Sensory feedback and central neuronal interactions in mouse locomotion

Locomotion is a complex process involving specific interactions between the central neural controller and the mechanical components of the system. The basic rhythmic activity generated by locomotor circuits in the spinal cord defines rhythmic limb movements and their central coordination. The operation of these circuits is modulated by sensory feedback from the limbs providing information about the state of the limbs and the body. However, the specific role and contribution of central interactions and sensory feedback in the control of locomotor gait and posture remain poorly understood. We use biomechanical data on quadrupedal locomotion in mice and recent findings on the organization of neural interactions within the spinal locomotor circuitry to create and analyse a tractable mathematical model of mouse locomotion. The model includes a simplified mechanical model of the mouse body with four limbs and a central controller composed of four rhythm generators, each operating as a state machine controlling the state of one limb. Feedback signals characterize the load and extension of each limb as well as postural stability (balance). We systematically investigate and compare several model versions and compare their behaviour to existing experimental data on mouse locomotion. Our results highlight the specific roles of sensory feedback and some central propriospinal interactions between circuits controlling fore and hind limbs for speed-dependent gait expression. Our models suggest that postural imbalance feedback may be critically involved in the control of swing-to-stance transitions in each limb and the stabilization of walking direction.

Dynamics of cortical and corticomuscular connectivity during planning and execution of visually guided steps in humans

The cortical mechanisms underlying the act of taking a step-including planning, execution, and modification-are not well understood. We hypothesized that oscillatory communication in a parieto-frontal and corticomuscular network is involved in the neural control of visually guided steps. We addressed this hypothesis using source reconstruction and lagged coherence analysis of electroencephalographic and electromyographic recordings during visually guided stepping and 2 control tasks that aimed to investigate processes involved in (i) preparing and taking a step and (ii) adjusting a step based on visual information. Steps were divided into planning, initiation, and execution phases. Taking a step was characterized by an upregulation of beta/gamma coherence within the parieto-frontal network during planning followed by a downregulation of alpha and beta/gamma coherence during initiation and execution. Step modification was characterized by bidirectional modulations of alpha and beta/gamma coherence in the parieto-frontal network during the phases leading up to step execution. Corticomuscular coherence did not exhibit task-related effects. We suggest that these task-related modulations indicate that the brain makes use of communication through coherence in the context of large-scale, whole-body movements, reflecting a process of flexibly fine-tuning inter-regional communication to achieve precision control during human stepping.

Children With Developmental Coordination Disorder Exhibit Greater Stepping Error Despite Similar Gaze Patterns and State Anxiety Levels to Their Typically Developing Peers

This study examined stepping accuracy, gaze behavior, and state-anxiety in children with (N = 21, age M = 10.81, SD = 1.89) and without (N = 18, age M = 11.39, SD = 2.06) developmental coordination disorder (DCD) during an adaptive locomotion task. Participants walked at a self-selected pace along a pathway, placing their foot into a raised rectangular floor-based target box followed by either no obstacles, one obstacle, or two obstacles. Stepping kinematics and accuracy were determined using three-dimensional motion capture, whilst gaze was determined using mobile eye-tracking equipment. The children with DCD displayed greater foot placement error and variability when placing their foot within the target box and were more likely to make contact with its edges than their typically developing (TD) peers. The DCD group also displayed greater variability in the length and width of their steps in the approach to the target box. No differences were observed between groups in any of the gaze variables measured, in mediolateral velocity of the center of mass during the swing phase into the target box, or in the levels of self-reported state-anxiety experienced prior to facing each task. We therefore provide the first quantifiable evidence that deficits to foot placement accuracy and precision may be partially responsible for the increased incidence of trips and falls in DCD, and that these deficits are likely to occur independently from gaze behavior and state-anxiety.

Current Principles of Motor Control, with Special Reference to Vertebrate Locomotion

The vertebrate control of locomotion involves all levels of the nervous system from cortex to the spinal cord. Here, we aim to cover all main aspects of this complex behavior, from the operation of the microcircuits in the spinal cord to the systems and behavioral levels and extend from mammalian locomotion to the basic undulatory movements of lamprey and fish. The cellular basis of propulsion represents the core of the control system, and it involves the spinal central pattern generator networks (CPGs) controlling the timing of different muscles, the sensory compensation for perturbations, and the brain stem command systems controlling the level of activity of the CPGs and the speed of locomotion. The forebrain and in particular the basal ganglia are involved in determining which motor programs should be recruited at a given point of time and can both initiate and stop locomotor activity. The propulsive control system needs to be integrated with the postural control system to maintain body orientation. Moreover, the locomotor movements need to be steered so that the subject approaches the goal of the locomotor episode, or avoids colliding with elements in the environment or simply escapes at high speed. These different aspects will all be covered in the review.

Gait Disorders and Falls in the Elderly

Gait disorders in the elderly may be based on a neurologic deficit at multiples levels, or may be secondary to nonneurologic causes. The physiology and pathophysiology of gait problems are reviewed and bedside examination and investigative tools are discussed. The reader will have an excellent working knowledge of the subject and will know how to diagnose and treat gait disorders and falls.

Sensory feedback and coordinating asymmetrical landing in toads

Coordinated landing requires anticipating the timing and magnitude of impact, which in turn requires sensory input. To better understand how cane toads, well known for coordinated landing, prioritize visual versus vestibular feedback during hopping, we recorded forelimb joint angle patterns and electromyographic data from five animals hopping under two conditions that were designed to force animals to land with one forelimb well before the other. In one condition, landing asymmetry was due to mid-air rolling, created by an unstable takeoff surface. In this condition, visual, vestibular and proprioceptive information could be used to predict asymmetric landing. In the other, animals took off normally, but landed asymmetrically because of a sloped landing surface. In this condition, sensory feedback provided conflicting information, and only visual feedback could appropriately predict the asymmetrical landing. During the roll treatment, when all sensory feedback could be used to predict an asymmetrical landing, pre-landing forelimb muscle activity and movement began earlier in the limb that landed first. However, no such asymmetries in forelimb preparation were apparent during hops onto sloped landings when only visual information could be used to predict landing asymmetry. These data suggest that toads prioritize vestibular or proprioceptive information over visual feedback to coordinate landing.

Effects of Partial Absence of Visual Feedback Information on Gait Symmetry

The incorporation of real-time visual feedback during gait rehabilitation can improve the efficacy of training. Our prior work demonstrated that the imposed distortion of simple visual feedback information of step lengths entails an unintentional adaptive process in the subjects' spatial gait pattern, thereby suggesting the important role of implicit learning in the context of gait rehabilitation that employs visual feedback. The purpose of this study was to investigate whether the removal of a portion of visual feedback information-after it had initially been provided-had any impact on gait symmetry. Eighteen healthy subjects walked on a treadmill for 10-min periods at their preferred walking speed and at a slower walking speed (1.3 mph) during the experimental trials, in which two simple vertical bars corresponding to subject's right and left step length were displayed on a computer screen. Halfway through the trial, one of the bars was removed from the visual feedback via random selection. Subjects were instructed to continually walk normally and also look at the visual feedback until the trials were completed. The changes in step length symmetry ratio were computed and analyzed. We found that displaying only one side of visual feedback influenced subjects to spontaneously modulate gait symmetry away from the baseline, and also that the amount of modulated gait symmetry slightly increased when their walking speed decreased. The changes in gait symmetry occurred by producing either longer right steps produced than left steps or vice versa, but we were unable to find any correlation between side of removal (right or left side) and the different types of trend in response. This warrants further investigation in a study with a larger population. Nonetheless, the results of this study demonstrated the effect of partial absence of visual feedback on changes in step symmetry, and that the perturbation of visual information caused implicit (unintentional) motor processes. A gait training procedure involving a novel way of perturbing visual feedback, such as partial absence of visual feedback tested in this study, may be of value in gait rehabilitation by driving more efficient motor adaptations.

Locomotor sequence learning in visually guided walking

Voluntary limb modifications must be integrated with basic walking patterns during visually guided walking. In this study we tested whether voluntary gait modifications can become more automatic with practice. We challenged walking control by presenting visual stepping targets that instructed subjects to modify step length from one trial to the next. Our sequence learning paradigm is derived from the serial reaction-time (SRT) task that has been used in upper limb studies. Both random and ordered sequences of step lengths were used to measure sequence-specific and sequence-nonspecific learning during walking. In addition, we determined how age (i.e., healthy young adults vs. children) and biomechanical factors (i.e., walking speed) affected the rate and magnitude of locomotor sequence learning. The results showed that healthy young adults (age 24 ± 5 yr,n= 20) could learn a specific sequence of step lengths over 300 training steps. Younger children (age 6-10 yr,n= 8) had lower baseline performance, but their magnitude and rate of sequence learning were the same compared with those of older children (11-16 yr,n= 10) and healthy adults. In addition, learning capacity may be more limited at faster walking speeds. To our knowledge, this is the first study to demonstrate that spatial sequence learning can be integrated with a highly automatic task such as walking. These findings suggest that adults and children use implicit knowledge about the sequence to plan and execute leg movement during visually guided walking.

Integrating multiple sensory systems to modulate neural networks controlling posture

In this study we investigated the ability of sensory input to produce tonic responses in hindlimb muscles to facilitate standing in adult spinal rats and tested two hypotheses: 1) whether the spinal neural networks below a complete spinal cord transection can produce tonic reactions by activating different sensory inputs and 2) whether facilitation of tonic and rhythmic responses via activation of afferents and with spinal cord stimulation could engage similar neuronal mechanisms. We used a dynamically controlled platform to generate vibration during weight bearing, epidural stimulation (at spinal cord level S1), and/or tail pinching to determine the postural control responses that can be generated by the lumbosacral spinal cord. We observed that a combination of platform displacement, epidural stimulation, and tail pinching produces a cumulative effect that progressively enhances tonic responses in the hindlimbs. Tonic responses produced by epidural stimulation alone during standing were represented mainly by monosynaptic responses, whereas the combination of epidural stimulation and tail pinching during standing or epidural stimulation during stepping on a treadmill facilitated bilaterally both monosynaptic and polysynaptic responses. The results demonstrate that tonic muscle activity after complete spinal cord injury can be facilitated by activation of specific combinations of afferent inputs associated with load-bearing proprioception and cutaneous input in the presence of epidural stimulation and indicate that whether activation of tonic or rhythmic responses is generated depends on the specific combinations of sources and types of afferents activated in the hindlimb muscles.

Which way is up? Asymmetric spectral input along the dorsal-ventral axis influences postural responses in an amphibious annelid

Medicinal leeches are predatory annelids that exhibit countershading and reside in aquatic environments where light levels might be variable. They also leave the water and must contend with terrestrial environments. Yet, leeches generally maintain a dorsal upward position despite lacking statocysts. Leeches respond visually to both green and near-ultraviolet (UV) light. I used LEDs to test the hypothesis that ventral, but not dorsal UV would evoke compensatory movements to orient the body. Untethered leeches were tested using LEDs emitting at red (632 nm), green (513 nm), blue (455 nm) and UV (372 nm). UV light evoked responses in 100 % of trials and the leeches often rotated the ventral surface away from it. Visible light evoked no or modest responses (12-15 % of trials) and no body rotation. Electrophysiological recordings showed that ventral sensilla responded best to UV, dorsal sensilla to green. Additionally, a higher order interneuron that is engaged in a variety of parallel networks responded vigorously to UV presented ventrally, and both the visible and UV responses exhibited pronounced light adaptation. These results strongly support the suggestion that a dorsal light reflex in the leech uses spectral comparisons across the dorsal-ventral axis rather than, or in addition to, luminance.

Effect of explicit visual feedback distortion on human gait

Background

Gait rehabilitation often utilizes correction of stepping movements, and visual feedback is one of the interactive forms that can be used for rehabilitation. We presented a paradigm called visual feedback distortion in which we manipulated the visual representation of step length. Our previous work showed that an implicit distortion of visual feedback of step length entails unintentional modulations in the subjects’ gait spatial pattern. Even in the presence of cognitive load through a distraction task, distortion of visual feedback still induced modulation of gait step length. In the current study, subjects were aware of the imposed distortion of visual feedback and they were instructed to maintain their natural gait symmetric pattern during trials. We then studied whether such an explicit “visual feedback distortion” would still influence gait spatial pattern.

Methods

Nine healthy subjects participated in the treadmill walking trial. The step length was defined as the distance between each foot. The on-line visual feedback showing right and left step length information as bar graphs was displayed on a computer screen. When distorting the visual feedback, the height of the bar for only one side was manipulated, so that subjects perceived their step length as being asymmetric. Actual step lengths were measured during trial and analyzed to see the effects of visual feedback distortion.

Results

Our results showed that a gradual distortion of visual feedback systematically modulated gait step length away from symmetry even at the expense of an opposing apparent task goal. It was also observed that the amount of induced gait modulation was reduced during the explicit condition compared to the implicit condition where subjects were not aware of distortion.

Conclusions

Our study demonstrated that although the visual feedback display used in this study did not alter visual space or evoke illusions of motion, perturbation of visual information about subjects’ movement can cause unintentional motor functions. This suggests that the effect of visual feedback distortion is spontaneous and a gait training involving the visual distortion paradigm may provide an effective way to help subjects correct gait patterns by driving implicit motor functions, thereby bringing benefits to rehabilitation.

Influence of Visual Impairment Level on the Regulatory Mechanism Used during the Approach Phase of a Long Jump

The purpose of the study was to investigate the occurrence of stride regulation at the approach phase of the long jump in athletes with normal vision and visually deprived Class F12 and F13 athletes. All the athletes exhibited the presence of a regulatory mechanism. In the normal vision group this occurred on the fifth-to-last stride. In Class F12 athletes regulation commenced on the fourth-to-last stride for males and third-to-last stride for females. Class F13 males commenced regulation, like the control group, on the fifth-to-last stride; but females commenced on the fourth-to-last stride. The study demonstrated that reduced vision does not prevent Class F12 and F13 athletes from applying a regulatory mechanism similar to that observed in sighted athletes. However, the control mechanism of regulation emerged earlier in non-visually deprived long jumpers and the least visually impaired Class F13 athletes, signifying the importance of visual function in the regulatory stimuli.

3D body segment oscillation and gait analysis for vestibular disorders

OBJECTIVE

To investigate the patterns of gait and locomotion in three dimension space in patients with vestibular disorders.

METHODS

A 3D motion analysis system was employed to evaluate locomotor pattern and body's oscillation during gait under different conditions (normal, slow, fast speeds walking with eye open and normal speed walking with eyes closed) of nine patients with vestibular disorders. Twenty-one markers placed on the subject to record kinematics and locomotions of the head, spine and pelvis segments while walking. For each locomotor trial, the walking speed, locomotor patterns as well as the absolute angular dispersions of six segments around the roll, pitch and yaw axes were calculated to assess the equilibrium strategies of head, trunk and pelvis. Data was also recorded in 10 healthy subjects as control.

RESULTS

Patients' cadence is faster, and the stride time at normal walking speed is shorter than that of the controls (p<0.05). The body sway has also been documented some impairment in patients. With respect to the control, patients' oscillation of trunk around yaw axis at fast speed is less (p<0.05), which means the patient seems need less shoulder torsional movement. Moreover, the most prominent changes in patients are the sway of hip in roll, which is significant less than controls at fast (p<0.01), slow speed (p<0.01) and in eye-closed condition (p<0.05).

CONCLUSION

Our investigation corroborates those reports that higher velocities would be helpful for the increased gait stability in patients with vestibular disorders. And the body always try to keep the stability of head during gait, even under vestibular deficit conditions.

Effects of implicit visual feedback distortion on human gait

Gait rehabilitation after stroke often utilizes treadmill training delivered by either therapists or robotic devices. However, clinical results have shown no benefit from this modality when compared to usual care. On the contrary, results were inferior; perhaps, because in its present form it is not interactive and at least for stroke, central pattern generators at the spinal level do not appear to be the key to promote recovery. To enable gait therapy to be more effective, therapy must be interactive and visual feedback appears to be an important option to engage patients' participation. In this study, we tested healthy subjects to see whether an implicit "visual feedback distortion" influences gait spatial pattern. Subjects were not aware of the visual distortion nor did they realize changes in their gait pattern. The visual feedback of step length symmetry was distorted so that subjects perceived their step length as being asymmetric during treadmill training. We found that a gradual distortion of visual feedback, without explicit knowledge of the manipulation, systematically modulated gait step length away from symmetry and that the visual distortion effect was robust even in the presence of cognitive load. This indicates that although the visual feedback display used in this study did not create a conscious and vivid sensation of self-motion (the properties of the optical flow), experimental modifications of visual information of subjects' movement were found to cause implicit gait modulation. Nevertheless, our results indicate that modulation with visual distortion may require cognitive resources because during the distraction task, the amount of gait modulation was reduced. Our results suggest that a therapeutic program involving visual feedback distortion, in the context of gait rehabilitation, may provide an effective way to help subjects correct gait patterns, thereby improving the outcome of rehabilitation.

Gait deviations induced by visual stimulation in roll

Locomotion control uses proprioceptive, visual, and vestibular signals. The vestibular contribution has been analyzed previously with galvanic vestibular stimulation (GVS), which constitutes mainly a virtual head-fixed rotation in the roll plane that causes polarity-specific deviations of gait. In this study we examined whether a visual disturbance has similar effects on gait when it acts in the same direction as GVS, i.e., when roll vection is induced by head-fixed visual roll motion stimulation. Random dot patterns were constantly rotated in roll at +/-15 degrees /s on a computer-driven binocular head-mounted display that was worn by eight healthy participants. Their gait trajectories were tracked while they walked a distance of 6 m. A stimulation effect was observed only for the first three to four steps, but not for the whole walking distance. These results are similar to the results of previous GVS studies, suggesting that in terms of the direction of action visual motion stimulations in the roll plane are similar to GVS. Both kinds of stimulation cause only initial balance responses in the roll plane but do not contribute to the steering of gait in the yaw plane.

Gait parameters of treadmill versus overground locomotion in mouse

Many studies of interest in motor behaviour and motor impairment in mice use equally treadmill or track as a routine test. However, the literature in mammals shows a wide difference of results between the kinematics of treadmill and overground locomotion. To study these discrepancies, we analyzed the locomotion of adult SWISS-OF1 mice over a large range of velocities using treadmill and overground track. The use of a high-speed video camera combined with cinefluoroscopic equipment allowed us to quantify in detail the various space and time parameters of limb kinematics. The results show that mice maintain the same gait pattern in both conditions. However, they also demonstrate that during treadmill exercise mice always exhibit higher stride frequency and consequently lower stride length. The relationship of the stance time and the swing time against the stride frequency are still the same in both conditions. We conclude that the conflict related to the discrepancy between the proprioceptive, vestibular, and visual inputs contribute to an increase in the stride frequency during the treadmill locomotion.

The neuromechanical tuning hypothesis

Simulations performed with neuromechanical models are providing insight into the neural control of locomotion that would be hard if not impossible to obtain in any other way. We first discuss the known properties of the neural mechanisms controlling locomotion, with a focus on mammalian systems. The rhythm-generating properties of central pattern generators (CPGs) are discussed in light of results indicating that cycle characteristics may be preset by tonic drive to spinal interneuronal networks. We then describe neuromechanical simulations that have revealed some basic rules of interaction between CPGs, sensory-mediated switching mechanisms and the biomechanics of locomotor movements. We posit that the spinal CPG timer and the sensory-mediated switch operate in parallel, the former being driven primarily by descending inputs and the latter by the kinematics. The CPG timer produces extensor and flexor phase durations, which covary along specific lines in a plot of phase- versus cycle-duration. We coined the term "phase-duration characteristics" to describe such plots. Descending input from higher centers adjusts the operating points on the phase-duration characteristics according to anticipated biomechanical requirements. In well-predicted movements, CPG-generated phase durations closely match those required by the kinematics, minimizing the corrections in phase duration required of the sensory switching mechanism. We propose the term "neuromechanical tuning" to describe this process of matching the CPG to the kinematics.

Visual–vestibular interaction during goal directed locomotion: effects of aging and blurring vision

Normal vision overrides perturbed vestibular information for the optimization of performance during goal directed locomotion, suggesting down-regulation of vestibular gain. However, it is not known if the responses to vestibular perturbation are accentuated when vision is impaired. Furthermore, both visual and vestibular systems deteriorate with age. It is not clear, however, how age-related decline in these sensory systems influences visual-vestibular interaction. Therefore, the dual purpose of the present study was to investigate the effects of aging and blurring vision, that simulated the consequences of cataracts, on visual-vestibular interaction. Young and healthy elderly walked to a target located straight ahead with either normal or blurring vision. On randomly selected trials vestibular system perturbation was achieved by applying transmastoidal galvanic vestibular stimulation (GVS). Two different galvanic stimulation intensities were used to provide insight into scaling effect of vestibular perturbation on locomotor performance and how age and vision influences this scaling effect. Maximum path deviation, frontal trunk tilt and postural coordination in the mediolateral direction were evaluated. The magnitude of the path deviation and the trunk tilt response were scaled to the magnitude of the vestibular perturbation in older adults independent of the visual condition. Older participants demonstrated increased coupling of the head and trunk segments irrespective of visual and vestibular perturbations. The results suggest that when visual information was available, the vestibular input reweighting was less effective in older individuals, as shown by the scaled responses to the GVS intensities and the inability to converge efficiently towards the target.

Eccentric eye and head positions in darkness induce deviation from the intended path

Head and gaze are aligned with the actual path during locomotion. Before a turn is made, gaze changes in the direction of the planned trajectory. We investigated whether eccentric horizontal head and/or eye position without vision causes deviations from the intended straight path. Twenty blindfolded healthy volunteers were asked to walk toward a previously seen target 10 m straight ahead. Various combinations of head and eye positions were tested (eye-in-head gaze straight ahead or 35 degrees left or right with head straight ahead or 70 degrees left or right). Head rotation to the left caused a gait deviation to the right (3.7 degrees ) and head rotation to the right caused a deviation to the left (2.7 degrees ; F(2,40) = 34.966; P < 0.00001). Eye position also showed a tendency to cause gait deviations opposite in direction to gaze, which was, however, not significant. Deviations from the intended straight path were largest with head rotation and eyes straight ahead (gaze 70 degrees off target) or eyes opposite to head rotation (gaze 35 degrees off target). Notably, when lateral eye deviation added to head rotation (gaze 105 degrees off target), i.e., gaze is directed backward, mean deviations decreased (2.3 degrees to the right and 1.2 degrees to the left). Thus, we show that (1) eccentric head positions induce direction-specific gait deviations that are independent of concurrent environmental visual information, and (2) that gait deviations are contraversive to eye-head gaze rather than ipsiversive as reported by others for visually controlled locomotion. The direction of deviation may reflect the compensation of an expected or perceived deviation in the direction of gaze.

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.

Common motor mechanisms support body load in serially homologous legs of cockroaches in posture and walking

We studied the mechanisms underlying support of body load in posture and walking in serially homologous legs of cockroaches. Activities of the trochanteral extensor muscle in the front or middle legs were recorded neurographically while animals were videotaped. Body load was increased via magnets attached to the thorax and varied through a coil below the substrate. In posture, tonic firing of the slow trochanteral extensor motoneuron (Ds) in each leg was strongly modulated by changing body load. Rapid load increases produced decreases in body height and sharp increments in extensor firing. The peak of extensor activity more closely approximated the maximum velocity of body displacement than the body position. In walking, extensor bursts in front and middle legs were initiated during swing and continued into the stance phase. Moderate tonic increases in body load elicited similar, specific, phase dependent changes in both legs: extensor firing was not altered in swing but was higher after foot placement in stance. These motor adjustments to load are not anticipatory but apparently depend upon sensory feedback. These data are consistent with previous findings in the hind legs and support the idea that body load is countered by common motor mechanisms in serially homologous legs.

The visual control of stepping operates in real time: Evidence from a pictorial illusion

Recent studies have suggested important similarities between the visual control of upper and lower limb actions despite the different effectors, time scales, and regions of space associated with the two types of actions. Drawing on previous findings from upper limb studies, we show here that the effect of a Muller-Lyer illusion on stepping amplitude is greatly increased when the target display is occluded as compared to when it is visible during the reaction time period (i.e., brief delay and 3-s delay conditions versus full vision and open-loop conditions). The present results suggest that the control of stepping is mediated by different systems when the target is visible as compared to when it is occluded immediately before movement initiation; when target vision is not available during the reaction time period, the control of stepping is more highly dependent upon a non-veridical, perceptual representation of the target environment. These findings are consistent with the idea that, much like grasping, vision during the reaction time period is critical for the optimal control of stepping; that is, the visual control of stepping operates in real time.

Identifying visual-vestibular contributions during target-directed locomotion

The purpose of this experiment was to examine the potential interaction between visual and vestibular inputs as participants walked towards 1 of 3 targets located on a barrier 5m away. Visual and vestibular inputs were perturbed with displacing prisms and galvanic vestibular stimulation (GVS), respectively. For each target there were three vision conditions (no prisms, prisms left, and prisms right), and three GVS conditions (no GVS, anode left, and anode right). Participants were instructed to start with eyes closed, and to open the eyes at heel contact of the first step. GVS and target illumination were triggered by the first heel contact. This ensured that the upcoming visual condition and target were unknown and that both sensory perturbations occurred simultaneously. Lateral displacement was determined every 40 cm. Irrespective of target or direction, GVS or prism perturbation alone resulted in similar lateral deviations. When combined, the GVS and prism perturbations that had similar singular effects led to significantly larger deviations in the direction of the perturbations. The deviations were approximately equal to the sum of the single deviations indicating that the combined effects were additive. Conflicting GVS and prism perturbations led to significantly smaller deviations that were close to zero, indicating that opposite perturbations cancelled each other. These results show that when both visual and vestibular information remain important during task performance, the nervous system integrates the inputs equally.

Dynamic visual–vestibular integration during goal directed human locomotion

Normal visual input plays a very dominant role during locomotion. Functionally, it can assist the central nervous system to overcome a destabilizing effect of abnormal or perturbed vestibular information. However, a recent study has shown a directional effect of transmastoidal galvanic vestibular stimulation (GVS) on gait trajectory when visual information is unreliable. The purpose of this study was to investigate how inputs from the visual and vestibular systems are weighted to optimize locomotor performance under impoverished visual conditions during goal directed locomotion. For unimodal stimulation, the visual input was manipulated using displacing prisms that caused 14 degrees horizontal displacement of perceived target location to the right or left. In addition, GVS (0.8 mAmp) was applied to manipulate vestibular system information during bimodal stimulation conditions. Two bimodal stimulation conditions were defined by the polarity of the galvanic current (anode on congruent and incongruent sides of prismatic deviation). The center of mass (CoM) displacement, head and trunk yaw angles and trunk roll angles were computed to analyze the global output as well as segmental coordination, as the participants walked towards the target. Although the performance was primarily guided by visual information, both congruent and incongruent GVS significantly altered CoM displacement. Similarly, the basic pattern of segmental responses during steering was maintained; however, the magnitude of the responses was altered. Spatio-temporal analysis demonstrated that during bimodal stimulation, the effect of GVS on global output tapered off as the participants approached the target. Results suggest a dynamic visual-vestibular interaction in which the gain of the vestibular input is initially upregulated in the presence of insufficient or impoverished visual information. However, there is a gradual habituation and the visual information, although insufficient, primarily dominates during goal directed locomotion. The experimental trajectories resembled mathematically simulated trajectories with a decaying GVS gain as opposed to a constant gain, further supporting the dynamic nature of sensory integration.

Tuning of a Basic Coordination Pattern Constructs Straight-Ahead and Curved Walking in Humans

We tested the hypothesis that common principles govern the production of the locomotor patterns for both straight-ahead and curved walking. Whole body movement recordings showed that continuous curved walking implies substantial, limb-specific changes in numerous gait descriptors. Principal component analysis (PCA) was used to uncover the spatiotemporal structure of coordination among lower limb segments. PCA revealed that the same kinematic law accounted for the coordination among lower limb segments during both straight-ahead and curved walking, in both the frontal and sagittal planes: turn-related changes in the complex behavior of the inner and outer limbs were captured in limb-specific adaptive tuning of coordination patterns. PCA was also performed on a data set including all elevation angles of limb segments and trunk, thus encompassing 13 degrees of freedom. The results showed that both straight-ahead and curved walking were low dimensional, given that 3 principal components accounted for more than 90% of data variance. Furthermore, the time course of the principal components was unchanged by curved walking, thereby indicating invariant coordination patterns among all body segments during straight-ahead and curved walking. Nevertheless, limb- and turn-dependent tuning of the coordination patterns encoded the adaptations of the limb kinematics to the actual direction of the walking body. Absence of vision had no significant effect on the intersegmental coordination during either straight-ahead or curved walking. Our findings indicate that kinematic laws, probably emerging from the interaction of spinal neural networks and mechanical oscillators, subserve the production of both straight-ahead and curved walking. During locomotion, the descending command tunes basic spinal networks so as to produce the changes in amplitude and phase relationships of the spinal output, sufficient to achieve the body turn.

Brain activations during motor imagery of locomotor-related tasks: a PET study

Positron emission tomography (PET) was used to study the involvement of supraspinal structures in human locomotion. Six right-handed adults were scanned in four conditions while imagining locomotor-related tasks in the first person perspective: Standing (S), Initiating gait (IG), Walking (W) and Walking with obstacles (WO). When these conditions were compared to a rest (control) condition to identify the neural structures involved in the imagination of locomotor-related tasks, the results revealed a common pattern of activations, which included the dorsal premotor cortex and precuneus bilaterally, the left dorsolateral prefrontal cortex, the left inferior parietal lobule, and the right posterior cingulate cortex. Additional areas involving the pre-supplementary motor area (pre-SMA), the precentral gyrus, were activated during conditions that required the imagery of locomotor movements. Further subtractions between the different locomotor conditions were then carried out to determine the cerebral regions associated with the simulation of increasingly complex locomotor functions. These analyses revealed increases in rCBF activity in the left cuneus and left caudate when the W condition was compared to the IG condition, suggesting that the basal ganglia plays a role in locomotor movements that are automatic in nature. Finally, subtraction of the W from the WO condition yielded increases in activity in the precuneus bilaterally, the left SMA, the right parietal inferior cortex and the left parahippocampal gyrus. Altogether, the present findings suggest that higher brain centers become progressively engaged when demands of locomotor tasks require increasing cognitive and sensory information processing.

Influence of leg muscle vibration on human walking

We studied the effect of vibratory stimulation of different leg muscles [bilateral quadriceps (Q), hamstring (HS) muscles, triceps surae (TS), and tibialis anterior (TA)] in seven normal subjects during 1) quiet standing, 2) stepping in place movements, and 3) walking on the treadmill. The experiments were performed in a dimly illuminated room, and the subjects were given the instruction not to resist the applied perturbation. In one condition the velocity of the treadmill was controlled by a feedback from the subject's current position. In normal standing, TA vibration elicited a prominent forward body tilt, whereas HS and TS vibration elicited backward trunk or whole body inclination, respectively. Q vibration had little effect. During stepping in place, continuous HS vibration produced an involuntary forward stepping at about 0.3 m s(-1) without modifying the stepping frequency. When the subjects (with eyes closed) kept a hand contact with an external still object, they did not move forward but perceived an illusory forward leg flexion relative to the trunk. Q, TS, and TA vibration did not cause any systematic body translation nor illusory changes in body configuration. In treadmill locomotion, HS vibration produced an involuntary steplike increase of walking speed (by 0.1-0.6 m.s(-1)). Continuous vibration elicited larger speed increments than phasic stimulation during swing or stance phase. For phasic stimulation, HS vibration tended to be more effective when applied during swing than during stance phase. Q, TA, and TS vibration had little if any effect. Vibration of thigh muscles altered the walking speed depending on the direction of progression. During backward locomotion, the walking speed tended to decrease after HS vibration, whereas it significantly increased after Q vibration. Thus the influence of leg muscle vibration on stepping in place and locomotion differed significantly from that on normal posture. We suggest that the proprioceptive input from thigh muscles may convey information about the velocity of the foot movement relative to the trunk.

Neck muscle vibration makes walking humans accelerate in the direction of gaze

We studied the effect of the continuous vibration of symmetrical dorsal neck muscles in seven normal subjects during (a) quiet standing, (b) stepping in place movements and (c) walking on the treadmill. The experiments were performed in a darkened room and the subjects were given the instruction not to resist the applied perturbation. In one condition the velocity of the treadmill was controlled by feedback from the subject's current position. Head, trunk and leg motion were recorded at 100 Hz. In normal standing, neck vibration elicited a prominent forward body sway. During stepping in place, neck vibration produced an involuntary forward stepping at about 0.3 m s-1 without modifying the stepping frequency. If the head was turned horizontally 45 and 90 deg to the right or to the left, neck muscle vibration caused stepping approximately in the direction of the head naso-occipital axis. For lateral eye deviations, the direction of stepping was roughly aligned with gaze direction. In treadmill locomotion, neck vibration produced an involuntary step-like increase of walking speed (by 0.1-0.6 m s-1), independent of the initial walking speed. During backward locomotion, the walking speed tended to decrease during neck vibration. Thus, continuous neck vibration evokes changes in the postural reference during quiet standing and in the walking speed during locomotion. The results suggest that the proprioceptive input from the neck is integrated in the control of human posture and locomotion and is processed in the context of a viewer-centred reference frame.

Sensorimotor transformation in cat nociceptive withdrawal reflex system

The withdrawal reflex system of higher vertebrates has been extensively used as a model for spinal sensorimotor integration, nociceptive processing and plasticity. In the rat, the nociceptive withdrawal reflex system appears to have a modular organization. Each reflex module controls a single muscle or a few synergistic muscles, and its cutaneous receptive field corresponds to the skin area withdrawn upon contraction of the effector muscle(s) when the limb is in the standing position. This organization principle is at odds with the 'flexion reflex' concept postulated from cat studies. To assess the generality of the modular organization principle we have therefore re-examined the cutaneous input to the withdrawal reflex system of the cat. The cutaneous receptive fields of hindlimb and forelimb muscles were mapped using calibrated noxious pinch stimulation and electromyographic recording technique in barbiturate anaesthetized animals. The investigated muscles had specific cutaneous receptive fields that appeared to correspond to the area of the skin withdrawn upon contraction of the muscle when the limb is in the standing position. The spatial organization of receptive fields in the cat was similar to that in the rat. However, differences in gain properties of reflexes to some anatomically equivalent muscles in the two species were observed, possibly reflecting adaptations to the biomechanics characteristic of the digitigrade and plantigrade stance in cats and rats, respectively. Implications of the findings for the generality of the modular organization of the withdrawal reflex system and for its adaptive properties are discussed.