Decorrelating actions of Renshaw interneurons on the firing of spinal motoneurons within a motor nucleus: a simulation study

Flexible control of motor units: is the multidimensionality of motor unit manifolds a sufficient condition?

Understanding flexibility in the neural control of movement requires identifying the distribution of common inputs to the motor units. In this study, we identified large samples of motor units from two lower limb muscles: the vastus lateralis (VL; up to 60 motor units per participant) and the gastrocnemius medialis (GM; up to 67 motor units per participant). First, we applied a linear dimensionality reduction method to assess the dimensionality of the manifolds underlying the motor unit activity. We subsequently investigated the flexibility in motor unit control under two conditions: sinusoidal contractions with torque feedback, and online control with visual feedback on motor unit firing rates. Overall, we found that the activity of GM motor units was effectively captured by a single latent factor defining a unidimensional manifold, whereas the VL motor units were better represented by three latent factors defining a multidimensional manifold. Despite this difference in dimensionality, the recruitment of motor units in the two muscles exhibited similarly low levels of flexibility. Using a spiking network model, we tested the hypothesis that dimensionality derived from factorization does not solely represent descending cortical commands but is also influenced by spinal circuitry. We demonstrated that a heterogeneous distribution of inputs to motor units, or specific configurations of recurrent inhibitory circuits, could produce a multidimensional manifold. This study clarifies an important debated issue, demonstrating that while motor unit firings of a non-compartmentalized muscle can lie in a multidimensional manifold, the CNS may still have limited capacity for flexible control of these units. KEY POINTS: To generate movement, the CNS distributes both excitatory and inhibitory inputs to the motor units. The level of flexibility in the neural control of these motor units remains a topic of debate with significant implications for identifying the smallest unit of movement control. By combining experimental data and in silico models, we demonstrated that the activity of a large sample of motor units from a single muscle can be represented by a multidimensional linear manifold; however, these units show very limited flexibility in their recruitment. The dimensionality of the linear manifold may not directly reflect the dimensionality of descending inputs but could instead relate to the organization of local spinal circuits.

The alpha2 nicotinic acetylcholine receptor, a subunit with unique and selective expression in inhibitory interneurons associated with principal cells

Nicotinic acetylcholine receptors (nAChRs) play crucial roles in various human disorders, with the α7, α4, α6, and α3-containing nAChR subtypes extensively studied in relation to conditions such as Alzheimer's disease, Parkinson's disease, nicotine dependence, mood disorders, and stress disorders. In contrast, the α2-nAChR subunit has received less attention due to its more restricted expression and the scarcity of specific agonists and antagonists for studying its function. Nevertheless, recent research has shed light on the unique expression pattern of the Chrna2 gene, which encodes the α2-nAChR subunit, and its involvement in distinct populations of inhibitory interneurons. This review highlights the structure, pharmacology, localization, function, and disease associations of α2-containing nAChRs and points to the unique expression pattern of the Chrna2 gene and its role in different inhibitory interneuron populations. These populations, including the oriens lacunosum moleculare (OLM) cells in the hippocampus, Martinotti cells in the neocortex, and Renshaw cells in the spinal cord, share common features and contribute to recurrent inhibitory microcircuits. Thus, the α2-nAChR subunit's unique expression pattern in specific interneuron populations and its role in recurrent inhibitory microcircuits highlight its importance in various physiological processes. Further research is necessary to uncover the comprehensive functionality of α2-containing nAChRs, delineate their specific contributions to neuronal circuits, and investigate their potential as therapeutic targets for related disorders.

Intramuscle Synergies: Their Place in the Neural Control Hierarchy

We accept a definition of synergy introduced by Nikolai Bernstein and develop it for various actions, from those involving the whole body to those involving a single muscle. Furthermore, we use two major theoretical developments in the field of motor control—the idea of hierarchical control with spatial referent coordinates and the uncontrolled manifold hypothesis—to discuss recent studies of synergies within spaces of individual motor units (MUs) recorded within a single muscle. During the accurate finger force production tasks, MUs within hand extrinsic muscles form robust groups, with parallel scaling of the firing frequencies. The loading factors at individual MUs within each of the two main groups link them to the reciprocal and coactivation commands. Furthermore, groups are recruited in a task-specific way with gains that covary to stabilize muscle force. Such force-stabilizing synergies are seen in MUs recorded in the agonist and antagonist muscles but not in the spaces of MUs combined over the two muscles. These observations reflect inherent trade-offs between synergies at different levels of a control hierarchy. MU-based synergies do not show effects of hand dominance, whereas such effects are seen in multifinger synergies. Involuntary, reflex-based, force changes are stabilized by intramuscle synergies but not by multifinger synergies. These observations suggest that multifinger (multimuscle synergies) are based primarily on supraspinal circuitry, whereas intramuscle synergies reflect spinal circuitry. Studies of intra- and multimuscle synergies promise a powerful tool for exploring changes in spinal and supraspinal circuitry across patient populations.

Synaptic Projections of Motoneurons Within the Spinal Cord

Motoneurons have long been considered as the final common pathway of the nervous system, transmitting the neural impulses that are transduced into action.While many studies have focussed on the inputs that motoneurons receive from local circuits within the spinal cord and from other parts of the CNS, relatively few have investigated the targets of local axonal projections from motoneurons themselves, with the notable exception of those contacting Renshaw cells or other motoneurons.Recent research has not only characterised the detailed features of the excitatory connections between motoneurons and Renshaw cells but has also established that Renshaw cells are not the only target of motoneurons axons within the spinal cord. Motoneurons also form synaptic contacts with other motoneurons as well as with a subset of ventrally located V3 interneurons. These findings indicate that motoneurons cannot be simply viewed as the last relay station delivering the command drive to muscles, but perform an active role in the generation and modulation of motor patterns.

Genetic targeting of adult Renshaw cells using a Calbindin 1 destabilized Cre allele for intersection with Parvalbumin or Engrailed1

Renshaw cells (RCs) are one of the most studied spinal interneurons; however, their roles in motor control remain enigmatic in part due to the lack of experimental models to interfere with RC function, specifically in adults. To overcome this limitation, we leveraged the distinct temporal regulation of Calbindin (Calb1) expression in RCs to create genetic models for timed RC manipulation. We used a Calb1 allele expressing a destabilized Cre (dgCre) theoretically active only upon trimethoprim (TMP) administration. TMP timing and dose influenced RC targeting efficiency, which was highest within the first three postnatal weeks, but specificity was low with many other spinal neurons also targeted. In addition, dgCre showed TMP-independent activity resulting in spontaneous recombination events that accumulated with age. Combining Calb1-dgCre with Parvalbumin (Pvalb) or Engrailed1 (En1) Flpo alleles in dual conditional systems increased cellular and timing specificity. Under optimal conditions, Calb1-dgCre/Pvalb-Flpo mice targeted 90% of RCs and few dorsal horn neurons; Calb1-dgCre/En1-Flpo mice showed higher specificity, but only a maximum of 70% of RCs targeted. Both models targeted neurons throughout the brain. Restricted spinal expression was obtained by injecting intraspinally AAVs carrying dual conditional genes. These results describe the first models to genetically target RCs bypassing development.

Spatial and Temporal Arrangement of Recurrent Inhibition in the Primate Upper Limb

Renshaw cells mediate recurrent inhibition between motoneurons within the spinal cord. The function of this circuit is not clear; we previously suggested based on computational modeling that it may cancel oscillations in muscle activity around 10 Hz, thereby reducing physiological tremor. Such tremor is especially problematic for dexterous hand movements, yet knowledge of recurrent inhibitory function is sparse for the control of the primate upper limb, where no direct measurements have been made to date. In this study, we made intracellular penetrations into 89 motoneurons in the cervical enlargement of four terminally anesthetized female macaque monkeys, and recorded recurrent IPSPs in response to antidromic stimulation of motor axons. Recurrent inhibition was strongest to motoneurons innervating shoulder muscles and elbow extensors, weak to wrist and digit extensors, and almost absent to the intrinsic muscles of the hand. Recurrent inhibitory connections often spanned joints, for example from motoneurons innervating wrist and digit muscles to those controlling the shoulder and elbow. Wrist and digit flexor motoneurons sometimes inhibited the corresponding extensors, and vice versa. This complex connectivity presumably reflects the flexible usage of the primate upper limb. Using trains of stimuli to motor nerves timed as a Poisson process and coherence analysis, we also examined the temporal properties of recurrent inhibition. The recurrent feedback loop effectively carried frequencies up to 100 Hz, with a coherence peak around 20 Hz. The coherence phase validated predictions from our previous computational model, supporting the idea that recurrent inhibition may function to reduce tremor.

SIGNIFICANCE STATEMENT We present the first direct measurements of recurrent inhibition in primate upper limb motoneurons, revealing that it is more flexibly organized than previous observations in cat. Recurrent inhibitory connections were relatively common between motoneurons controlling muscles that act at different joints, and between flexors and extensors. As in the cat, connections were minimal for motoneurons innervating the most distal intrinsic hand muscles. Empirical data are consistent with previous modeling: temporal properties of the recurrent inhibitory feedback loop are compatible with a role in reducing physiological tremor by suppressing oscillations around 10 Hz.

Slowly activating outward membrane currents generate input-output sub-harmonic cross frequency coupling in neurons

A major challenge in understanding spike-time dependent information encoding in the neural system is the non-linear firing response to inputs of the individual neurons. Hence, quantitative exploration of the putative mechanisms of this non-linear behavior is fundamental to formulating the theory of information transfer in the neural system. The objective of this simulation study was to evaluate and quantify the effect of slowly activating outward membrane current, on the non-linearity in the output of a one-compartment Hodgkin-Huxley styled neuron. To evaluate this effect, the peak conductance of the slow potassium channel (g_K-slow) was varied from 0% to 200% of its normal value in steps of 33%. Both cross- and iso-frequency coupling between the input and the output of the simulated neuron was computed using a generalized coherence measure, i.e., n:m coherence. With increasing g_K-slow, the amount of sub-harmonic cross-frequency coupling, where the output frequencies (1-8 Hz) are lower than the input frequencies (15-35 Hz), increased progressively whereas no change in iso-frequency coupling was observed. Power spectral and phase-space analysis of the neuronal membrane voltage vs. slow potassium channel activation variable showed that the interaction of the slow channel dynamics with the fast membrane voltage dynamics generates the observed sub-harmonic coupling. This study provides quantitative insights into the role of an important membrane mechanism i.e. the slowly activating outward current in generating non-linearities in the output of a neuron.

Cross-Frequency Coupling in Descending Motor Pathways: Theory and Simulation

Coupling of neural oscillations is essential for the transmission of cortical motor commands to motoneuron pools through direct and indirect descending motor pathways. Most studies focus on iso-frequency coupling between brain and muscle activities, i.e., cortico-muscular coherence, which is thought to reflect motor command transmission in the mono-synaptic corticospinal pathway. Compared to this direct pathway, indirect corticobulbospinal motor pathways involve multiple intermediate synaptic connections via spinal interneurons. Neuronal processing of synaptic inputs can lead to modulation of inter-spike intervals which produces cross-frequency coupling. This theoretical study aims to evaluate the effect of the number of synaptic layers in descending pathways on the expression of cross-frequency coupling between supraspinal input and the cumulative output of the motoneuron pool using a computer simulation. We simulated descending pathways as various layers of interneurons with a terminal motoneuron pool using Hogdkin–Huxley styled neuron models. Both cross- and iso-frequency coupling between the supraspinal input and the motorneuron pool output were computed using a novel generalized coherence measure, i.e., n:m coherence. We found that the iso-frequency coupling is only dominant in the mono-synaptic corticospinal tract, while the cross-frequency coupling is dominant in multi-synaptic indirect motor pathways. Furthermore, simulations incorporating both mono-synaptic direct and multi-synaptic indirect descending pathways showed that increased reliance on a multi-synaptic indirect pathway over a mono-synaptic direct pathway enhances the dominance of cross-frequency coupling between the supraspinal input and the motorneuron pool output. These results provide the theoretical basis for future human subject study quantitatively assessing motor command transmission in indirect vs. direct pathways and its changes after neurological disorders such as unilateral brain injury.

Multiscale modeling of the neuromuscular system: Coupling neurophysiology and skeletal muscle mechanics

Mathematical models and computer simulations have the great potential to substantially increase our understanding of the biophysical behavior of the neuromuscular system. This, however, requires detailed multiscale, and multiphysics models. Once validated, such models allow systematic in silico investigations that are not necessarily feasible within experiments and, therefore, have the ability to provide valuable insights into the complex interrelations within the healthy system and for pathological conditions. Most of the existing models focus on individual parts of the neuromuscular system and do not consider the neuromuscular system as an integrated physiological system. Hence, the aim of this advanced review is to facilitate the prospective development of detailed biophysical models of the entire neuromuscular system. For this purpose, this review is subdivided into three parts. The first part introduces the key anatomical and physiological aspects of the healthy neuromuscular system necessary for modeling the neuromuscular system. The second part provides an overview on state-of-the-art modeling approaches representing all major components of the neuromuscular system on different time and length scales. Within the last part, a specific multiscale neuromuscular system model is introduced. The integrated system model combines existing models of the motor neuron pool, of the sensory system and of a multiscale model describing the mechanical behavior of skeletal muscles. Since many sub-models are based on strictly biophysical modeling approaches, it closely represents the underlying physiological system and thus could be employed as starting point for further improvements and future developments. This article is categorized under: Physiology > Mammalian Physiology in Health and Disease Analytical and Computational Methods > Computational Methods Models of Systems Properties and Processes > Organ, Tissue, and Physiological Models.

Central and peripheral innervation patterns of defined axial motor units in larval zebrafish

Spinal motor neurons and the peripheral muscle fibers they innervate form discrete motor units that execute movements of varying force and speed. Subsets of spinal motor neurons also exhibit axon collaterals that influence motor output centrally. Here, we have used in vivo imaging to anatomically characterize the central and peripheral innervation patterns of axial motor units in larval zebrafish. Using early born "primary" motor neurons and their division of epaxial and hypaxial muscle into four distinct quadrants as a reference, we define three distinct types of later born "secondary" motor units. The largest is "m-type" units, which innervate deeper fast-twitch muscle fibers via medial nerves. Next in size are "ms-type" secondaries, which innervate superficial fast-twitch and slow fibers via medial and septal nerves, followed by "s-type" units, which exclusively innervate superficial slow muscle fibers via septal nerves. All types of secondaries innervate up to four axial quadrants. Central axon collaterals are found in subsets of primaries based on soma position and predominantly in secondary fast-twitch units (m, ms) with increasing likelihood based on number of quadrants innervated. Collaterals are labeled by synaptophysin-tagged fluorescent proteins, but not PSD95, consistent with their output function. Also, PSD95 dendrite labeling reveals that larger motor units receive more excitatory synaptic input. Collaterals are largely restricted to the neuropil, however, perisomatic connections are observed between motor units. These observations suggest that recurrent interactions are dominated by motor neurons recruited during stronger movements and set the stage for functional investigations of recurrent motor circuitry in larval zebrafish.

Motoneurons regulate the central pattern generator during drug-induced locomotor-like activity in the neonatal mouse

Motoneurons are traditionally viewed as the output of the spinal cord that do not influence locomotor rhythmogenesis. We assessed the role of motoneuron firing during ongoing locomotor-like activity in neonatal mice expressing archaerhopsin-3 (Arch), halorhodopsin (eNpHR), or channelrhodopsin-2 (ChR2) in Choline acetyltransferase neurons (ChAT⁺) or Arch in LIM-homeodomain transcription factor Isl1⁺ neurons. Illumination of the lumbar cord in mice expressing eNpHR or Arch in ChAT⁺ or Isl1⁺ neurons, depressed motoneuron discharge, transiently decreased the frequency, and perturbed the phasing of the locomotor-like rhythm. When the light was turned off motoneuron firing and locomotor frequency both transiently increased. These effects were not due to cholinergic neurotransmission, persisted during partial blockade of gap junctions and were mediated, in part, by AMPAergic transmission. In spinal cords expressing ChR2, illumination increased motoneuron discharge and transiently accelerated the rhythm. We conclude that motoneurons provide feedback to the central pattern generator (CPG) during drug-induced locomotor-like activity.

DOI:http://dx.doi.org/10.7554/eLife.26622.001

Rod-cone crossover connectome of mammalian bipolar cells

The basis of cross-suppression between rod and cone channels has long been an enigma. Using rabbit retinal connectome RC1, we show that all cone bipolar cell (BC) classes inhibit rod BCs via amacrine cell (AC) motifs (C1-6); that all cone BC classes are themselves inhibited by AC motifs (R1-5, R25) driven by rod BCs. A sparse symmetric AC motif (CR) is presynaptic and postsynaptic to both rod and cone BCs. ON cone BCs of all classes drive inhibition of rod BCs via motif C1 wide-field GABAergic ACs (γACs) and motif C2 narrow field glycinergic ON ACs (GACs). Each rod BC receives ≈10 crossover AC synapses and each ON cone BC can target ≈10 or more rod BCs via separate AC processes. OFF cone BCs mediate monosynaptic inhibition of rod BCs via motif C3 driven by OFF γACs and GACs and disynaptic inhibition via motifs C4 and C5 driven by OFF wide-field γACs and narrow-field GACs, respectively. Motifs C4 and C5 form halos of 60-100 inhibitory synapses on proximal dendrites of AI γACs. Rod BCs inhibit surrounding arrays of cone BCs through AII GAC networks that access ON and OFF cone BC patches via motifs R1, R2, R4, R5 and a unique ON AC motif R3 that collects rod BC inputs and targets ON cone BCs. Crossover synapses for motifs C1, C4, C5, and R3 are 3-4× larger than typical feedback synapses, which may be a signature for synaptic winner-take-all switches. J. Comp. Neurol. 527:87-116, 2019. © 2016 The Authors The Journal of Comparative Neurology Published by Wiley Periodicals, Inc.

Recurrence quantification analysis of surface electromyogram supports alterations in motor unit recruitment strategies by anodal transcranial direct current stimulation

PURPOSE

Recent evidence indicates that anodal transcranial direct current stimulation (tDCS) can selectively alter the EMG/force relationship of agonist arm muscles; however, the mechanisms mediating those changes are less clear. The purpose of this study was to evaluate the effect of anodal tDCS on motor unit synchronization by using a sophisticated non-linear EMG analysis called recurrence quantification analysis (RQA).

METHODS

Surface EMG signals were collected from the biceps brachii muscle of eighteen healthy young adults (9 tDCS and 9 control) at various force levels (12.5%, 25%, 37.5%, and 50% maximum) before and after the application of anodal tDCS over the primary motor cortex. RQA was employed to quantify the changes in percentage of determinism (% DET) and laminarity (% LAM) of the surface EMG signals, which are surrogate measures of motor unit synchronization.

RESULTS

RQA analyses indicated that the changes in % DET and % LAM scores were significantly higher in the tDCS group than in the control group (p < 0.05) and this effect was particularly pronounced at higher force levels.

CONCLUSION

The results of this study provide novel evidence supporting that anodal tDCS significantly alters motor unit firing strategies (i.e., the degree of synchronization) of the biceps brachii muscle.

The phase difference between neural drives to antagonist muscles in essential tremor is associated with the relative strength of supraspinal and afferent input

The pathophysiology of essential tremor (ET), the most common movement disorder, is not fully understood. We investigated which factors determine the variability in the phase difference between neural drives to antagonist muscles, a long-standing observation yet unexplained. We used a computational model to simulate the effects of different levels of voluntary and tremulous synaptic input to antagonistic motoneuron pools on the tremor. We compared these simulations to data from 11 human ET patients. In both analyses, the neural drive to muscle was represented as the pooled spike trains of several motor units, which provides an accurate representation of the common synaptic input to motoneurons. The simulations showed that, for each voluntary input level, the phase difference between neural drives to antagonist muscles is determined by the relative strength of the supraspinal tremor input to the motoneuron pools. In addition, when the supraspinal tremor input to one muscle was weak or absent, Ia afferents provided significant common tremor input due to passive stretch. The simulations predicted that without a voluntary drive (rest tremor) the neural drives would be more likely in phase, while a concurrent voluntary input (postural tremor) would lead more frequently to an out-of-phase pattern. The experimental results matched these predictions, showing a significant change in phase difference between postural and rest tremor. They also indicated that the common tremor input is always shared by the antagonistic motoneuron pools, in agreement with the simulations. Our results highlight that the interplay between supraspinal input and spinal afferents is relevant for tremor generation.

The optimal neural strategy for a stable motor task requires a compromise between level of muscle cocontraction and synaptic gain of afferent feedback

Increasing joint stiffness by cocontraction of antagonist muscles and compensatory reflexes are neural strategies to minimize the impact of unexpected perturbations on movement. Combining these strategies, however, may compromise steadiness, as elements of the afferent input to motor pools innervating antagonist muscles are inherently negatively correlated. Consequently, a high afferent gain and active contractions of both muscles may imply negatively correlated neural drives to the muscles and thus an unstable limb position. This hypothesis was systematically explored with a novel computational model of the peripheral nervous system and the mechanics of one limb. Two populations of motor neurons received synaptic input from descending drive, spinal interneurons, and afferent feedback. Muscle force, simulated based on motor unit activity, determined limb movement that gave rise to afferent feedback from muscle spindles and Golgi tendon organs. The results indicated that optimal steadiness was achieved with low synaptic gain of the afferent feedback. High afferent gains during cocontraction implied increased levels of common drive in the motor neuron outputs, which were negatively correlated across the two populations, constraining instability of the limb. Increasing the force acting on the joint and the afferent gain both effectively minimized the impact of an external perturbation, and suboptimal adjustment of the afferent gain could be compensated by muscle cocontraction. These observations show that selection of the strategy for a given contraction implies a compromise between steadiness and effectiveness of compensations to perturbations. This indicates that a task-dependent selection of neural strategy for steadiness is necessary when acting in different environments.

Power spectrum of the rectified EMG: when and why is rectification beneficial for identifying neural connectivity?

OBJECTIVE

The identification of common oscillatory inputs to motor neurons in the electromyographic (EMG) signal power spectrum is often preceded by EMG rectification for enhancing the low-frequency oscillatory components. However, rectification is a nonlinear operator and its influence on the EMG signal spectrum is not fully understood. In this study, we aim at determining when EMG rectification is beneficial in the study of oscillatory inputs to motor neurons.

APPROACH

We provide a full mathematical description of the power spectrum of the rectified EMG signal and the influence of the average shape of the motor unit action potentials on it. We also provide a validation of these theoretical results with both simulated and experimental EMG signals.

MAIN RESULTS

Simulations using an advanced computational model and experimental results demonstrated the accuracy of the theoretical derivations on the effect of rectification on the EMG spectrum. These derivations proved that rectification is beneficial when assessing the strength of low-frequency (delta and alpha bands) common synaptic inputs to the motor neurons, when the duration of the action potentials is short, and when the level of cancellation is relatively low. On the other hand, rectification may distort the estimation of common synaptic inputs when studying higher frequencies (beta and gamma), in a way dependent on the duration of the action potentials, and may introduce peaks in the coherence function that do not correspond to physiological shared inputs.

SIGNIFICANCE

This study clarifies the conditions when rectifying the surface EMG is appropriate for studying neural connectivity.

Modulation of motoneuron firing by recurrent inhibition in the adult rat in vivo

Recent reports show that synaptic inhibition can modulate postsynaptic spike timing without having strong effects on firing rate. Thus synaptic inhibition can achieve multiplicity in neural circuit operation through variable modulation of postsynaptic firing rate vs. timing. We tested this possibility for recurrent inhibition (RI) of spinal motoneurons. In in vivo electrophysiological studies of adult Wistar rats anesthetized by isoflurane, we examined repetitive firing of individual lumbosacral motoneurons recorded in current clamp and modulated by synchronous antidromic electrical stimulation of multiple motor axons and their centrally projecting collateral branches. Antidromic stimulation produced recurrent inhibitory postsynaptic potentials (RIPSPs) having properties similar to those detailed in the cat. Although synchronous RI produced marked short-term modulation of motoneuron spike timing and instantaneous firing rate, there was little or no suppression of average firing rate. The bias in firing modulation of timing over average rate was observed even for high-frequency RI stimulation (100 Hz), perhaps because of the brevity of RIPSPs, which were more than twofold shorter during motoneuron firing compared with rest. These findings demonstrate that RI in the mammalian spinal cord has the capacity to support and not impede heightened motor pool activity, possibly during rapid, forceful movements.

Synchronization of low- and high-threshold motor units

INTRODUCTION

We examined the degree of synchronization for both low- and high-threshold motor unit (MU) pairs at high force levels.

METHODS

MU spike trains were recorded from the quadriceps during high-force isometric leg extensions. Short-term synchronization (between -6 and 6 ms) was calculated for every unique MU pair for each contraction.

RESULTS

At high force levels, earlier recruited motor unit pairs (low-threshold) demonstrated relatively low levels of short-term synchronization (approximately 7.3% extra firings than would have been expected by chance). However, the magnitude of synchronization increased significantly and linearly with mean recruitment threshold (reaching 22.1% extra firings for motor unit pairs recruited above 70% MVC).

CONCLUSIONS

Three potential mechanisms that could explain the observed differences in synchronization across motor unit types are proposed and discussed.

Retinal connectomics: towards complete, accurate networks

Connectomics is a strategy for mapping complex neural networks based on high-speed automated electron optical imaging, computational assembly of neural data volumes, web-based navigational tools to explore 10(12)-10(15) byte (terabyte to petabyte) image volumes, and annotation and markup tools to convert images into rich networks with cellular metadata. These collections of network data and associated metadata, analyzed using tools from graph theory and classification theory, can be merged with classical systems theory, giving a more completely parameterized view of how biologic information processing systems are implemented in retina and brain. Networks have two separable features: topology and connection attributes. The first findings from connectomics strongly validate the idea that the topologies of complete retinal networks are far more complex than the simple schematics that emerged from classical anatomy. In particular, connectomics has permitted an aggressive refactoring of the retinal inner plexiform layer, demonstrating that network function cannot be simply inferred from stratification; exposing the complex geometric rules for inserting different cells into a shared network; revealing unexpected bidirectional signaling pathways between mammalian rod and cone systems; documenting selective feedforward systems, novel candidate signaling architectures, new coupling motifs, and the highly complex architecture of the mammalian AII amacrine cell. This is but the beginning, as the underlying principles of connectomics are readily transferrable to non-neural cell complexes and provide new contexts for assessing intercellular communication.

Identification of common synaptic inputs to motor neurons from the rectified electromyogram

Oscillatory common inputs of cortical or peripheral origin can be identified from the motor neuron output with coherence analysis. Linear transmission is possible despite the motor neuron non-linearity because the same input is sent commonly to several neurons. Because of the linear transmission, common input components to motor neurons can be investigated from the surface EMG, for example by EEG-EMG or EMG-EMG coherence. In these studies, there is an open debate on the utility and appropriateness of EMG rectification. The present study addresses this issue using an analytical, simulation and experimental approach. The main novel theoretical contribution that we report is that the spectra of both the rectified and the raw EMG contain input spectral components to motor neurons. However, they differ by the contribution of amplitude cancellation which influences the rectified EMG spectrum when extracting common oscillatory inputs. Therefore, the degree of amplitude cancellation has an impact on the effectiveness of EMG rectification in extracting input spectral peaks. The theoretical predictions were exactly confirmed by realistic simulations of a pool of motor neurons innervating a muscle in a cylindrical volume conductor of EMG generation and by experiments conducted on the first dorsal interosseous and the abductor pollicis brevis muscles of seven healthy subjects during pinching. It was concluded that when the contraction level is relatively low, EMG rectification may be preferable for identifying common inputs to motor neurons, especially when the energy of the action potentials in the low frequency range is low. Nonetheless, different levels of cancellation across conditions influence the relative estimates of the degree of linear transmission of oscillatory inputs to motor neurons when using the rectified EMG.

Short-term synchrony in diverse motor nuclei presumed to receive different extents of direct cortical input

Motor units within human muscles usually exhibit a significant degree of short-term synchronization. Such coincident spiking typically has been attributed to last-order projections that provide common synaptic input across motor neurons. The extent of branched input arising directly from cortical neurons has often been suggested as a critical factor determining the magnitude of short-term synchrony. The purpose of this study, therefore, was to quantify motor unit synchrony in a variety of human muscles differing in the presumed extent of cortical input to their respective motor nuclei. Cross-correlation histograms were generated from the firing times of 551 pairs of motor units in 16 human muscles. Motor unit synchrony tended to be weakest for proximal muscles and strongest for more distal muscles. Previous work in monkeys and humans has shown that the strength of cortical inputs to motor neurons also exhibits a similar proximal-to-distal gradient. However, in the present study, proximal-distal location was not an exclusive predictor of synchrony magnitude. The muscle that exhibited the least synchrony was an elbow flexor, whereas the greatest synchrony was most often found in intrinsic foot muscles. Furthermore, the strength of corticospinal inputs to the abductor hallucis muscle, an intrinsic foot muscle, as assessed through transcranial magnetic stimulation, was weaker than that projecting to the tibialis anterior muscle, even though the abductor hallucis muscle had higher synchrony values compared with the tibialis anterior muscle. We argue, therefore, that factors other than the potency of cortical inputs to motor neurons, such as the number of motor neurons innervating a muscle, significantly affects motor unit synchrony.

Factors influencing the estimates of correlation between motor unit activities in humans

Background

Alpha motoneurons receive common synaptic inputs from spinal and supraspinal pathways. As a result, a certain degree of correlation can be observed between motoneuron spike trains during voluntary contractions. This has been studied by using correlation measures in the time and frequency domains. These measures are interpreted as reflecting different types of connectivity in the spinal networks, although the relation between the degree of correlation of the output motoneuron spike trains and of their synaptic inputs is unclear.

Methodology/Principal Findings

In this study, we analyze theoretically this relation and we complete this analysis by simulations and experimental data on the abductor digiti minimi muscle. The results demonstrate that correlation measures between motoneuron output spike trains are inherently influenced by the discharge rate and that this influence cannot be compensated by normalization. Because of the influence of discharge rate, frequency domain measures of correlation (coherence) do not identify the full frequency content of the common input signal when computed from pairs of motoneurons. Rather, an increase in sampling rate is needed by using cumulative spike trains of several motoneurons. Moreover, the application of averaging filters to the spike trains influences the magnitude of the estimated correlation levels calculated in the time, but not in the frequency domain (coherence).

Conclusions

It is concluded that the analysis of coherence in different frequency bands between cumulative spike trains of a sufficient number of motoneurons provides information on the spectrum of the common synaptic input. Nonetheless, the absolute values of coherent peaks cannot be compared across conditions with different cumulative discharge rates.

GABA metabolism and transport: effects on synaptic efficacy

GABAergic inhibition is an important regulator of excitability in neuronal networks. In addition, inhibitory synaptic signals contribute crucially to the organization of spatiotemporal patterns of network activity, especially during coherent oscillations. In order to maintain stable network states, the release of GABA by interneurons must be plastic in timing and amount. This homeostatic regulation is achieved by several pre- and postsynaptic mechanisms and is triggered by various activity-dependent local signals such as excitatory input or ambient levels of neurotransmitters. Here, we review findings on the availability of GABA for release at presynaptic terminals of interneurons. Presynaptic GABA content seems to be an important determinant of inhibitory efficacy and can be differentially regulated by changing synthesis, transport, and degradation of GABA or related molecules. We will discuss the functional impact of such regulations on neuronal network patterns and, finally, point towards pharmacological approaches targeting these processes.

Neural mechanisms of intermuscular coherence: implications for the rectification of surface electromyography

Oscillatory activity plays a crucial role in corticospinal control of muscle synergies and is widely investigated using corticospinal and intermuscular synchronization. However, the neurophysiological mechanisms that translate these rhythmic patterns into surface electromyography (EMG) are not well understood. This is underscored by the ongoing debate on the rectification of surface EMG before spectral analysis. Whereas empirical studies commonly rectify surface EMG, computational approaches have argued against it. In the present study, we employ a computational model to investigate the role of the motor unit action potential (MAUP) on the translation of oscillatory activity. That is, diverse MUAP shapes may distort the transfer of common input into surface EMG. We test this in a computational model consisting of two motor unit pools receiving common input and compare it to empirical results of intermuscular coherence between bilateral leg muscles. The shape of the MUAP was parametrically varied, and power and coherence spectra were investigated with and without rectification. The model shows that the effect of EMG rectification depends on the uniformity of MUAP shapes. When output spikes of different motor units are convolved with identical MUAPs, oscillatory input is evident in both rectified and nonrectified EMG. In contrast, a heterogeneous MAUP distribution distorts common input and oscillatory components are only manifest as periodic amplitude modulations, i.e., in rectified EMG. The experimental data showed that intermuscular coherence was mainly discernable in rectified EMG, hence providing empirical support for a heterogeneous distribution of MUAPs. These findings implicate that the shape of MUAPs is an essential parameter to reconcile experimental and computational approaches.

Influence of proprioceptive feedback on the firing rate and recruitment of motoneurons

We investigated the relationships of the firing rate and maximal recruitment threshold of motoneurons recorded during isometric contraction with the number of spindles in individual muscles. At force levels above 10% of maximal voluntary contraction, the firing rate was inversely related to the number of spindles in a muscle, with the slope of the relationship increasing with force. The maximal recruitment threshold of motor units increased linearly with the number of spindles in the muscle. Thus, muscles with a greater number of spindles had lower firing rates and a greater maximal recruitment threshold. These findings may be explained by a mechanical interaction between muscle fibres and adjacent spindles. During low-level (0% to 10%) voluntary contractions, muscle fibres of recruited motor units produce force twitches that activate nearby spindles to respond with an immediate excitatory feedback that reaches maximal level. As the force increases further, the twitches overlap and tend towards tetanization, the muscle fibres shorten, the spindles slacken, their excitatory firings decrease, and the net excitation to the homonymous motoneurons decreases. Motoneurons of muscles with greater number of spindles receive a greater decrease in excitation which reduces their firing rates, increases their maximal recruitment threshold, and changes the motoneuron recruitment distribution.

Decorrelation of cortical inputs and motoneuron output

Oscillations in the primary motor cortex are transmitted through the corticospinal tract to the motoneuron pool. This pathway is believed to produce an effective and direct command from the motor cortex to the spinal motoneurons for the modulation of the force output. In this study, we used a computational model of a population of motoneurons to investigate the factors that can influence the transmission of the cortical input to the output of motoneurons, since it can be quantified by coherence analysis. The simulations demonstrated that, despite the nonlinearity of the motoneurons, oscillations present in the cortical input are transmitted to the output of the motoneuron pool at the same frequency. However, the interference introduced by the nonlinearity of the system increases the variability of the oscillations in output, introducing spectral lines whose frequency depends on the input frequencies and the motoneuron discharge rates. Moreover, an additional source of synaptic input common to all motoneurons but independent from the corticospinal component decorrelates the cortical input and motoneuron output and, thus, decreases the magnitude of the estimated coherence, even if the effective cortical drive does not change. These results indicate that the corticospinal input can effectively be sampled by a small population of motoneurons. However, the transmission of a corticospinal drive to the motoneuron pool is influenced by the nonlinearity of the spiking processes of the active motoneurons and by synaptic inputs common to the motoneuron population but independent from the cortical input.

Spinal interneurons providing input to the final common path during locomotion

As the nexus between the nervous system and the skeletomuscular system, motoneurons effect all behavior. As such, motoneuron activity must be well regulated so as to generate appropriately timed and graded muscular contractions. Accordingly, motoneurons receive a large number of both excitatory and inhibitory synaptic inputs from various peripheral and central sources. Many of these synaptic contacts arise from spinal interneurons, some of which belong to spinal networks responsible for the generation of locomotor activity. Although the complete definition of these networks remains elusive, it is known that the neural machinery necessary to generate the basic rhythm and pattern of locomotion is contained within the spinal cord. One approach to gaining insights into spinal locomotor networks is to describe those spinal interneurons that directly control the activity of motoneurons, so-called last-order interneurons. In this chapter, we briefly survey the different populations of last-order interneurons that have been identified using anatomical, physiological, and genetic methodologies. We discuss the possible roles of these identified last-order interneurons in generating locomotor activity, and in the process, identify particular criteria that may be useful in identifying putative last-order interneurons belonging to spinal locomotor networks.

Renshaw cell recurrent inhibition improves physiological tremor by reducing corticomuscular coupling at 10 Hz

Corticomuscular coherence between the primary motor cortex (M1) and hand muscle electromyograms (EMG) occurs at approximately 20 Hz but is rarely seen at approximately 10 Hz. This is unexpected, because M1 has oscillations at both frequencies, which are effectively transmitted to the spinal cord via the corticospinal tract. We have previously speculated that a specific "neural filter" may selectively reduce coherence at approximately 10 Hz. This would have functional utility in minimizing physiological tremor, which often has a dominant component around this frequency. Recurrent inhibition via Renshaw cells in the spinal cord is a putative neural substrate for such a filter. Here we investigate this system in more detail with a biophysically based computational model. Renshaw cell recurrent inhibition reduced EMG oscillations at approximately 10 Hz, and also reduced corticomuscular coherence at this frequency (from 0.038 to 0.014). Renshaw cell inhibitory feedback also generated synchronous oscillations in the motoneuron pool at approximately 30 Hz. We show that the effects at 10 Hz and 30 Hz can both be understood from the dynamics of the inhibitory feedback loop. We conclude that recurrent inhibition certainly plays an important role in reducing 10 Hz oscillations in muscle, thereby decreasing tremor amplitude. However, our quantitative results suggest it is unlikely to be the only system for tremor reduction, and probably acts in concert with other neural circuits which remain to be elucidated.

Motor unit recruitment and proprioceptive feedback decrease the common drive

It has been documented that concurrently active motor units fire under the control of a common drive. That is, the firing rates show high correlation with near-zero time lag. This degree of correlation has been found to vary among muscles and among contractions performed at different force levels in the same muscle. This study provides an explanation indicating that motor units recruited during a contraction cause an increase in the variation (SD) and a decrease in the degree (amplitude) of the correlation of the firing rates. The degree of correlation is lower in muscles having greater spindle density. This effect appears to be mediated by the proprioceptive feedback from the spindles and possibly the Golgi tendon organs. Muscle spindles in particular respond to the mechanical excitation of the nonfused muscle fibers and provide a discordant excitation to the homonymous motoneurons, resulting in a decrease in the correlation of the firing rates of motor units. The implication of this work is that the decreased correlation of the firing rates in some muscles is not necessarily an indication of a decreased common drive from the CNS, but rather an inhibitory influence of the proprioceptive feedback from the peripheral nervous system. This explanation is useful for understanding various manifestations of the common drive reported in the literature.

The continuing case for the Renshaw cell

Renshaw cell properties have been studied extensively for over 50 years, making them a uniquely well-defined class of spinal interneuron. Recent work has revealed novel ways to identify Renshaw cells in situ and this in turn has promoted a range of studies that have determined their ontogeny and organization of synaptic inputs in unprecedented detail. In this review we illustrate how mature Renshaw cell properties and connectivity arise through a combination of activity-dependent and genetically specified mechanisms. These new insights should aid the development of experimental strategies to manipulate Renshaw cells in spinal circuits and clarify their role in modulating motor output.

Muscle proprioceptive feedback and spinal networks

This review revolves primarily around segmental feedback systems established by muscle spindle and Golgi tendon organ afferents, as well as spinal recurrent inhibition via Renshaw cells. These networks are considered as to their potential contributions to the following functions: (i) generation of anti-gravity thrust during quiet upright stance and the stance phase of locomotion; (ii) timing of locomotor phases; (iii) linearization and correction for muscle nonlinearities; (iv) compensation for muscle lever-arm variations; (v) stabilization of inherently unstable systems; (vi) compensation for muscle fatigue; (vii) synergy formation; (viii) selection of appropriate responses to perturbations; (ix) correction for intersegmental interaction forces; (x) sensory-motor transformations; (xi) plasticity and motor learning. The scope will at times extend beyond the narrow confines of spinal circuits in order to integrate them into wider contexts and concepts.

Effects of spinal recurrent inhibition on motoneuron short-term synchronization

Spinal recurrent inhibition linking skeleto- motoneurons (alpha-MNs) via Renshaw cells (RCs) has been variously proposed to increase or decrease tendencies toward synchronous discharges between alpha-MNs. This controversy is not easy to settle experimentally in animal or human paradigms because RCs receive, in addition to excitatory input from alpha-MNs, many other modulating influences which may change their mode of operation. Computer simulations help to artificially isolate the recurrent inhibitory circuit and thus to study its effects on alpha-MN synchronization under conditions not achievable in natural experiments. We present here such a study which was designed to specifically test the following hypothesis. Since many alpha-MNs excite any particular Renshaw cell, which in turn inhibits many alpha-MNs, this convergence-divergence pattern establishes a random network whose random discharge patterns inject uncorrelated noise into alpha-MNs, and this noise counteracts any synchronization potentially arising from other sources, e.g., common inputs (Adam et al. in Biol Cybern 29:229-235, 1978). We investigated the short-term synchronization of alpha-MNs with two types of excitatory input signals to alpha-MNs (random and sinusoidally modulated random patterns). The main results showed that, while recurrent inhibitory inputs to different alpha-MNs were indeed different, recurrent inhibition (1) exerted rather small effects on the modulation of alpha-MN discharge, (2) tended to increase the short-term synchronization of alpha-MN discharge, and (3) did not generate secondary peaks in alpha-MN-alpha-MN cross-correlograms associated with alpha-MN rhythmicity.

Compartmental models of mammalian motoneurons of types S, FR and FF and their computer simulation

Mathematical models of motoneurons (MNs) of types S, FR and FF were developed based on cat MN data. Each of the three models has an initial segment, a soma and a dendritic tree. The initial segment and the soma include models of several types of ionic currents, including a calcium-dependent slow potassium current. The dendritic tree is modeled as a series association of several electrically passive cylinders. Afterhyperpolarization parameters, current to frequency relation and the responses to input current steps, ramps and sinusoids were used for model validation. The effects of sinusoidally varying synaptic inputs at different levels of the dendritic tree were studied by computer simulation. The corresponding frequency response functions resulted of lowpass type with cutoff frequencies from 10 to 40 Hz, for synapses occurring more distally or more proximally, respectively. The nonlinear effects caused by two sinusoidally varying synaptic conductances (at 7 and 11 Hz), acting at different dendritic segments, were quantified by spectral analysis of the current reaching the soma. The simulations pointed to two main nonlinear effects: (i) harmonics of the two input frequencies (e.g., 14 Hz) and (ii) intermodulation terms (e.g., 4 Hz). When the two synaptic inputs occurred on more distal dendritic compartments the nonlinear effects were more pronounced.

Extra force from asynchronous stimulation of cat soleus muscle results from minimizing the stretch of the common elastic elements

Rack and Westbury showed that low-frequency asynchronous stimulation of a muscle produces greater force compared with synchronous stimulation. This study tested the hypothesis that the difference results from the dynamic stretch of the common elastic elements. In eight anesthetized cats, the soleus was attached to a servomechanism to control muscle length and record force. The ventral roots were divided into four bundles so each innervated approximately 1/4 of the soleus. The elasticity shared by each part of the muscle was estimated and the servomechanism programmed to compensate for its stretch. At each test frequency (5, 7.5, and 10 Hz), the muscle was stimulated by asynchronous stimulation, synchronous stimulation, summation of force with each part stimulated individually, and summation with each part stimulated individually and the servomechanism mimicking tendon stretch during asynchronous stimulation. Muscle length was isometric except for the last protocol. The observed differences were small. The greatest difference occurred during stimulation at 5 Hz with muscle length on the ascending limb of the length-tension curve. Here, the average forces, normalized by asynchronous force, were asynchronous, 100%; synchronous, 73%; summation, 110%; and summation with stretch compensation, 98%. The results support the hypothesis and suggest that the common elasticity can be used to predict force gains from asynchronous stimulation.

Parallel neuronal mechanisms underlying physiological force tremor in steady muscle contractions of humans

We present results from a study of the 6-to 12-Hz force tremor in relation to motor unit (MU) firing synchrony. Our experimental observations from 32 subjects, 321 contractions, and 427 recorded MUs reveal that tremor is accompanied by corresponding, in-phase MU rhythms that are additional to the ones at the MU intrinsic firing rates. This rhythmical synchrony is widespread and has a uniform strength that ranges from near zero to very large (MU/MU coherence > 0.50) in different contractions. Both the synchrony and the tremor are suppressed during ischemia, and this strongly suggests an involvement of spindle feedback in their generation. Furthermore, in the presence of substantial synchrony, the tremor enhancement, relative to the minimal tremor of ischemia, reflects the strength of the synchrony. Theoretical considerations based on these observations indicate that the muscle force signal is expected to show 1) frequency components in the band of the firing rates of the last-recruited, large MUs, and 2) because of the synchronized MU rhythms, an additional, distinct component with a size reflecting the strength of synchrony. Furthermore, synchronized MU rhythms, with frequencies in the 6- to 12-Hz range, are expected to arise from self-oscillations in the monosynaptic stretch reflex loop, due primarily to the associated muscle delay (several tens of milliseconds). Our results therefore reveal the parallel action of two tremor mechanisms, one of which involves MU synchrony probably caused by loop action. Clearly, the results on the synchrony and its impact also apply to other possible generators of tremor synchrony, including supraspinal ones.

Comparison of the inhibition of Renshaw cells during subthreshold and suprathreshold conditions using anatomically and physiologically realistic models

Inhibitory synaptic inputs to Renshaw cells are concentrated on the soma and the juxtasomatic dendrites. In the present study, we investigated whether this proximal bias leads to more effective inhibition under different neuronal operating conditions. Using compartmental models based on detailed anatomical measurements of intracellularly stained Renshaw cells, we compared the inhibition produced by glycine/gamma-aminobutyric acid-A (GABA(A)) synapses when distributed with a proximal bias to the inhibition produced when the same synapses were distributed uniformly (i.e., with no regional bias). The comparison was conducted in subthreshold and suprathreshold conditions. The latter were mimicked by voltage clamping the soma to -55 mV. The voltage clamp reduces nonlinear interactions between excitatory and inhibitory synapses. We hypothesized that for electrotonically compact cells such as Renshaw cells, the strength of the inhibition would become much less dependent on synaptic location in suprathreshold conditions. This hypothesis was not confirmed. The inhibition produced when inhibitory inputs were proximally distributed was always stronger than when the same inputs were uniformly distributed. In fact, the relative effectiveness of proximally distributed inhibitory inputs over uniformly distributed synapses was greater in suprathreshold conditions than that in subthreshold conditions. The somatic voltage clamp minimized saturation of inhibitory driving potentials. Because this effect was greatest near the soma, the current produced by more distal synapses suffered a greater loss because of saturation. Conversely, in subthreshold conditions, the effectiveness of proximal synapses was substantially reduced at high levels of background synaptic activity because of saturation. Our results suggest glycine/GABA(A) synapses on Renshaw cells are strategically distributed to block the powerful excitatory drive produced by recurrent collaterals from motoneurons.

Recurrent inhibition of human firing motoneurons (experimental and modeling study)

Recurrent inhibition between tonically activated single human motoneurons was studied experimentally and by means of a computer simulation. Motor unit activity was recorded during weak isometric constant-force muscle contractions of brachial biceps (BB) and soleus (SOL) muscles. Three techniques (cross correlogram, frequencygram, and interspike interval analysis) were used to gauge the relations between single motor unit potential trains. Pure inhibition was detected in 5.6% of 54 BB motoneuron pairs and in 5.2% of 43 SOL motoneuron pairs. In 27.8% (BB) and 23.7% (SOL) presumed inhibition symptoms were accompanied by a synchrony peak; 37% (BB) and 48.8% (SOL) exhibited synchrony alone. The demonstrated inhibition was very weak, at the edge of detectability. Computer simulations were based on the threshold-crossing model of a tonically firing motoneuron. The model included synaptic noise as well as threshold and postsynaptic potential (PSP) amplitude change within interspike interval. Inhibition efficiency of the model neurons increased with IPSP amplitude and duration, and with increasing source firing rate. The efficiency depended on target motoneuron interspike interval in a manner similar to standard deviation of ISI. The minimum detectable amplitude estimated in the simulations was about 50 microV, which, compared with the experimental results, suggests that amplitudes of detectable recurrent IPSPs in human motoneurons during weak muscle contractions do not exceed this magnitude. Since recurrent inhibition is known to be progressively depressed with an increase in the force of voluntary contraction, it is concluded that the recurrent inhibition hardly plays any important role in the isometric muscle contractions of constant force.

Modular premotor drives and unit bursts as primitives for frog motor behaviors

Spinal cord modularity impacts on our understanding of reflexes, development, descending systems in normal motor control, and recovery from injury. We used independent component analysis and best-basis or matching pursuit wavepacket analysis to extract the composition and temporal structure of bursts in hindlimb muscles of frogs. These techniques make minimal a priori assumptions about drive and motor pattern structure. We compared premotor drive and burst structures in spinal frogs with less reduced frogs with a fuller repertoire of locomotory, kicking, and scratching behaviors. Six multimuscle drives explain most of the variance of motor patterns (approximately 80%). Each extracted drive was activated with pulses at a single time scale or common duration (approximately 275 msec) burst structure. The data show that complex behaviors in brainstem frogs arise as a result of focusing drives to smaller core groups of muscles. Brainstem drives were subsets of the muscle groups from spinal frogs. The 275 msec burst duration was preserved across all behaviors and was most precise in brainstem frogs. These data support a modular decomposition of frog behaviors into a small collection of unit burst generators and associated muscle drives in spinal cord. Our data also show that the modular organization of drives seen in isolated spinal cord is fine-tuned by descending controls to enable a fuller movement repertoire. The unit burst generators and their associated muscle synergies extracted here link the biomechanical "primitives," described earlier in the frog, rat, and cat, and to the elements of pattern generation examined in fictive preparations.

Quantification of the factors that influence discharge correlation in model motor neurons

The purpose of this study was to quantify the influence of intrinsic properties, active dendritic conductances, and background excitation and inhibition on measures of discharge correlation in the time and frequency domains with known levels and patterns of common synaptic input. The study involved a computer simulation of a population of neurons with a range of input resistances (0.54-3.7 MOmega) and surface areas (407,000-712,000 microm(2)). The neurons were simulated with no, moderate, or high levels of active dendritic conductances and were activated with either excitatory input only or excitatory and inhibitory inputs. The patterns of common input, either branched common input or common modulation, were tested with 0, 30, 60, and 90% common input. The results confirm previous findings of an exponential relation between the level of common input and indexes of synchronization; only when the common input comprised >/=60% of the total excitatory input was there a significant effect on discharge correlation. Synchronization was greatest in models that had passive dendrites. Active dendritic conductances caused the discharge rate of the neuron to saturate and decreased motor-unit synchronization. However, the addition of 10% background inhibitory input increased synchronization in these models. In contrast, common rhythmic modulation of inputs at 24 Hz usually decreased synchronization. Significant coherence at the modulated frequency occurred in the commonly modulated neurons when >/=60% of the inputs were modulated. Furthermore, active dendritic conductances decreased coherence. Branched common input caused high levels of coherence across a broad spectrum and when combined with active dendritic conductances caused significant frequency peaks in the 30- to 50-Hz band. In conclusion, the level of inhibitory input and active dendritic conductances interact with the amount of common input to determine time- and frequency-domain discharge correlation.

Firing properties of spinal interneurons during voluntary movement. II. Interactions between spinal neurons

The relationship between the activity of pairs of simultaneously recorded spinal interneurons (INs) in the cervical enlargement was studied in five monkeys performing voluntary wrist movements. The tendency for INs to exhibit similar response properties and synchronized firing was tested as a function of physical distance between the cells and their correlational linkages with forearm muscles. Nearby INs tended to have more similar torque and direction turning (signal correlation) and more similar response profiles (e.g., tonic vs phasic firing) than INs that were far apart. This suggests that nearby cells receive common synaptic input. In contrast, the trial-to-trial covariation of rate around the mean rate for all trials (noise correlation) was independent of the distance between the neurons. Furthermore, signal and noise correlation were independent, suggesting different underlying mechanisms. Surprisingly, spike-to-spike correlation between INs was relatively infrequent and weak, as measured by cross-correlation histograms. In contrast, single motor units (SMUs) in forearm muscles fired more synchronously, particularly for SMUs in single extensor muscles. Either common drive to INs is too weak to induce synchronized firing, or there is an active decorrelation mechanism within IN networks.

Distribution of heterogenic reflexes among the quadriceps and triceps surae muscles of the cat hind limb

Neural signals from proprioceptors in muscles provide length and force-related linkages among muscles of the limbs. The functions of this network of heterogenic reflexes remain unclear. New data are reported here on the distribution and magnitudes of neural feedback among quadriceps and triceps surae muscles in the decerebrate cat. The purpose of this paper was to distinguish whether inhibitory-force feedback is directed against muscles by virtue of the motor-unit composition or articulation of the muscle. These studies were carried out using controlled stretches and measurements of the resulting force responses of individual quadriceps and triceps surae muscles. Responses were evoked over a wide range of background force levels. In agreement with earlier electrophysiological studies, excitatory length feedback strongly linked the vastus muscles, but excitatory reflexes between each vastus and rectus femoris muscles were weak. We also observed a substantial excitatory linkage from the vastus muscles to the soleus muscle. In contrast, force-related inhibition was absent in the heterogenic reflexes among the vastus muscles but strong and bidirectional between each vastus muscle and the rectus femoris muscle and between triceps surae and quadriceps muscles. We conclude that short-latency feedback in the hindlimb is organized according to muscle articulation. Length feedback within muscle groups regulates joint stiffness while interjoint length feedback may compensate for the effects of nonuniform inertial properties of the limb. Force feedback is organized to regulate coupling between joints and, along with length feedback, determine the mechanical properties of the endpoint.

Functional correlations between neighboring neurons in the primate globus pallidus are weak or nonexistent

The anatomical structure of the basal ganglia displays topographical organization and massive funneling of neuronal projections toward the globus pallidus as well as an axonal collateral system within this nucleus. This structure suggests the formation of correlations between the spiking activities of pallidal cells. Nevertheless, previous studies of remote neurons in the pallidum have reported uncorrelated spiking activity. These correlation results may be challenged, because remote pallidal neurons may be located in different pallidal territories. To further test the independence of pallidal activity, we studied the spiking activity of neighboring pairs recorded by the same electrodes. A narrow peak dominated the correlations of all pairs of neurons recorded on the same electrode. This type of peak is classically interpreted as a sign of strong common input. However, recent mathematical analysis shows that such peaks may derive from a technical inability to detect overlapping spikes by spike-sorting techniques. A long-term shallow trough in the correlation of neighboring neurons may also result from the same effect, which we have termed the "shadowing effect." A comparison of the expected shadowing effect with the actual correlations suggests that no real correlations exist between 93.9% of neighboring pallidal pairs. The remaining 6.1% of the pairs display symmetric long-term positive correlations centered on time 0. Thus, functional interactions between neighboring pallidal neurons do not display any significant differences from the interactions between physically remote neurons in this brain area. Moreover, the combination of anatomical data and current physiological results suggests an active decorrelating process performed in the basal ganglia.

Pharmacologically induced enhancement of recurrent inhibition in humans: effects on motoneurone discharge patterns

The aim of the present study was to investigate the effects of spinal recurrent inhibition on human motoneurone discharge patterns. The tonic discharge activity of motor unit pairs was recorded in the extensor carpi radialis (ECR) and abductor digiti minimi (ADM) muscles during voluntary isometric contraction. While undergoing continuous intravenous saline (NaCl 0.9 %) perfusion, the subjects were given a short lasting injection of L-acetylcarnitine (L-Ac), which has been found to potentiate recurrent inhibition in humans. The variability, synchronization and coherence of the motor unit discharges were analysed during four successive test periods (lasting 2-3 min each). A significant decrease in the inter-spike interval (ISI) coefficient of variation was observed in the discharge patterns of the motor units tested in the ECR and not in the ADM, which were not accompanied by any consistent changes in the mean ISIs of the motor unit activity in either muscle. The L-Ac injection also led to a significant increase in the synchronization in half of the motor unit pairs tested in the ECR muscle (n = 29), whereas no consistent changes were observed with the ADM motor units (n = 25). However, coherence analysis failed to reveal any consistent differences in the incidence of significant values of coherence spectrum between the pre-injection and injection periods among the motor unit pairs tested with either saline or L-Ac injections, in either the ECR or ADM muscles. The contrasting effects on the variability and the synchronization of the motor unit discharges observed with ECR motoneurones known to undergo recurrent inhibition and with ADM motoneurones known to lack recurrent inhibition suggest that the drug may have specific effects which are mediated by an enhancement of the Renshaw cell activity. The decrease in the ISI variability is in line with the hypothesis that recurrent inhibition may contribute along with the post-spike after-hyperpolarization to limiting the influence of the synaptic noise on the firing times of steadily discharging motoneurones. The present data, which suggest that recurrent inhibition plays a synchronizing rather than a desynchronizing role, are in keeping with the fact that the Renshaw cells may provide an important source of common inhibitory inputs.

Cosine tuning minimizes motor errors

Cosine tuning is ubiquitous in the motor system, yet a satisfying explanation of its origin is lacking. Here we argue that cosine tuning minimizes expected errors in force production, which makes it a natural choice for activating muscles and neurons in the final stages of motor processing. Our results are based on the empirically observed scaling of neuromotor noise, whose standard deviation is a linear function of the mean. Such scaling predicts a reduction of net force errors when redundant actuators pull in the same direction. We confirm this prediction by comparing forces produced with one versus two hands and generalize it across directions. Under the resulting neuromotor noise model, we prove that the optimal activation profile is a (possibly truncated) cosine--for arbitrary dimensionality of the workspace, distribution of force directions, correlated or uncorrelated noise, with or without a separate cocontraction command. The model predicts a negative force bias, truncated cosine tuning at low muscle cocontraction levels, and misalignment of preferred directions and lines of action for nonuniform muscle distributions. All predictions are supported by experimental data.

Input-output functions of mammalian motoneurons

Our intent in this review was to consider the relationship between the biophysical properties of motoneurons and the mechanisms by which they transduce the synaptic inputs they receive into changes in their firing rates. Our emphasis has been on experimental results obtained over the past twenty years, which have shown that motoneurons are just as complex and interesting as other central neurons. This work has shown that motoneurons are endowed with a rich complement of active dendritic conductances, and flexible control of both somatic and dendritic channels by endogenous neuromodulators. Although this new information requires some revision of the simple view of motoneuron input-output properties that was prevalent in the early 1980's (see sections 2.3 and 2.10), the basic aspects of synaptic transduction by motoneurons can still be captured by a relatively simple input-output model (see section 2.3, equations 1-3). It remains valid to describe motoneuron recruitment as a product of the total synaptic current delivered to the soma, the effective input resistance of the motoneuron and the somatic voltage threshold for spike initiation (equations 1 and 2). However, because of the presence of active channels activated in the subthreshold range, both the delivery of synaptic current and the effective input resistance depend upon membrane potential. In addition, activation of metabotropic receptors by achetylcholine, glutamate, noradrenaline, serotonin, substance P and thyrotropin releasing factor (TRH) can alter the properties of various voltage- and calcium-sensitive channels and thereby affect synaptic current delivery and input resistance. Once motoneurons are activated, their steady-state rate of repetitive discharge is linearly related to the amount of injected or synaptic current reaching the soma (equation 3). However, the slope of this relation, the minimum discharge rate and the threshold current for repetitive discharge are all subject to neuromodulatory control. There are still a number of unresolved issues concerning the control of motoneuron discharge by synaptic inputs. Under dynamic conditions, when synaptic input is rapidly changing, time- and activity-dependent changes in the state of ionic channels will alter both synaptic current delivery to the spike-generating conductances and the relation between synaptic current and discharge rate. There is at present no general quantitative expression for motoneuron input-output properties under dynamic conditions. Even under steady-state conditions, the biophysical mechanisms underlying the transfer of synaptic current from the dendrites to the soma are not well understood, due to the paucity of direct recordings from motoneuron dendrites. It seems likely that resolving these important issues will keep motoneuron afficiandoes well occupied during the next twenty years.