, unless otherwise compensated, of modulating the stretch reflex.

Response of the canine internal intercostal muscles to chest wall vibration

Although high-frequency mechanical vibration of the rib cage reduces dyspnea, its effects on the respiratory muscles are largely unknown. We have previously shown that in anesthetized dogs, vibrating the rib cage during inspiration elicits a marked increase in the inspiratory electromyographic (EMG) activity recorded from the external intercostal muscles but does not affect tidal volume (VT). In the present studies, we have tested the hypothesis that the maintenance of VT results from the concomitant contraction of the internal interosseous (expiratory) intercostals. When the rib cage was vibrated (40 Hz) during hyperventilation-induced apnea, a prominent activity was recorded from the external intercostals but no activity was recorded from the internal intercostals, including when the muscles were lengthened by passive inflation. The internal intercostals remained also silent when vibration was applied during spontaneous inspiration, and the phasic expiratory EMG activity recorded from them was unaltered when vibration was applied during expiration. Thus, the internal interosseous intercostals in dogs are much less sensitive to vibration than the external intercostals, and they do not interfere with the action of these latter during rib cage vibration. This lack of sensitivity might be the result of a reflex inhibition of the muscle spindle afferents by afferents from external intercostal muscle spindles.

Response of the rabbit diaphragm to tendon vibration

To evaluate the potential role of diaphragmatic muscle spindles in the act of breathing, we have recorded the electromyograms of the diaphragm and the external intercostal muscle in the third interspace during high-frequency mechanical vibration (50 Hz) of the central tendon in eight anesthetized, spontaneously breathing rabbits. Vibration induced a consistent, clear-cut increase in the inspiratory activity recorded from the external intercostal, thus indicating that the mechanical stimulus applied to the diaphragm was strong enough to trigger muscle spindles at distant sites. However, vibration did not elicit any alteration in costal or crural diaphragmatic activity in any animal. Similarly, when vibration was applied during hyperventilation-induced apnea, activity was recorded in the external intercostal but not in the diaphragm. These observations support the traditional view that the diaphragm is poorly endowed with muscle spindles and that these play little or no significant role in the act of breathing.

Response of the canine inspiratory intercostal muscles to chest wall vibration

High-frequency mechanical vibration of the rib cage reduces dyspnea, but the effect of this procedure on the respiratory muscles is largely unknown. In the present studies, we have initially assessed the electrical and mechanical response to vibration (40 Hz) of the canine parasternal and external intercostal muscles (third interspace) during hyperventilation-induced apnea. When the vibrator was applied to the segment investigated, prominent external intercostal activity was recorded in the seven animals studied, whereas low-amplitude parasternal intercostal activity was recorded in only four animals. Similarly, when the vibrator was applied to more rostral and more caudal interspaces, activity was recorded commonly from the external intercostal but only occasionally from the parasternal. The two muscles, however, showed similar changes in length. We next examined the response to vibration of the muscles in seven spontaneously breathing animals. Vibrating the rib cage during inspiration (in-phase) had no effect on parasternal intercostal inspiratory activity but induced a marked increase in neural drive to the external intercostals. For the animal group, peak external intercostal activity during the control, nonvibrated breaths averaged (mean +/- SE) 43.1 +/- 3.7% of the activity recorded during the vibrated breaths (p < 0.001). External intercostal activity during vibration also occurred earlier at the onset of inspiration and commonly carried on after the cessation of parasternal intercostal activity. Yet tidal volume was unchanged. Vibrating the rib cage during expiration (out-of-phase) did not elicit any parasternal or external intercostal activity in six animals. These observations thus indicate that the external intercostals, with their larger spindle density, are much more sensitive to chest wall vibration than the parasternal intercostals. They also suggest that the impact of this procedure on the mechanical behavior of the respiratory system is relatively small.

The response of muscle spindle primary afferents to simultaneously presented sinusoidal and ramp-and-hold stretches

Fifteen primary (Ia) muscle spindle afferents from the tibial anterior muscle of the cat were subjected to a ramp-and-hold stretch (stretch rate 10 mm/s, stretch amplitude 8.5 or 7 mm) of the muscle, upon which was superimposed a sinusoidal stretch (10 Hz) of five different amplitudes (50, 100, 500, 1000 and 2000 microm peak to peak). The response of the Ia afferents to the sinusoidally overlaid ramp-and-hold stretch was subjected to computer analysis, by means of which the response to the superimposed sinusoids and the response to the underlying ramp-and-hold stretch were each obtained separately. Four basic discharge frequencies were determined from the response to the underlying ramp-and-hold stretch (obtained after elimination of the response to the concomitant sinusoidal stretch). The evaluation yielded the result that the concomitant sinusoidal stretch affected the response to the underlying ramp-and-hold stretch: the level of discharge of the Ia afferent was significantly increased and the dynamic and static indices were significantly diminished. These two effects intensified with increasing amplitude of the concomitant sinusoids. From among the oscillatory responses of the Ia afferent to the concomitant sinusoidal stretch (obtained after elimination of the response to the underlying ramp-and-hold stretch) the amplitudes of four selected responses were determined. These four oscillatory responses occurred during four time spans during which the four basic discharge frequencies were read. Evaluation showed that the response to the underlying ramp-and-hold stretch affected the modulation depth of the oscillatory responses, which decreased during the ramp and increased again during the plateau. The absolute amount of the change was independent of the amplitude of the sinusoids. The effect of the sinusoids on the response to the underlying ramp-and-hold stretch and that of the underlying ramp-and-hold stretch on the response to the sinusoidal stretches are interpreted in terms of ion currents occurring at the Ia sensory terminals. It is assumed that the probability of the stretch activated (SA) channels opening is increased by a stretching of the sensory terminals. A depolarizing Na+ and Ca++ inward current due to the activation of the SA channels in its turn activates a Ca++-activated and/or a potential-dependent K+ outward current which has a repolarizing effect. Ideas are put forward in the discussion as to how the inward and outward currents that are sinusoid-related and those that are ramp-and-hold-stretch related interact.

Discharge of human muscle spindle afferents innervating ankle dorsiflexors during target isometric contractions

1. There are discrepancies in the literature about the reproducibility of forces at which human muscle spindle afferents accelerate their discharge during isometric voluntary contractions. The aim of this study was to determine for single muscle spindle afferents both the reproducibility of the 'acceleration threshold' and the factors contributing to variability of 'acceleration threshold'. 2. Microneurographic recordings were made from muscle spindle afferents innervating tibialis anterior while subjects performed isometric ankle dorsiflexions. Subjects matched the force of their contractions with a visually displayed 'ramp-and-hold' template. Template parameters were determined by the force of maximal isometric ankle dorsiflexion (MVC), and expressed as per cent MVC. The required 'ramp' rate and 'hold' force was adjusted between trials (range, 0.5-5% MVCs-1 and 0.5-20% MVC, respectively). The duration of the hold phase was 4 s and, following each contraction, stretch was applied transversely to the tendon to minimize the influence of any 'after-effects' on spindle afferent responses in subsequent contractions. 3. For each contraction, the force at which the rate of muscle spindle discharge increased was defined as the 'acceleration threshold'. Of twenty-six muscle spindle afferents innervating tibialis anterior, all but two increased their discharge in the test contractions. In 90% of contractions, acceleration thresholds were less than 3.2% MVC (range, 0.01-11.9% MVC). 4. Individual muscle spindle afferents increased their discharge at similar but not identical forces in repeated contractions. There was a positive correlation between the rate of contraction and the acceleration threshold (P < 0.001), but the strength of the target contraction had no effect on the threshold, and there was no trend for thresholds to change over time. 5. The results suggest, first, that most muscle spindle endings in the human pretibial muscles receive a significant increase in fusimotor drive during relatively weak isometric efforts and secondly, that when fusimotor after-effects are controlled, much of the residual variability in 'acceleration threshold' for any one spindle in repeated contractions is due to extrafusal factors, particularly variability in contraction rate.

Response of the inspiratory intercostal [correction of intercoastal] muscles to increased inertial loads

To test the hypothesis that the external intercostals and levator costae constitute an inspiratory reserve system, we have examined the response of these muscles to increased inertial loads. Weights were t hus attached sequentially to the ribs in ten lightly anesthetized, spontaneously breathing dogs. As weights were attached, the ribs were progressively displaced caudally at end-expiration, so that the external intercostal muscles were lengthened. In addition, the cranial motion of the ribs during inspiration was gradually reduced, the inspiratory shortening of external intercostal disappeared, and the external intercostal and levator costae inspiratory EMG activities increased. The parasternal intercostal inspiratory activity, however, remained unchanged. Studies also showed that: (1) the increases in external intercostal activity appeared with the first loaded breath and disappeared as soon as the load was removed; (2) these increases were related to the suppression of the inspiratory muscle shortening, rather than to the increase in precontraction muscle length or to vagal inputs; and (3) denervation of the external intercostal caused inspiratory muscle lengthening but had little effect on the inspiratory motion of the ribs. These observations thus indicate that increased inertial loads on the ribs trigger reflexes, possibly spindle reflexes, which cause selective increases in external intercostal and levator costae inspiratory EMG activities. In that sense, the present findings are consistent with the idea that these two muscles constitute an inspiratory reserve system. However, it appears that the major effect of these increased activities is simply to prevent the muscles from lengthening during inspiration.

Coding of pulsatile motor output by human muscle afferents during slow finger movements

1. Impulse activities of thirty-eight muscle spindle and tendon organ afferents from the finger extensor muscles were recorded in the radial nerve of human subjects while the subjects performed voluntary flexion and extension finger movements at a single metacarpophalangeal joint. 2. The afferent firing was analysed in relation to the 8-10 Hz discontinuities which previously have been shown to characterize these movements. Spike-triggered averaging and frequency domain analyses demonstrated that all Ia muscle spindle afferents and a large proportion of group II spindle afferents responded in close association with local peaks in the joint acceleration. During muscle lengthening the impulses appeared during phases of rapid muscle stretch, whereas they appeared during the phase of minimal speed during muscle shortening. 3. The Golgi tendon organ (Ib) afferents displayed a reverse pattern of activity in relation to the discontinuities, i.e. the impulses tended to appear in the phase of minimal speed during lengthening movements and close to maximal shortening speed during shortening movements. Hence, their firing often coincided with the phasic increases of the parent muscle activity which account for the 8-10 Hz discontinuities. 4. A close analysis of the time relations between spindle firing and the kinematics of the 8-10 Hz discontinuities revealed that the population spindle response was too delayed and too dispersed to support the hypothesis that the discontinuities are accounted for by the stretch reflex. 5. If, as suggested in a previous paper, the 8-10 Hz discontinuities are produced by a pulsatile descending motor command, the coding of the periodic but tenuous kinematic events by the population of proprioceptors may have a role in relation to an alleged pulsatile command generator.

Component analysis of the responses of sensory neurons to combined sinusoidal and triangular stimulation

A method for quantitative estimation of sensory neuron sensitivity to small sinusoidal stimuli in the presence of sizable background drift (in the stimulus or response) was developed. The performance of the method was tested by analyzing the responses of 17 muscle spindle primary (Ia) afferent neurons to concomitant sinusoidal and triangular stretching of the soleus muscle. The efficacy and accuracy of several variations of the method were examined. The variations included the use of probability density (PD) and average frequency (AF) histograms as the basis for calculations and two different algorithms for the decomposition of responses to combined sinusoidal and triangular stimulation. One algorithm called the 'inherent-drift' method exploited the inherent half-cycle repeat property of a sine wave to extract the drift component. Another algorithm called the 'forced-drift' method first estimated the drift by linear regression to a response to triangular stimulation alone. The drift estimate (a slope value) was then subtracted from the response to combined sinusoidal and triangular stimulation of the same triangular (background) velocity. A comparison of the performance of the drift correction method applied either to PD or AF histograms revealed no significant differences in the estimates of sinusoidal modulation. The limitations of the AF method were manifest primarily by phase lags at low mean levels of action potential discharge. Calculation of the response parameters using the 'inherent-drift' correction procedure proved straightforward as long as there were at least two pairs of non-empty bins in the sine-cycle histograms on which to base the estimate of drift. The method remained effective in determining sinusoidal sensitivity in the face of distinct non-linearities (harmonic distortions) in the sine-cycle histograms. However, estimates of slope and the extraction of sinusoidal phase by the 'inherent' slope correction method became subject to large errors. Under such circumstances, more reliable estimates could be obtained by using the forced drift-correction method instead. The importance of extracting the drift component prior to estimating the sinusoidal response parameters was evaluated experimentally and theoretically. In general, omission of a drift correction introduced a large bias in the estimates of the phase of sinusoidal response, whereas the estimate of sinusoidal modulation was rather insensitive. Experimental findings were fully accounted for by theoretical considerations. Analytically derived relationships identified low- and high-risk regions more clearly for the estimate of sinusoidal modulation than of phase. The relationship between biased modulation estimate and underlying drift showed minima characteristics with a low-risk region, where absolute errors and dependence on slope variations were small.(ABSTRACT TRUNCATED AT 400 WORDS)