Operation regimes of spinal circuits controlling locomotion and role of supraspinal drives and sensory feedback

Locomotion in mammals is directly controlled by the spinal neuronal network, operating under the control of supraspinal signals and somatosensory feedback that interact with each other. However, the functional architecture of the spinal locomotor network, its operation regimes, and the role of supraspinal and sensory feedback in different locomotor behaviors, including at different speeds, remain unclear. We developed a computational model of spinal locomotor circuits receiving supraspinal drives and limb sensory feedback that could reproduce multiple experimental data obtained in intact and spinal-transected cats during tied-belt and split-belt treadmill locomotion. We provide evidence that the spinal locomotor network operates in different regimes depending on locomotor speed. In an intact system, at slow speeds (< 0.4 m/s), the spinal network operates in a non-oscillating state-machine regime and requires sensory feedback or external inputs for phase transitions. Removing sensory feedback related to limb extension prevents locomotor oscillations at slow speeds. With increasing speed and supraspinal drives, the spinal network switches to a flexor-driven oscillatory regime and then to a classical half-center regime. Following spinal transection, the model predicts that the spinal network can only operate in the state-machine regime. Our results suggest that the spinal network operates in different regimes for slow exploratory and fast escape locomotor behaviors, making use of different control mechanisms.

An output-null signature of inertial load in motor cortex

Coordinated movement requires the nervous system to continuously compensate for changes in mechanical load across different contexts. For voluntary movements like reaching, the motor cortex is a critical hub that generates commands to move the limbs and counteract loads. How does cortex contribute to load compensation when rhythmic movements are clocked by a spinal pattern generator? Here, we address this question by manipulating the mass of the forelimb in unrestrained mice during locomotion. While load produces changes in motor output that are robust to inactivation of motor cortex, it also induces a profound shift in cortical dynamics, which is minimally affected by cerebellar perturbation and significantly larger than the response in the spinal motoneuron population. This latent representation may enable motor cortex to generate appropriate commands when a voluntary movement must be integrated with an ongoing, spinally-generated rhythm.

Neuromechanical Strategies for Obstacle Negotiation during Overground Locomotion following Incomplete Spinal Cord Injury in Adult Cats

Following incomplete spinal cord injury in animals, including humans, substantial locomotor recovery can occur. However, functional aspects of locomotion, such as negotiating obstacles, remains challenging. We collected kinematic and electromyography data in 10 adult cats (5 males, 5 females) before and at weeks 1-2 and 7-8 after a lateral mid-thoracic hemisection on the right side of the cord while they negotiated obstacles of three different heights. Intact cats always cleared obstacles without contact. At weeks 1-2 after hemisection, the ipsilesional right hindlimb contacted obstacles in ∼50% of trials, triggering a stumbling corrective reaction or absent responses, which we termed Other. When complete clearance occurred, we observed exaggerated ipsilesional hindlimb flexion when crossing the obstacle with contralesional Left limbs leading. At weeks 7-8 after hemisection, the proportion of complete clearance increased, Other responses decreased, and stumbling corrective reactions remained relatively unchanged. We found redistribution of weight support after hemisection, with reduced diagonal supports and increased homolateral supports, particularly on the left contralesional side. The main neural strategy for complete clearance in intact cats consisted of increased knee flexor activation. After hemisection, ipsilesional knee flexor activation remained, but it was insufficient or more variable as the limb approached the obstacle. Intact cats also increased their speed when stepping over an obstacle, an increase that disappeared after hemisection. The increase in complete clearance over time after hemisection paralleled the recovery of muscle activation patterns or new strategies. Our results suggest partial recovery of anticipatory control through neuroplastic changes in the locomotor control system.SIGNIFICANCE STATEMENT Most spinal cord injuries (SCIs) are incomplete and people can recover some walking functions. However, the main challenge for people with SCIs that do recover a high level of function is to produce a gait that can adjust to everyday occurrences, such as turning, stepping over an obstacle, etc. Here, we use the cat model to answer two basic questions: How does an animal negotiate an obstacle after an incomplete SCI and why does it fail to safely clear it? We show that the inability to clear an obstacle is because of improper activation of muscles that flex the knee. Animals recover a certain amount of function thanks to new strategies and changes within the nervous system.

Stroke-induced alteration in multi-layer information transmission of cortico-motor system during elbow isometric contraction modulated by myoelectric-controlled interfaces

Objective. Human movement is a complex process requiring information transmission in inter-cortical, cortico-muscular and inter-muscular networks. Though motor deficits after stroke are associated with impaired networks in the cortico-motor system, the mechanisms underlying these networks are to date not fully understood. The purpose of this study is to investigate the changes in information transmission of the inter-cortical, cortico-muscular and inter-muscular networks after stroke and the effect of myoelectric-controlled interface (MCI) dimensionality on such information transmission in each network.Approach. Fifteen healthy control subjects and 11 post-stroke patients were recruited to perform elbow tracking tasks within different dimensional MCIs in this study. Their electromyography (EMG) and functional near-infrared spectroscopy (fNIRS) signals were recorded simultaneously. Transfer entropy was used to analyse the functional connection that represented the information transmission in each network based on the fNIRS and EMG signals.Main results.The results found that post-stroke patients showed the increased inter-cortical connection versus healthy control subjects, which might be attributed to cortical reorganisation to compensate for motor deficits. Compared to healthy control subjects, a lower strength cortico-muscular connection was found in post-stroke patients due to the reduction of information transmission following a stroke. Moreover, the increased MCI dimensionality strengthened inter-cortical, cortico-muscular and inter-muscular connections because of higher visual information processing demands.Significance. These findings not only provide a comprehensive overview to evaluate changes in the cortico-motor system due to stroke, but also suggest that increased MCI dimensionality may serve as a useful rehabilitation tool for boosting information transmission in the cortico-motor system of post-stroke patients.

Neuronal Correlates of Functional Coupling between Reach- and Grasp-Related Components of Muscle Activity

Coordinated reach-to-grasp movements require precise spatiotemporal synchrony between proximal forelimb muscles (shoulder, elbow) that transport the hand toward a target during reach, and distal muscles (wrist, digit) that simultaneously preshape and orient the hand for grasp. The precise mechanisms through which the redundant neuromuscular circuitry coordinates reach with grasp, however, remain unclear. Recently, Geed and Van Kan (2016) demonstrated, using exploratory factor analysis (EFA), that limited numbers of global, template-like transport/preshape- and grasp-related muscle components underlie the complexity and variability of intramuscular electromyograms (EMGs) of up to 21 distal and proximal muscles recorded while monkeys performed reach-to-grasp tasks. Importantly, transport/preshape- and grasp-related muscle components showed invariant spatiotemporal coupling, which provides a potential mechanism for coordinating forelimb muscles during reach-to-grasp movements. In the present study, we tested whether ensemble discharges of forelimb neurons in the cerebellar nucleus interpositus (NI) and its target, the magnocellular red nucleus (RNm), a source of rubrospinal fibers, function as neuronal correlates of the transport/preshape- and grasp-related muscle components we identified. EFA applied to single-unit discharges of populations of NI and RNm neurons recorded while the same monkeys that were used previously performed the same reach-to-grasp tasks, revealed neuronal components in the ensemble discharges of both NI and RNm neuronal populations with characteristics broadly similar to muscle components. Subsets of NI and RNm neuronal components were strongly and significantly crosscorrelated with subsets of muscle components, suggesting that similar functional units of reach-to-grasp behavior are expressed by NI and RNm neuronal populations and forelimb muscles. Importantly, like transport/preshape- and grasp-related muscle components, their NI and RNm neuronal correlates showed invariant spatiotemporal coupling. Clinical and lesion studies have reported disruption of coupling between reach and grasp following cerebellar damage; the present results expand on those studies by identifying a neuronal mechanism that may underlie cerebellar contributions to spatiotemporal coordination of distal and proximal limb muscles during reaching to grasp. We conclude that finding similar functional units of behavior expressed at multiple levels of information processing along interposito-rubrospinal pathways and forelimb muscles supports the hypothesis that functionally related populations of NI and RNm neurons act synergistically in the control of complex coordinated motor behaviors.

Even low alcohol concentrations affect obstacle avoidance reactions in healthy senior individuals

BACKGROUND

Alcohol is a commonly used social drug and driving under influence is a well-established risk factor for traffic accidents1. To improve road safety, legal limits are set for blood alcohol concentration (BAC) and driving, usually at 0.05% (most European countries) or 0.08% (most US states, Canada and UK). In contrast, for walking there are no legal limits, yet there are numerous accounts of people stumbling and falling after drinking. Alcohol, even at these low concentrations, affects brain function and increases fall risk. An increased fall risk has been associated with impaired obstacle avoidance skills. Low level BACs are likely to affect obstacle avoidance reactions during gait, since the brain areas that are presumably involved in these reactions have been shown to be influenced by alcohol. Therefore we investigated the effect of low to moderate alcohol consumption on such reactions.Thirteen healthy senior individuals (mean(SD) age: 61.5(4.4) years, 9 male) were subjected to an obstacle avoidance task on a treadmill after low alcohol consumption. Fast stepping adjustments were required to successfully avoid suddenly appearing obstacles. Response times and amplitudes of the m. biceps femoris, a prime mover, as well as avoidance failure rates were assessed.

FINDINGS

After the first alcoholic drink, 12 of the 13 participants already had slower responses. Without exception, all participants' biceps femoris response times were delayed after the final alcoholic drink (avg ± sd:180 ± 20 ms; p < 0.001) compared to when participants were sober (156 ± 16 ms). Biceps femoris response times were significantly delayed from BACs of 0.035% onwards and were strongly associated with increasing levels of BAC (r = 0.6; p < 0.001). These delays had important behavioural consequences. Chances of hitting the obstacle were doubled with increased BACs.

CONCLUSIONS

The present results clearly show that even with BACs considered to be safe for driving, obstacle avoidance reactions are inadequate, late, and too small. This is likely to contribute to an increased fall risk. Therefore we suggest that many of the alcohol-related falls are the result of the disruptive effects of alcohol on the online corrections of the ongoing gait pattern when walking under challenging conditions.

A motor cortical contribution to the anticipatory postural adjustments that precede reaching in the cat

We tested the hypothesis that pyramidal tract neurons (PTNs) in the motor cortex contribute to the anticipatory postural adjustments (APAs) that precede the onset of a reach in the standing cat. We recorded the discharge activity of 151 PTNs in area 4 of the pericruciate cortex during reaches of both the contralateral and the ipsilateral limbs in an instructed delay task. A total of 70/151 PTNs were identified as showing an initial short-latency period of discharge following the Go signal. Linear regression analysis showed that in many of these PTNs the short-latency discharge was time-locked to the Go signal and temporally dissociated from the subsequent voluntary movement of the limb. The onset of the change in activity of most of those Go-related neurons that we could test (62/70) was temporally related to the onset of the change in the center of vertical pressure. In 33/70 PTNs, Go-related activity was observed only during contralateral reach, in 13/70 only during ipsilateral reach, and in 24/70 during movements of each limb; most of these latter cells (20/24) showed nonreciprocal changes in activity. Although 35/151 (23%) cells showed significant changes during the instructed delay period for reaches made with at least one of the limbs, only one neuron showed a significant reciprocal change during reaches with either limb. We suggest that the discharge characteristics of these PTNs are compatible with our hypothesis that the motor cortex contributes to the production of the APAs preceding movement.

Re-expression of Locomotor Function After Partial Spinal Cord Injury

After a complete spinal section, quadruped mammals (cats, rats, and mice) can generally regain hindlimb locomotion on a treadmill because the spinal cord below the lesion can express locomotion through a neural circuitry termed the central pattern generator (CPG). In this review, we propose that the spinal CPG also plays a crucial role in the locomotor recovery after incomplete spinal cord injury.

Object avoidance during locomotion

Many animals rely on vision for navigating through complex environments and for avoiding specific obstacles during locomotion. Navigation and obstacle avoidance are tasks that depend on gathering information about the environment by vision and using this information at later times to guide limb and body movements. Here we review studies demonstrating the use of short-term visual memory during walking in humans and cats. Our own investigations have demonstrated that cats have the ability to retain a memory of an obstacle they have stepped over with the forelegs for many minutes and to use this memory to guide stepping of the hindlegs to avoid the remembered obstacle. A brain region that may be critically involved in the retention of memories of the location of obstacles is the posterior parietal cortex. Recordings from neurons in area 5 in the posterior parietal cortex in freely walking cats have revealed the existence of neurons whose activity is strongly correlated with the location of an obstacle relative to the body. How these neurons might be used to regulate motor commands remains to be established. We believe that studies on obstacle avoidance in walking cats have the potential to significantly advance our understanding of visuo-motor transformations. Current knowledge about the brain regions and pathways underlying visuo-motor transformations during walking are reviewed.

Validating determinants for an alternate foot placement selection algorithm during human locomotion in cluttered terrain

The goal of this study was to validate dynamic stability and forward progression determinants for the alternate foot placement selection algorithm. Participants were asked to walk on level ground and avoid stepping, when present, on a virtual white planar obstacle. They had a one-step duration to select an alternate foot placement, with the task performed under two conditions: free (participants chose the alternate foot placement that was appropriate) and forced (a green arrow projected over the white planar obstacle cued the alternate foot placement). To validate the dynamic stability determinant, the distance between the extrapolated center of mass (COM) position, which incorporates the dynamics of the body, and the limits of the base of support was calculated in both anteroposterior (AP) and mediolateral (ML) directions in the double support phase. To address the second determinant, COM deviation from straight ahead was measured between adaptive and subsequent steps. The results of this study showed that long and lateral choices were dominant in the free condition, and these adjustments did not compromise stability in both adaptive and subsequent steps compared with the short and medial adjustments, which were infrequent and adversely affected stability. Therefore stability is critical when selecting an alternate foot placement in a cluttered terrain. In addition, changes in the plane of progression resulted in small deviations of COM from the endpoint goal. Forward progression of COM was maintained even for foot placement changes in the frontal plane, validating this determinant as part of the selection algorithm.

Recent advances in functional neuroimaging of gait

In this review, we discuss the contribution of functional neuroimaging to the understanding of the cerebral control of gait in humans, both in healthy subjects and in patients with Parkinson's disease. We illustrate different approaches that have been used to address this issue, ranging from the imaging of actual gait performance to the study of initiation and imagery of gait. We also consider related approaches focused on specific aspects of gait, like those addressed by repetitive foot movements. We provide a critical discussion of advantages and disadvantages of each approach, emphasizing crucial issues to be addressed for a better understanding of the neural control of human gait.

Differential activity-dependent development of corticospinal control of movement and final limb position during visually guided locomotion

Although we understand that activity- and use-dependent processes are important in determining corticospinal axon terminal development in the spinal cord, little is known about the role of these processes in development of skilled control of limb movements. In the present study we determined the effects of unilateral motor cortex activity blockade produced by muscimol infusion during the corticospinal axon terminal refinement period, between postnatal weeks 5-7, on visually guided locomotion. We examined stepping and forepaw placement on the rungs of a horizontal ladder and gait modifications as animals stepped over obstacles during treadmill walking. When cats traversed the horizontal ladder, the limb contralateral to inactivation was placed significantly farther forward on the rungs than the ipsilateral limb, indicating defective endpoint control. Similarly, when animals stepped over obstacles on a treadmill, the contralateral limb was placed farther in front of the obstacle, but only when it was the first (i.e., leading) limb to step over the obstacle, not when it was the second (i.e., trailing) limb. This is also indicative of an endpoint control deficit. In contrast, neither during ladder walking, nor when stepping over obstacles on the treadmill, was there any consistent evidence for a major impairment in limb trajectory. These results point to distinct and possibility independent corticospinal mechanisms for movement trajectory control and endpoint control. Although corticospinal activity during early postnatal development is needed to refine circuits for accurate endpoint control, this activity-dependent refinement is not needed for movement trajectory control.

Lesions of Area 5 of the Posterior Parietal Cortex in the Cat Produce Errors in the Accuracy of Paw Placement During Visually Guided Locomotion

We developed a novel locomotor task in which cats step over obstacles that move at a different speed from that of the treadmill on which the cat is walking: we refer to this as a visual dissociation locomotion task. Slowing the speed of the obstacle with respect to that of the treadmill sometimes led to a major change in strategy so that cats made two steps with the hindlimbs before stepping over the obstacle (double step strategy) instead of the single step (standard strategy) observed when the obstacle was at the same speed as the treadmill. In addition, in the step preceding the step over the obstacle, the paws were placed significantly closer to the obstacle in the visual dissociation task than when the treadmill and the obstacle were at the same speed. After unilateral lesion of area 5 of the posterior parietal cortex (PPC), the cats frequently hit the obstacle as they stepped over it, especially in the visual dissociation task. This locomotor deficit was linked to significant differences in the location in which the forelimbs were placed in the step preceding that over the obstacle compared with the prelesion control. Cats also frequently hit the obstacle with their hindlimbs even when the forelimbs negotiated the obstacle successfully; this suggests an important role for the posterior parietal cortex in the coordination of the forelimbs and hindlimbs. Together, these results suggest an important contribution of the PPC to the planning of visually guided gait modifications.

Long-lasting, context-dependent modification of stepping in the cat after repeated stumbling-corrective responses

A consistent feature of animal locomotion is the capacity to maintain stable movements in changing environments. Here we describe long-term modification of the swing movement of the hind leg in cats in response to repeatedly impeding the movement of the leg. While studying phase transitions in the hind legs, we discovered that repetitively evoking the stumbling-corrective reaction led to long-lasting increases in knee flexion and step height during swing to avoid the impediment. These increases were apparent after nearly 20 stimuli and maximal after about 120 stimuli and, in some animals, they persisted for > or =24 h after presentation of the stimuli. Furthermore, these long-lasting changes were context dependent and did not generalize to other environments; when walking was observed in an environment distinct from that used in training, the hind-limb kinematics returned to normal. To gain insight into what regions of the nervous system might be involved in this long-term modification, we examined the changes in stepping in decerebrate cats after multiple perturbed steps. In this situation, there was a short-term increase in step height, although this increase was smaller than that evoked in intact animals and persisted for <1 min after termination of the stimuli. Thus induction of the long-term increase in step height requires the forebrain. We propose that the conditioned change in leg movement is related to a general ability of animals to adapt locomotor movements to new features of the environment.

Sequential activation of muscle synergies during locomotion in the intact cat as revealed by cluster analysis and direct decomposition

During goal-directed locomotion, descending signals from supraspinal structures act through spinal interneuron pathways to effect modifications of muscle activity that are appropriate to the task requirements. Recent studies using decomposition methods suggest that this control might be facilitated by activating synergies organized at the level of the spinal cord. However, it is difficult to directly relate these mathematically defined synergies to the patterns of electromyographic activity observed in the original recordings. To address this issue, we have used a novel cluster analysis to make a detailed study of the organization of the synergistic patterns of muscle activity observed in the fore- and hindlimb during treadmill locomotion. The results show that the activity of a large number of forelimb muscles (26 bursts of activity from 18 muscles) can be grouped into 11 clusters on the basis of synchronous co-activation. Nine (9/11) of these clusters defined muscle activity during the swing phase of locomotion; these clusters were distributed in a sequential manner and were related to discrete behavioral events. A comparison with the synergies identified by linear decomposition methods showed some striking similarities between the synergies identified by the different methods. In the hindlimb, a simpler organization was observed, and a sequential activation of muscles similar to that observed in the forelimb during swing was less clear. We suggest that this organization of synergistic muscles provides a means by which descending signals could provide the detailed control of different muscle groups that is necessary for the flexible control of multi-articular movements.

Dynamic sensorimotor interactions in locomotion

Locomotion results from intricate dynamic interactions between a central program and feedback mechanisms. The central program relies fundamentally on a genetically determined spinal circuitry (central pattern generator) capable of generating the basic locomotor pattern and on various descending pathways that can trigger, stop, and steer locomotion. The feedback originates from muscles and skin afferents as well as from special senses (vision, audition, vestibular) and dynamically adapts the locomotor pattern to the requirements of the environment. The dynamic interactions are ensured by modulating transmission in locomotor pathways in a state- and phase-dependent manner. For instance, proprioceptive inputs from extensors can, during stance, adjust the timing and amplitude of muscle activities of the limbs to the speed of locomotion but be silenced during the opposite phase of the cycle. Similarly, skin afferents participate predominantly in the correction of limb and foot placement during stance on uneven terrain, but skin stimuli can evoke different types of responses depending on when they occur within the step cycle. Similarly, stimulation of descending pathways may affect the locomotor pattern in only certain phases of the step cycle. Section ii reviews dynamic sensorimotor interactions mainly through spinal pathways. Section iii describes how similar sensory inputs from the spinal or supraspinal levels can modify locomotion through descending pathways. The sensorimotor interactions occur obviously at several levels of the nervous system. Section iv summarizes presynaptic, interneuronal, and motoneuronal mechanisms that are common at these various levels. Together these mechanisms contribute to the continuous dynamic adjustment of sensorimotor interactions, ensuring that the central program and feedback mechanisms are congruous during locomotion.

Changes in Corticospinal Efficacy Contribute to the Locomotor Plasticity Observed After Unilateral Cutaneous Denervation of the Hindpaw in the Cat

We used microwire electrodes chronically implanted into the hindlimb representation of the motor cortex as well as into the pyramidal tract to test the hypothesis that the corticospinal system contributes to the locomotor plasticity that is observed after cutaneous denervation of the cat hindpaw. A total of 23 electrodes implanted into the motor cortex in three cats trained to walk on a treadmill produced phase-dependent, short-latency, twitch responses in hindlimb flexor and extensor muscles during locomotion. After a unilateral cutaneous denervation of the hindpaw, the cats showed transient deficits in locomotion, including a dragging of the hindpaw along the treadmill belt during the swing phase. This deficit rapidly recovered over the course of a few days. The recovery of locomotion was accompanied by an increase in the magnitude of the responses evoked in different muscles by the cortical stimulation at all 23 cortical sites. Response magnitude increased rapidly within the first 1–2 wk postdenervation before attaining a plateau at ≥3 wk. In two cats, for which detailed information was obtained, response magnitude in the knee flexor, semitendinosus (St), was increased by >250% at 14/18 sites (mean increase = 1,235%). Increased responses in the St to stimulation were also observed at two of the four pyramidal tract sites after the denervation but were relatively smaller (max = 593%) than those evoked by the cortical stimulation. We suggest that the denervation produces changes in both cortical and spinal excitability that, together, produce a change in corticospinal efficacy that contributes to the recovery of locomotor function.

Reduced Functional Recovery by Delaying Motor Training After Spinal Cord Injury

The purpose of this study was to examine if a delay in rehabilitative motor training after spinal cord injury affects functional motor recovery. We studied a skilled motor task in which rats traversed a raised horizontal ladder and we quantified errors in accurate stepping, i.e., foot slips between rungs. After lesions to the dorsal quadrant of the thoracic (T8) spinal cord that aimed to unilaterally sever the corticospinal and rubrospinal tracts, rats were re-trained to walk across the ladder, either immediately after injury or after a 3-mo delay. Before training, the error rate in accurate stepping of the affected hindlimb was similar in the immediately (69.4 ± 5.3%) and delay (62.7 ± 4.1%; means ± SE)-trained animals (not significantly different), suggesting that accurate stepping did not improve spontaneously if rats were not exposed to the ladder. After a 3-wk course of training (30 runs across the ladder per day, 5 day/wk), improvements in accurate stepping performance were greater if training was implemented immediately after injury. On average, immediately trained animals improved stepping performance by 61.5 ± 28.2%, whereas the delay trained group improved by only 34.9 ± 28.8% (significantly different). The degree of damage to the corticospinal and rubrospinal tracts was very similar in the two groups of animals, indicating that differences in lesion size did not contribute to the differences in performance improvement. Animals with large lesions to the corticospinal and rubrospinal tracts (>70%) displayed poor recovery from training (especially for delay-trained animals), suggesting that these two pathways were important in mediating improvements in accurate stepping. In addition, recovery of stepping-like reflexes appeared not to contribute to the recovery of accurate stepping given that the time course of reflex recovery was not related to the time course of recovery of accurate stepping. We conclude that training of a skilled motor task that relies on descending control is more beneficial when initiated immediately after a partial spinal cord injury.

Contribution of the motor cortex to the structure and the timing of hindlimb locomotion in the cat: a microstimulation study

We used microstimulation to examine the contribution of the motor cortex to the structure and timing of the hindlimb step cycle during locomotion in the intact cat. Stimulation was applied to the hindlimb representation of the motor cortex in 34 sites in three cats using either standard glass-insulated microelectrodes (16 sites in 1 cat) or chronically implanted microwire electrodes (18 sites in 2 cats). Stimulation at just suprathreshold intensities with the cat at rest produced multi-joint movements at a majority of sites (21/34, 62%) but evoked responses restricted to a single joint, normally the ankle, at the other 13/34 (38%) sites. Stimulation during locomotion generally evoked larger responses than the same stimulation at rest and frequently activated additional muscles. Stimulation at all 34 sites evoked phase-dependent responses in which stimulation in swing produced transient increases in activity in flexor muscles while stimulation during stance produced transient decreases in activity in extensors. Stimulation with long (200 ms) trains of stimuli in swing produced an increased level of activity and duration of flexor muscles without producing changes in cycle duration. In contrast, stimulation during stance decreased the duration of the extensor muscle activity and initiated a new and premature period of swing, resetting the step cycle. Stimulation of the pyramidal tract in two of these three cats as well as in two additional ones produced similar effects. The results show that the motor cortex is capable of influencing hindlimb activity during locomotion in a similar manner to that seen for the forelimb.

Transfer of Motor Performance in an Obstacle Avoidance Task to Different Walking Conditions

The aim of this study was to examine whether subjects who have learned a skilled locomotor task can transfer the acquired performance to conditions involving either a change in the external coordinates or in the sensory input from one leg. Subjects were trained to step over an obstacle with minimal foot clearance without visual information about either the obstacle or their legs during treadmill walking. Leg muscle activity and joint kinematics were recorded and analyzed. Acoustic signals provided feedback about foot clearance over the obstacle. After successful training, the transfer of learning between level and downhill walking and to walking with additional weight attached to the leg was examined. It was found that once subjects learned to step over the obstacle at an optimal foot clearance, they could transfer their performance within the first step over the obstacle in the new walking conditions. Closer examination of the transfer between level and downhill walking revealed no consistent kinematic strategy across subjects. To transfer the learned performance to walking with additional weight, subjects consistently and automatically increased biceps femoris muscle activation. The results are discussed in the context of emerging concepts in the neural control of walking and motor learning.

Critical Points in the Forelimb Fictive Locomotor Cycle and Motor Coordination: Evidence From the Effects of Tonic Proprioceptive Perturbations in the Cat

During locomotion, the limbs of one girdle must remain coordinated in different conditions. To understand the neural mechanisms underlying such coordination, tonic protraction/ retraction of one shoulder or tonic flexion/extension of one elbow was applied during fictive locomotion in high decerebrate and paralyzed cats. We studied bilateral changes in the timing and amplitude characteristics of electroneurographic (ENG) muscle nerve bursts of cleidobrachialis (ClB, elbow flexor and shoulder protractor) and the two heads of triceps (long, TriLo, elbow extensor and shoulder retractor and lateral, TriLa, elbow extensor). Perturbations induced bilateral changes in amplitude and timing of ENG bursts that were anchored on certain critical points in the cycle. These critical points could correspond to morphological characteristics within the bursts or to bilateral onsets or offsets of ENG bursts. For instance, in response to shoulder and elbow perturbations, burst changes occur in relation to a fixed point, labeled point C, occurring at about mid-extensor burst and corresponding to a simultaneous abrupt increase in TriLa amplitude and a decrease in amplitude of contralateral ClB. At a point labeled B, corresponding to about mid-flexor burst, ClB amplitude increases above control with elbow extension or starts decreasing with shoulder protraction. Although cycle reorganization is specific for each type of tonic perturbation, a common feature is that the changes in burst duration are achieved through discrete shifts between consecutive critical points. It is postulated that coordination may be based on a discrete temporal cycle structure along which critical points delimiting burst components are shifted.

Neural adaptation in the generation of rhythmic behavior

Motor systems can adapt rapidly to changes in external conditions and to switching of internal goals. They can also adapt slowly in response to training, alterations in the mechanics of the system, and any changes in the system resulting from injury. This article reviews the mechanisms underlying short- and long-term adaptation in rhythmic motor systems. The neuronal networks underlying the generation of rhythmic motor patterns (central pattern generators; CPGs) are extremely flexible. Neuromodulators, central commands, and afferent signals all influence the pattern produced by a CPG by altering the cellular and synaptic properties of individual neurons and the coupling between different populations of neurons. This flexibility allows the generation of a variety of motor patterns appropriate for the mechanical requirements of different forms of a behavior. The matching of motor output to mechanical requirements depends on the capacity of pattern-generating networks to adapt to slow changes in body mechanics and persistent errors in performance. Afferent feedback from body and limb proprioceptors likely plays an important role in driving these long-term adaptive processes.