Lesion in the lateral cerebellum specifically produces overshooting of the toe trajectory in leading forelimb during obstacle avoidance in the rat

Modeling Functional Limitations, Gait Impairments, and Muscle Pathology in Alzheimer's Disease: Studies in the 3xTg-AD Mice

Gait impairments in Alzheimer's disease (AD) result from structural and functional deficiencies that generate limitations in the performance of activities and restrictions in individual's biopsychosocial participation. In a translational way, we have used the conceptual framework proposed by the International Classification of Disability and Health Functioning (ICF) to classify and describe the functioning and disability on gait and exploratory activity in the 3xTg-AD animal model. We developed a behavioral observation method that allows us to differentiate qualitative parameters of psychomotor performance in animals' gait, similar to the behavioral patterns observed in humans. The functional psychomotor evaluation allows measuring various dimensions of gait and exploratory activity at different stages of disease progression in dichotomy with aging. We included male 3xTg-AD mice and their non-transgenic counterpart (NTg) of 6, 12, and 16 months of age (n = 45). Here, we present the preliminary results. The 3xTg-AD mice show more significant functional impairment in gait and exploratory activity quantitative variables. The presence of movement limitations and muscle weakness mark the functional decline related to the disease severity stages that intensify with increasing age. Motor performance in 3xTg-AD is accompanied by a series of bizarre behaviors that interfere with the trajectory, which allows us to infer poor neurological control. Additionally, signs of physical frailty accompany the functional deterioration of these animals. The use of the ICF as a conceptual framework allows the functional status to be described, facilitating its interpretation and application in the rehabilitation of people with AD.

Fast and Slow Adaptations of Interlimb Coordination via Reflex and Learning During Split-Belt Treadmill Walking of a Quadruped Robot

Interlimb coordination plays an important role in adaptive locomotion of humans and animals. This has been investigated using a split-belt treadmill, which imposes different speeds on the two sides of the body. Two types of adaptation have been identified, namely fast and slow adaptations. Fast adaptation induces asymmetric interlimb coordination soon after a change of the treadmill speed condition from same speed for both belts to different speeds. In contrast, slow adaptation slowly reduces the asymmetry after fast adaptation. It has been suggested that these adaptations are primarily achieved by the spinal reflex and cerebellar learning. However, these adaptation mechanisms remain unclear due to the complicated dynamics of locomotion. In our previous work, we developed a locomotion control system for a biped robot based on the spinal reflex and cerebellar learning. We reproduced the fast and slow adaptations observed in humans during split-belt treadmill walking of the biped robot and clarified the adaptation mechanisms from a dynamic viewpoint by focusing on the changes in the relative positions between the center of mass and foot stance induced by reflex and learning. In this study, we modified the control system for application to a quadruped robot. We demonstrate that even though the basic gait pattern of our robot is different from that of general quadrupeds (due to limitations of the robot experiment), fast and slow adaptations that are similar to those of quadrupeds appear during split-belt treadmill walking of the quadruped robot. Furthermore, we clarify these adaptation mechanisms from a dynamic viewpoint, as done in our previous work. These results will increase the understanding of how fast and slow adaptations are generated in quadrupedal locomotion on a split-belt treadmill through body dynamics and sensorimotor integration via the spinal reflex and cerebellar learning and help the development of control strategies for adaptive locomotion of quadruped robots.

A rapid whisker-based decision underlying skilled locomotion in mice

Skilled motor behavior requires rapidly integrating external sensory input with information about internal state to decide which movements to make next. Using machine learning approaches for high-resolution kinematic analysis, we uncover the logic of a rapid decision underlying sensory-guided locomotion in mice. After detecting obstacles with their whiskers mice select distinct kinematic strategies depending on a whisker-derived estimate of obstacle location together with the position and velocity of their body. Although mice rely on whiskers for obstacle avoidance, lesions of primary whisker sensory cortex had minimal impact. While motor cortex manipulations affected the execution of the chosen strategy, the decision-making process remained largely intact. These results highlight the potential of machine learning for reductionist analysis of naturalistic behaviors and provide a case in which subcortical brain structures appear sufficient for mediating a relatively sophisticated sensorimotor decision.

Premotor Cortex Provides a Substrate for the Temporal Transformation of Information During the Planning of Gait Modifications

We tested the hypothesis that the premotor cortex (PMC) in the cat contributes to the planning and execution of visually guided gait modifications. We analyzed single unit activity from 136 cells localized within layer V of cytoarchitectonic areas 6iffu and that part of 4δ within the ventral bank of the cruciate sulcus while cats walked on a treadmill and stepped over an obstacle that advanced toward them. We found a rich variety of discharge patterns, ranging from limb-independent cells that discharged several steps in front of the obstacle to step-related cells that discharged either during steps over the obstacle or in the steps leading up to that step. We propose that this population of task-related cells within this region of the PMC contributes to the temporal evolution of a planning process that transforms global information of the presence of an obstacle into the precise spatio-temporal limb adjustment required to negotiate that obstacle.

Contribution of the Entopeduncular Nucleus and the Globus Pallidus to the Control of Locomotion and Visually Guided Gait Modifications in the Cat

We tested the hypothesis that the entopeduncular (EP) nucleus (feline equivalent of the primate GPi) and the globus pallidus (GPe) contribute to both the planning and execution of locomotion and voluntary gait modifications in the cat. We recorded from 414 cells distributed throughout these two nuclei (referred to together as the pallidum) while cats walked on a treadmill and stepped over an obstacle that advanced towards them. Neuronal activity in many cells in both structures was modulated on a step-by-step basis during unobstructed locomotion and was modified in the step over the obstacle. On a population basis, the most frequently observed change, in both the EP and the GPe, was an increase in activity prior to and/or during the swing phase of the step over the obstacle by the contralateral forelimb, when it was the first limb to pass over the obstacle. Our results support a contribution of the pallidum, in concert with cortical structures, to the control of both the planning and the execution of the gait modifications. We discuss the results in the context of current models of pallidal action on thalamic activity, including the possibility that cells in the EP with increased activity may sculpt thalamo-cortical activity.

Gait Generation and Its Energy Efficiency Based on Rat Neuromusculoskeletal Model

Changing gait is crucial for adaptive and smooth animal locomotion. Although it remains unclear what makes animals decide on a specific gait, energy efficiency is an important factor. It has been reported that the relationship of oxygen consumption with speed is U-shaped for each horse gait and that different gaits have different speeds at which oxygen consumption is minimized. This allows the horse to produce energy-efficient locomotion in a wide speed range by changing gait. However, the underlying mechanisms causing oxygen consumption to be U-shaped and the speeds for the minimum consumption to be different between different gaits are unclear. In the present study, we used a neuromusculoskeletal model of the rat to examine the mechanism from a dynamic viewpoint. Specifically, we constructed the musculoskeletal part of the model based on empirical anatomical data on rats and the motor control model based on the physiological concepts of the spinal central pattern generator and muscle synergy. We also incorporated the posture and speed regulation models at the levels of the brainstem and cerebellum. Our model achieved walking through forward dynamic simulation, and the simulated joint kinematics and muscle activities were compared with animal data. Our model also achieved trotting by changing only the phase difference of the muscle-synergy-based motor commands between the forelimb and hindlimb. Furthermore, the speed of each gait varied by changing only the extension phase duration and amplitude of the muscle synergy-based motor commands and the reference values for the regulation models. The relationship between cost of transport (CoT) and speed was U-shaped for both the generated walking and trotting, and the speeds for the minimum CoT were different for the two gaits, as observed in the oxygen consumption of horses. We found that the resonance property and the posture and speed regulations contributed to the CoT shape and difference in speeds for the minimum CoT. We further discussed the energy efficiency of gait based on the simulation results.

Motor skills mediated through cerebellothalamic tracts projecting to the central lateral nucleus

The cerebellum regulates complex animal behaviors, such as motor control and spatial recognition, through communication with many other brain regions. The major targets of the cerebellar projections are the thalamic regions including the ventroanterior nucleus (VA) and ventrolateral nucleus (VL). Another thalamic target is the central lateral nucleus (CL), which receives the innervations mainly from the dentate nucleus (DN) in the cerebellum. Although previous electrophysiological studies suggest the role of the CL as the relay of cerebellar functions, the kinds of behavioral functions mediated by cerebellothalamic tracts projecting to the CL remain unknown. Here, we used immunotoxin (IT) targeting technology combined with a neuron-specific retrograde labeling technique, and selectively eliminated the cerebellothalamic tracts of mice. We confirmed that the number of neurons in the DN was selectively decreased by the IT treatment. These IT-treated mice showed normal overground locomotion with no ataxic behavior. However, elimination of these neurons impaired motor coordination in the rotarod test and forelimb movement in the reaching test. These mice showed intact acquisition and flexible change of spatial information processing in the place discrimination, Morris water maze, and T-maze tests. Although the tract labeling indicated the existence of axonal collaterals of the DN-CL pathway to the rostral part of the VA/VL complex, excitatory lesion of the rostral VA/VL did not show any significant alterations in motor coordination or forelimb reaching, suggesting no requirement of axonal branches connecting to the VL/VA complex for motor skill function. Taken together, our data highlight that the cerebellothalamic tracts projecting to the CL play a key role in the control of motor skills, including motor coordination and forelimb reaching, but not spatial recognition and its flexibility.

Stable Delay Period Representations in the Posterior Parietal Cortex Facilitate Working-Memory-Guided Obstacle Negotiation

In complex environments, information about surrounding obstacles is stored in working memory (WM) and used to coordinate appropriate movements for avoidance. In quadrupeds, this WM system is particularly important for guiding hindleg stepping, as an animal can no longer see the obstacle underneath the body following foreleg clearance. Such obstacle WM involves the posterior parietal cortex (PPC), as deactivation of area 5 incurs WM deficits, precluding successful avoidance. However, the neural underpinnings of this involvement remain undefined. To reveal the neural substrates of this behavior, microelectrode arrays were implanted to record neuronal activity in area 5 during an obstacle WM task in cats. Early in the WM delay, neurons were modulated generally by obstacle presence or more specifically in relation to foreleg step height. Thus, information about the obstacle or about foreleg clearance can be retained in WM. In a separate set of neurons, this information was recalled later in the delay in order to plan subsequent hindleg stepping. Such early and late delay period signals were temporally bridged by neurons exhibiting obstacle-modulated activity sustained throughout the delay. These neurons represented a specialized subset of all recorded neurons, which maintained stable information coding across the WM delay. Ultimately, these various patterns of task-related modulation enable stable representations of obstacle-related information within the PPC to support successful WM-guided obstacle negotiation in the cat.

Lobular homology in cerebellar hemispheres of humans, non-human primates and rodents: a structural, axonal tracing and molecular expression analysis

Comparative neuroanatomy provides insights into the evolutionary functional adaptation of specific mammalian cerebellar lobules, in which the lobulation pattern and functional localization are conserved. However, accurate identification of homologous lobules among mammalian species is challenging. In this review, we discuss the inter-species homology of crus I and II lobules which occupy a large volume in the posterior cerebellar hemisphere, particularly in humans. Both crus I/II in humans are homologous to crus I/II in non-human primates, according to Paxinos and colleagues; however, this area has been defined as crus I alone in non-human primates, according to Larsell and Brodal. Our neuroanatomical analyses in humans, macaques, marmosets, rats, and mice demonstrate that both crus I/II in humans are homologous to crus I/II or crus I alone in non-human primates, depending on previous definitions, and to crus I alone in rodents. Here, we refer to the region homologous to human crus I/II lobules as "ansiform area (AA)" across animals. Our results show that the AA's olivocerebellar climbing fiber and Purkinje cell projections as well as aldolase C gene expression patterns are both distinct and conserved in marmosets and rodents. The relative size of the AA, as represented by the AA volume fraction in the whole cerebellum was 0.34 in human, 0.19 in macaque, and approximately 0.1 in marmoset and rodents. These results indicate that the AA reflects an evolutionarily conserved structure in the mammalian cerebellum, which is characterized by distinct connectivity from neighboring lobules and a massive expansion in skillful primates.

Investigation of adaptive split-belt treadmill walking by the hindlimbs of rats

In this study, we investigated the adaptive behavior during hindlimb locomotion of rats on a split-belt treadmill. We measured and analyzed the movement of intact rats walking by the hindlimbs on the splitbelt treadmill with two conditions: symmetric and asymmetric belt speed. In addition, we conducted the dynamic simulation of a neuromusculoskeletal model of rat's hindlimb walking on a split-belt treadmill. We investigated the immediate modulations of the duty factors and relative phase between the right and left limbs depending on the conditions of the treadmill. The results of the simulation were qualitatively similar to those of the measurement experiment. Furthermore, these results were qualitatively similar to the measurement data of the humans and cats in the previous studies. This suggests that our model have the essential aspects to produce the adaptive split-belt treadmill walking in dynamics viewpoints.

Deficits in memory-guided limb movements impair obstacle avoidance locomotion in Alzheimer's disease mouse model

Memory function deficits induced by Alzheimer's disease (AD) are believed to be one of the causes of an increased risk of tripping in patients. Working memory contributes to accurate stepping over obstacles during locomotion, and AD-induced deficits of this memory function may lead to an increased risk of contact with obstacles. We used the triple transgenic (3xTg) mice to examine the effects of memory deficits in terms of tripping and contact with obstacles. We found that the frequency of contact of the hindlimbs during an obstacle avoidance task increased significantly in 10–13 month-old 3xTg (Old-3xTg) mice compared with control mice. However, no changes in limb kinematics during unobstructed locomotion or successful obstacle avoidance locomotion were observed in the Old-3xTg mice. Furthermore, we found that memory-based movements in stepping over an obstacle were impaired in these mice. Our findings suggest that working memory deficits as a result of AD are associated with an increased risk of tripping during locomotion.

Effect of inactivation of the intermediate cerebellum on overground locomotion in the rat: a comparative study of the anterior and posterior lobes

The importance of the cerebellum in control of locomotion is demonstrated by the ataxic gait of cerebellar patients. The intermediate cerebellum contains somatotopical representations for forelimbs and hindlimbs in both anterior and posterior lobes. However, it is not known whether these separate regions have discrete roles in control of limb movements during locomotion. Here we compared the effect of muscimol-induced inactivation of the anterior or posterior intermediate cerebellum on limb movements in walking rats. Inactivation of the anterior intermediate cerebellum had clear effects on limb movements during overground locomotion, resulting in excessive toe elevation and hyperflexion of joints in the swing phase. Inactivation of the posterior region resulted in similar but less pronounced deficits. Postural defects were not present in either group of rats. These findings suggest that the intermediate cerebellum of the anterior lobe has a greater influence on the ability to control limb movements during overground locomotion than the posterior lobe.