Entrainment of the locomotor rhythm by group Ib afferents from ankle extensor muscles in spinal cats

Multimodal sensory control of motor performance by glycinergic interneurons of the mouse spinal cord deep dorsal horn

Sensory feedback is integral for contextually appropriate motor output, yet the neural circuits responsible remain elusive. Here, we pinpoint the medial deep dorsal horn of the mouse spinal cord as a convergence point for proprioceptive and cutaneous input. Within this region, we identify a population of tonically active glycinergic inhibitory neurons expressing parvalbumin. Using anatomy and electrophysiology, we demonstrate that deep dorsal horn parvalbumin-expressing interneuron (dPV) activity is shaped by convergent proprioceptive, cutaneous, and descending input. Selectively targeting spinal dPVs, we reveal their widespread ipsilateral inhibition onto pre-motor and motor networks and demonstrate their role in gating sensory-evoked muscle activity using electromyography (EMG) recordings. dPV ablation altered limb kinematics and step-cycle timing during treadmill locomotion and reduced the transitions between sub-movements during spontaneous behavior. These findings reveal a circuit basis by which sensory convergence onto dorsal horn inhibitory neurons modulates motor output to facilitate smooth movement and context-appropriate transitions.

Altered cutaneous reflexes to non-noxious stimuli in the triceps surae of people with chronic incomplete spinal cord injury

Following spinal cord injury (SCI) task-dependent modulation of spinal reflexes are often impaired. To gain insight into the state of the spinal interneuronal pathways following injury, we studied the amplitude modulation of triceps surae cutaneous reflexes to non-noxious stimuli during standing and early-to-mid stance phase of walking in participants with and without chronic incomplete SCI. Reflex eliciting nerve stimulation was delivered to the superficial peroneal, sural, and distal tibial nerves about the ankle. Reflexes were analyzed in the short (SLR, 50-80 ms post stimulation onset) and the medium (MLR, 80-120 ms) latency response windows. Further, the relation between cutaneous and H-reflexes was also examined during standing. In participants without injuries the soleus SLR was modulated task-dependently with nerve specificity, and the soleus and medial gastrocnemius MLRs were modulated task-dependently. In contrast, participants with SCI, no task-dependent or nerve-specific modulation of triceps cutaneous reflexes was observed. The triceps surae cutaneous and H-reflexes were not correlated in either group (r = 0.01-0.37). The presence of cutaneous reflexes but the absence of significant amplitude modulation may suggest impaired function of spinal interneuronal pathways in this population. The lack of correlation between the cutaneous and H-reflexes may suggest that interneurons that are involved in H-reflex modulation and cutaneous reflex modulation do not receive common input, or the impact of the common input is outweighed by other input. Present findings highlight the importance of examining multiple spinal reflexes to better understanding spinal interneuronal pathways that affect motor control in people after SCI.

Contribution of Afferent Feedback to Adaptive Hindlimb Walking in Cats: A Neuromusculoskeletal Modeling Study

Mammalian locomotion is generated by central pattern generators (CPGs) in the spinal cord, which produce alternating flexor and extensor activities controlling the locomotor movements of each limb. Afferent feedback signals from the limbs are integrated by the CPGs to provide adaptive control of locomotion. Responses of CPG-generated neural activity to afferent feedback stimulation have been previously studied during fictive locomotion in immobilized cats. Yet, locomotion in awake, behaving animals involves dynamic interactions between central neuronal circuits, afferent feedback, musculoskeletal system, and environment. To study these complex interactions, we developed a model simulating interactions between a half-center CPG and the musculoskeletal system of a cat hindlimb. Then, we analyzed the role of afferent feedback in the locomotor adaptation from a dynamic viewpoint using the methods of dynamical systems theory and nullcline analysis. Our model reproduced limb movements during regular cat walking as well as adaptive changes of these movements when the foot steps into a hole. The model generates important insights into the mechanism for adaptive locomotion resulting from dynamic interactions between the CPG-based neural circuits, the musculoskeletal system, and the environment.

The role of load-dependent sensory input in the control of balance during gait in rats

Locomotor activity requires fine balance control that strongly depends on the afferent input from the load receptors. Following hindlimb unloading (HU), the kinematic and EMG activity of the hindlimbs is known to change significantly. However, the effects of HU on the integrative control mechanisms of posture and locomotion are not clear. The goal of the present study was to evaluate the center of mass (CoM) dynamic stabilization and associated adaptive changes in the trunk and hindlimb muscle activity during locomotion after 7 days of HU. The EMG signals from the muscles of the low lumbar trunk [m. longissimus dorsi (VERT)] and the hind limb [m. tibialis anterior (TA), m. semitendinosus (ST), m. soleus (SOL)] were recorded together with the hindquarter kinematics during locomotion on a treadmill in six rats before and after HU. The CoM lateral shift in the step cycle significantly increased after HU and coincided with the enhanced activity of the VERT. The mean EMG of the TA and the ST flexor activity increased significantly with reduction of their burst duration. These data demonstrate the disturbances of body balance after HU that can influence the basic parameters of locomotor activity. The load-dependent mechanisms resulted in compensatory adjustments of flexor activity toward a faster gait strategy, such as a trot or gallop, which presumably have supraspinal origin. The neuronal underpinnings of these integrative posture and locomotion mechanisms and their possible reorganization after HU are discussed.

Effect of hindlimb unloading on recruitment of gastrocnemius medialis muscle during treadmill locomotion in rats

After hindlimb unloading (HU), the adaptive changing of the rat step cycle duration, kinematics of the ankle and knee joints, and duration of one-joint ankle extensor m. soleus (SOL) activity are detected. However, how the activity of their synergist gastrocnemius medialis muscle (GM) changes in locomotion after HU remains unknown. GM is a two-joint muscle that produces both extension and flexion torques at the ankle and knee, respectively, regardless of the step cycle phase. The aim of our study was to assess changes in the flexor and extensor activity of GM and their influence on hindlimb kinematics after HU. The hindlimb kinematics, activity of GM, and SOL were evaluated, and semitendinosus muscle (ST) activity was registered in six Wistar rats in treadmill locomotion before and after HU. The mean EMG of the GM activity, which was co-active with ST burst activity, significantly increased after HU. The mean EMG of the GM activity, which was co-active with SOL activity, was unchanged after HU, but both SOL and GM bursts had a tendency to increase in duration. Hyperextension of the knee joint and the tendency to overextension of the ankle joint in the late of the stance phase were revealed after HU. The results show that the absence of weight bearing leads to an increase only in the flexor activity of GM and does not affect the extensor GM activity. Possible mechanisms of changes in GM activity and joint kinematics after HU are discussed.

Development of Locomotor-Related Movements in Early Infancy

This mini-review focuses on the emergence of locomotor-related movements in early infancy. In particular, we consider multiples precursor behaviors of locomotion as a manifestation of the development of the neuronal networks and their link in the establishment of precocious locomotor skills. Despite the large variability of motor behavior observed in human babies, as in animals, afferent information is already processed to shape the behavior to specific situations and environments. Specifically, we argue that the closed-loop interaction between the neural output and the physical dynamics of the mechanical system should be considered to explore the complexity and flexibility of pattern generation in human and animal neonates.

Modulation of cutaneous reflexes during sidestepping in adult humans

A common neural control mechanism coordinates various types of rhythmic locomotion performed in the sagittal plane, but it is unclear whether frontal plane movements show similar neural patterning in adult humans. The purpose of this study was to compare cutaneous reflex modulation patterns evoked during sagittal and frontal plane rhythmic movements. Eight healthy, neurologically intact adults (three males, five females) walked and sidestepped on a treadmill at approximately 1 Hz. The sural nerve of the dominant (and lead) limb was stimulated randomly every 3-7 steps at eight phases of each gait cycle. Ipsilateral electromyographic recordings from four lower leg muscles and kinematic data from the ankle were collected continuously throughout both tasks. Data from unstimulated gait cycles were used as control trials to calculate middle-latency reflex responses (80-120 ms) and kinematic changes (140-220 ms) following electrical stimulation. Results show that the cutaneous reflex modulation patterns were similar across both tasks despite significant differences in background EMG activity. However, increased reflex amplitudes were observed during the late swing and early stance phases of sidestepping, which directly altered ankle kinematics. These results suggest that the neural control mechanisms responsible for coordinating sagittal locomotion are flexibly modified to coordinate frontal plane activities even with very different foot landing mechanics.

Candidate Interneurons Mediating the Resetting of the Locomotor Rhythm by Extensor Group I Afferents in the Cat

Sensory information arising from limb movements controls the spinal locomotor circuitry to adapt the motor pattern to demands of the environment. Stimulation of extensor group (gr) I afferents during fictive locomotion in decerebrate cats prolongs the ongoing extension, and terminates ongoing flexion with an initiation of the subsequent extension, i. e. "resetting to extension". Moreover, instead of the classical Ib non-reciprocal inhibition, stimulation of extensor gr I afferents produces a polysynaptic excitation in extensor motoneurons with latencies (∼3.5-4.0 ms) compatible with 3 interposed interneurons. We assume that some interneurons in this pathway actually belong to the rhythm-generating layer of the locomotor Central Pattern Generator (CPG), since their activity was correlated to a resetting of the rhythm. In the present work fictive locomotion was (mostly) induced by i.v. injection of nialamide followed by l-DOPA in paralyzed cats following decerebration and spinalization at C1 level. In some experiments, we extended previous observations during fictive locomotion on the emergence and locomotor state-dependence of polysynaptic excitatory postsynaptic potentials from extensor gr I afferents to ankle extensor motoneurons. However, the main focus was to record location and properties of interneurons (n = 62) that (i) were active during the extensor phase of fictive locomotion and (ii) received short-latency excitation (mono-, di- or polysynaptic) from extensor gr I afferents. We conclude that the interneurons recorded fulfill the characteristics to belong to the neuronal pathway activated by extensor gr I afferents during locomotion, and may contribute to the 'resetting to extension' as part of the locomotor CPG.

Sensory Feedback Control of Locomotor Pattern Generation in Cats and Mice

Traditionally, research aimed at the understanding of the sensory control of terrestrial mammalian locomotion has focused on cats as the animal model. But advances in molecular genetics and new methods to record movement in small animals have moved mice into the forefront of locomotor research. In this review article, I will first give an overview of what is known about sensory feedback control of locomotion, mainly emerged from experiments performed on cats. This overview will not be an exhaustive overview, but will rather aim to give a broad picture of what has been learned about the sensory control of locomotion using cats as the animal model. I will then give a brief summary of how the mouse is adding to these insights.

Effects of periodic sensory perturbations during electrical stimulation on gait cycle period

The spinal cord contains the neural circuitry needed to generate rhythmic walking motions, and afferent sensory feedbacks are involved in the control of locomotion. In this study, we examined the influence of periodic electrical stimulation on the change in gait cycle period during treadmill walking. 40 subjects walked on a treadmill while receiving periodic bursts of electrical stimulation at various perturbation periods (-20, -40, -60, +20, +40 milliseconds from their initial gait cycle periods). Eleven subjects received electrical stimulation to the hamstring, and 29 received electrical stimulation to the calf. Each subject completed four trials; two trials were conducted using high amplitude stimulation causing a slight degree of joint motion, and the other two trials were conducted using reduced amplitude stimulation which did not cause observable motion. Through the trials, we sought to answer the following questions: 1) does the amplitude of electrical stimulation have an effect on the level of entrainment? 2) does the stimulation site effect the level of entrainment? Entrainment refers to the synchronization of gait cycle period to the period of electrical stimulation. The results showed that entrainment was observed when the perturbation periods were induced relatively close to the subject’s initial gait cycle period. For both stimulation sites, entrainment was shown in 59% of subjects at +/- 20 milliseconds from the initial gait cycle period. With reduced amplitude, entrainment was still observed (51% all stimulation site groups at +/- 20 milliseconds). In addition, after-effects following electrical perturbation were present as seen by changes in the mean gait cycle period. Our results suggest that human locomotor control is organized with a semi-autonomous peripheral oscillator influenced by afferent information, and that electrical stimulation has the potential to be a simpler, and cost-effective tool for locomotion rehabilitation.

Walking with perturbations: a guide for biped humans and robots

This paper provides an update on the neural control of bipedal walking in relation to bioinspired models and robots. It is argued that most current models or robots are based on the construct of a symmetrical central pattern generator (CPG). However, new evidence suggests that CPG functioning is basically asymmetrical with its flexor half linked more tightly to the rhythm generator. The stability of bipedal gait, which is an important problem for robots and biological systems, is also addressed. While it is not possible to determine how biological biped systems guarantee stability, robot solutions can be useful to propose new hypotheses for biology. In the second part of this review, the focus is on gait perturbations, which is an important topic in robotics in view of the frequent falls of robots when faced with perturbations. From the human physiology it is known that the initial reaction often consists of a brief interruption followed by an adequate response. For instance, the successful recovery from a trip is achieved using some basic reactions (termed elevating and lowering strategies), that depend on the phase of the step cycle of the trip occurrence. Reactions to stepping unexpectedly in a hole depend on comparing expected and real feedback. Implementation of these ideas in models and robotics starts to emerge, with the most advanced robots being able to learn how to fall safely and how to deal with complicated disturbances such as provided by walking on a split-belt.

The role of curvature feedback in the energetics and dynamics of lamprey swimming: A closed-loop model

Like other animals, lampreys have a central pattern generator (CPG) circuit that activates muscles for locomotion and also adjusts the activity to respond to sensory inputs from the environment. Such a feedback system is crucial for responding appropriately to unexpected perturbations, but it is also active during normal unperturbed steady swimming and influences the baseline swimming pattern. In this study, we investigate different functional forms of body curvature-based sensory feedback and evaluate their effects on steady swimming energetics and kinematics, since little is known experimentally about the functional form of curvature feedback. The distributed CPG is modeled as chains of coupled oscillators. Pairs of phase oscillators represent the left and right sides of segments along the lamprey body. These activate muscles that flex the body and move the lamprey through a fluid environment, which is simulated using a full Navier-Stokes model. The emergent curvature of the body then serves as an input to the CPG oscillators, closing the loop. We consider two forms of feedback, each consistent with experimental results on lamprey proprioceptive sensory receptors. The first, referred to as directional feedback, excites or inhibits the oscillators on the same side, depending on the sign of a chosen gain parameter, and has the opposite effect on oscillators on the opposite side. We find that directional feedback does not affect beat frequency, but does change the duration of muscle activity. The second feedback model, referred to as magnitude feedback, provides a symmetric excitatory or inhibitory effect to oscillators on both sides. This model tends to increase beat frequency and reduces the energetic cost to the lamprey when the gain is high and positive. With both types of feedback, the body curvature has a similar magnitude. Thus, these results indicate that the same magnitude of curvature-based feedback on the CPG with different functional forms can cause distinct differences in swimming performance.

When animals move, they receive sensory inputs, which in turn are used to modulate the movement. Relatively little is known about how these inputs affect performance during steady locomotion. Using a computational model of a swimming lamprey, we investigated two different types of feedback, both consistent with experimental data. Both have strong, but different, effects on swimming speed and energy consumption, suggesting that sensory feedback is crucial not just for responding to perturbations, but also for high performance steady locomotion.

Spinal Control of Locomotion: Individual Neurons, Their Circuits and Functions

Systematic research on the physiological and anatomical characteristics of spinal cord interneurons along with their functional output has evolved for more than one century. Despite significant progress in our understanding of these networks and their role in generating and modulating movement, it has remained a challenge to elucidate the properties of the locomotor rhythm across species. Neurophysiological experimental evidence indicates similarities in the function of interneurons mediating afferent information regarding muscle stretch and loading, being affected by motor axon collaterals and those mediating presynaptic inhibition in animals and humans when their function is assessed at rest. However, significantly different muscle activation profiles are observed during locomotion across species. This difference may potentially be driven by a modified distribution of muscle afferents at multiple segmental levels in humans, resulting in an altered interaction between different classes of spinal interneurons. Further, different classes of spinal interneurons are likely activated or silent to some extent simultaneously in all species. Regardless of these limitations, continuous efforts on the function of spinal interneuronal circuits during mammalian locomotion will assist in delineating the neural mechanisms underlying locomotor control, and help develop novel targeted rehabilitation strategies in cases of impaired bipedal gait in humans. These rehabilitation strategies will include activity-based therapies and targeted neuromodulation of spinal interneuronal circuits via repetitive stimulation delivered to the brain and/or spinal cord.

Ankle muscle tenotomy does not alter ankle flexor muscle recruitment bias during locomotor-related repetitive limb movement in late-stage chick embryos

In ovo, late-stage chick embryos repetitively step spontaneously, a locomotor-related behavior also identified as repetitive limb movement (RLM). During RLMs, there is a flexor bias in recruitment and drive of leg muscle activity. The flexor biased activity occurs as embryos assume an extremely flexed posture in a spatially restrictive environment 2-3 days before hatching. We hypothesized that muscle afferent feedback under normal mechanical constraint is a significant input to the flexor bias observed during RLMs on embryonic day (E) 20. To test this hypothesis, muscle afference was altered either by performing a tenotomy of ankle muscles or removing the shell wall restricting leg movement at E20. Results indicated that neither ankle muscle tenotomy nor unilateral release of limb constraint by shell removal altered parameters indicative of flexor bias. We conclude that ankle muscle afference is not essential to ankle flexor bias characteristic of RLMs under normal postural conditions at E20.

Effects of altered sagittal trunk orientation on kinetic pattern in able-bodied walking on uneven ground

Studies of disturbed human locomotion often focus on the dynamics of the gait when either posture, movement or surface is perturbed. Yet, the interaction effects of variation of trunk posture and ground level on kinetic behaviour of able-bodied gait have not been explored. For 12 participants we investigated the kinetic behaviour, as well as velocity and contact time, across four steps including an unperturbed step on level ground, pre-perturbation, perturbation (10-cm drop) and post-perturbation steps while walking with normal speed with four postures: regular erect, with 30°, 50° and maximal sagittal trunk flexion (70°). Two-way repeated measures ANOVAs detected significant interactions of posture×step for the second peak of the vertical ground reaction force (GRF), propulsive impulse, contact time and velocity. An increased trunk flexion was associated with a systematic decrease of the second GRF peak during all steps and with a decreased contact time and an increased velocity across steps, except for the perturbation step. Pre-adaptations were more pronounced in the approach step to the drop in regular erect gait. With increased trunk flexion, walking on uneven ground exhibited reduced changes in GRF kinetic parameters relative to upright walking. It seems that in trunk-flexed gaits the trunk is used in a compensatory way during the step-down to accommodate changes in ground level by adjusting its angle leading to lower variations in centre of mass height. Exploitation of this mechanism resembles the ability of small birds in adjusting their zig-zag-like configured legs to cope with changes in ground level.

Interlimb coordination in body-weight supported locomotion: A pilot study

Locomotion involves complex neural networks responsible for automatic and volitional actions. During locomotion, motor strategies can rapidly compensate for any obstruction or perturbation that could interfere with forward progression. In this pilot study, we examined the contribution of interlimb pathways for evoking muscle activation patterns in the contralateral limb when a unilateral perturbation was applied and in the case where body weight was externally supported. In particular, the latency of neuromuscular responses was measured, while the stimulus to afferent feedback was limited. The pilot experiment was conducted with six healthy young subjects. It employed the MIT-Skywalker (beta-prototype), a novel device intended for gait therapy. Subjects were asked to walk on the split-belt treadmill, while a fast unilateral perturbation was applied mid-stance by unexpectedly lowering one side of the split-treadmill walking surfaces. Subject's weight was externally supported via the body-weight support system consisting of an underneath bicycle seat and the torso was stabilized via a loosely fitted chest harness. Both the weight support and the chest harness limited the afferent feedback. The unilateral perturbations evoked changes in the electromyographic activity of the non-perturbed contralateral leg. The latency of all muscle responses exceeded 100ms, which precludes the conjecture that spinal cord alone is responsible for the perturbation response. It suggests the role of supraspinal or midbrain level pathways at the inter-leg coordination during gait.

Controlling legs for locomotion-insights from robotics and neurobiology

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

Plastic Changes in Lumbar Locomotor Networks after a Partial Spinal Cord Injury in Cats

After an incomplete spinal cord injury (SCI), we know that plastic reorganization occurs in supraspinal structures with residual descending tracts. However, our knowledge about spinal plasticity is rather limited. Our recent studies point to changes within the spinal cord below the lesion. After a lateral left hemisection (T10), cats recovered stepping with both hindlimbs within 3 weeks. After a complete section (T13) in these cats, bilateral stepping was seen on the next day, a skill usually acquired after several weeks of treadmill training. This indicates that durable plastic changes occurred below the lesion. However, because sensory feedback entrains the stepping rhythm, it is difficult to reveal central pattern generator (CPG) adaptation. Here, we investigated whether lumbar segments of cats with a chronic hemisection were able to generate fictive locomotion-that is, without phasic sensory feedback as monitored by five muscle nerves in each hindlimb. With a chronic left hemisection, the number of muscle nerves displaying locomotor bursts was larger on the left than on the right. In addition, transmission of cutaneous reflexes was relatively facilitated on the left. Later during the acute experiment, a complete spinalization (T13) was performed and clonidine was injected to induce rhythmic activities. There were still more muscle nerves displaying locomotor bursts on the left. The results demonstrate that spinal networks were indeed modified after a hemisection with a clear asymmetry between left and right in the capacity to generate locomotion. Plastic changes in CPG and reflex transmission below the lesion are thus involved in the stepping recovery after an incomplete SCI.

Intermittent application of hypergravity by centrifugation attenuates disruption of rat gait induced by 2 weeks of simulated microgravity

The effects of intermittent hypergravity on gait alterations and hindlimb muscle atrophy in rats induced by 2 weeks of simulated microgravity were investigated. Rats were submitted to hindlimb unloading for 2 weeks (unloading period), followed by 2 weeks of reloading (recovery period). During the unloading period, animals were subjected to the following treatments: (1) free in cages (Control); (2) continuous unloading (UL); (3) released from unloading for 1 hour per day (UL+1G); (4) hypergravity for 1h per day using a centrifuge for small animals (UL+2G). The relative weights of muscles to the whole body weight and kinematics properties of hindlimbs during gait were evaluated. UL rats walked with their hindlimbs overextended, and the oscillation of their limb motion had become narrowed and forward-shifted after the unloading period, and this persisted for at least 2 weeks after the termination of unloading. However, these locomotor alterations were attenuated in rats subjected to UL+2G centrifugation despite minor systematic changes in muscle recovery. These findings indicate hypergravity application could counteract the adverse effects of simulated or actual microgravity environments.

Discordance in recovery between altered locomotion and muscle atrophy induced by simulated microgravity in rats

Exposure to a microgravity environment leads to adverse effects in motion and musculoskeletal properties. However, few studies have investigated the recovery of altered locomotion and muscle atrophy simultaneously. The authors investigated altered locomotion in rats submitted to simulated microgravity by hindlimb unloading for 2 weeks. Motion deficits were characterized by hyperextension of the knees and ankle joints and forward-shifted limb motion. Furthermore, these locomotor deficits did not revert to their original form after a 2-week recovery period, although muscle atrophy in the hindlimbs had recovered, implying discordance in recovery between altered locomotion and muscle atrophy, and that other factors such as neural drives might control behavioral adaptations to microgravity.

Kinetic patterns of treadmill walking in preadolescents with and without Down syndrome

This study investigated the effect of both walking speed and external ankle load on the kinetic patterns of treadmill walking in preadolescents with and without Down syndrome (DS). Ten preadolescents with DS and ten age- and gender-matched children with typical development (TD) participated in this study. We manipulated two treadmill speeds and two external ankle loads. Treadmill speeds were equal to 75% and 100% of the preferred overground walking speed. Two load conditions were with and without external ankle load which was equal to 2% of body weight on each side. We used an instrumented treadmill to collect vertical ground reaction force (GRF). Both timing and magnitude of peak GRFs, the loading and unloading rates, and various impulses were calculated from the GRF data. The results show that the DS group produced a shorter duration of propulsion, a lower FZ2 (second peak GRF) and vertical propulsive impulse, a higher loading rate and a lower unloading rate than the TD group. At a faster treadmill speed the DS group increased the duration of propulsion, the unloading rate and the vertical propulsive impulse, but reduced the magnitude of FZ2. External ankle load helped the DS group increase FZ2 and vertical propulsive impulse and might facilitate the push off and the initiation of leg swing during treadmill walking. External ankle load may therefore be included in the future physical intervention and exercise programs for the DS group to strengthen leg muscles and develop more efficient push off during locomotion.

Dynamic primitives in the control of locomotion

Humans achieve locomotor dexterity that far exceeds the capability of modern robots, yet this is achieved despite slower actuators, imprecise sensors, and vastly slower communication. We propose that this spectacular performance arises from encoding motor commands in terms of dynamic primitives. We propose three primitives as a foundation for a comprehensive theoretical framework that can embrace a wide range of upper- and lower-limb behaviors. Building on previous work that suggested discrete and rhythmic movements as elementary dynamic behaviors, we define submovements and oscillations: as discrete movements cannot be combined with sufficient flexibility, we argue that suitably-defined submovements are primitives. As the term “rhythmic” may be ambiguous, we define oscillations as the corresponding class of primitives. We further propose mechanical impedances as a third class of dynamic primitives, necessary for interaction with the physical environment. Combination of these three classes of primitive requires care. One approach is through a generalized equivalent network: a virtual trajectory composed of simultaneous and/or sequential submovements and/or oscillations that interacts with mechanical impedances to produce observable forces and motions. Reliable experimental identification of these dynamic primitives presents challenges: identification of mechanical impedances is exquisitely sensitive to assumptions about their dynamic structure; identification of submovements and oscillations is sensitive to their assumed form and to details of the algorithm used to extract them. Some methods to address these challenges are presented. Some implications of this theoretical framework for locomotor rehabilitation are considered.

Operant conditioning to increase ankle control or decrease reflex excitability improves reflex modulation and walking function in chronic spinal cord injury

Ankle clonus is common after spinal cord injury (SCI) and is attributed to loss of supraspinally mediated inhibition of soleus stretch reflexes and maladaptive reorganization of spinal reflex pathways. The maladaptive reorganization underlying ankle clonus is associated with other abnormalities, such as coactivation and reciprocal facilitation of tibialis anterior (TA) and soleus (SOL), which contribute to impaired walking ability in individuals with motor-incomplete SCI. Operant conditioning can increase muscle activation and decrease stretch reflexes in individuals with SCI. We compared two operant conditioning-based interventions in individuals with ankle clonus and impaired walking ability due to SCI. Training included either voluntary TA activation (TA↑) to enhance supraspinal drive or SOL H-reflex suppression (SOL↓) to modulate reflex pathways at the spinal cord level. We measured clonus duration, plantar flexor reflex threshold angle, timed toe tapping, dorsiflexion (DF) active range of motion, lower extremity motor scores (LEMS), walking foot clearance, speed and distance, SOL H-reflex amplitude modulation as an index of reciprocal inhibition, presynaptic inhibition, low-frequency depression, and SOL-to-TA clonus coactivation ratio. TA↑ decreased plantar flexor reflex threshold angle (-4.33°) and DF active range-of-motion angle (-4.32°) and increased LEMS of DF (+0.8 points), total LEMS of the training leg (+2.2 points), and nontraining leg (+0.8 points), and increased walking foot clearance (+ 4.8 mm) and distance (+12.09 m). SOL↓ decreased SOL-to-TA coactivation ratio (-0.21), increased nontraining leg LEMS (+1.8 points), walking speed (+0.02 m/s), and distance (+6.25 m). In sum, we found increased voluntary control associated with TA↑ outcomes and decreased reflex excitability associated with SOL↓ outcomes.

Function of group IB inhibition during assisted stepping in human spinal cord injury

The aim of this study was to investigate the function of group Ib inhibition exerted between ankle synergists during assisted stepping in people with chronic motor incomplete spinal cord injury (SCI). During stepping, the soleus (SOL) H-reflex was conditioned by percutaneous stimulation of the medialis gastrocnemius (MG) nerve by a bipolar electrode placed distal and medial to the cathode electrode for the tibial nerve. Stimulation was delivered at 0.95 times MG M-wave motor threshold with a pulse train at short conditioning-test intervals. To counteract movement of recording and stimulating electrodes, a supramaximal stimulus at 80 to 100 milliseconds after the test H-reflex was delivered. Stimuli were randomly dispersed across the step cycle, which was divided into 16 equal bins. The conditioned SOL H-reflex was significantly facilitated throughout the stance phase, while it was depressed during the swing phase when compared with the unconditioned SOL H-reflex. Ankle clonus during the stance phase may have affected the excitability state of spinal motoneuronal and interneuronal circuits, but the presence of group Ib inhibition in the swing phase suggests that in the absence of loading this spinal circuit is modulated in a physiologic manner in human incomplete SCI. Repetitive body loading and unloading promotes functional integration of sensory signals mediating load in human SCI.

Control of ankle extensor muscle activity in walking cats

Our objective was to gain insight into the relative importance of feedforward control and different proprioceptive feedback pathways to ongoing ankle extensor activity during walking in the conscious cat. We asked whether the modulation of stance phase muscle activity is due primarily to proprioceptive feedback and whether the same proprioceptive gains and feedforward commands can automatically generate the muscle activity required for changes in walking slope. To test these hypotheses, we analyzed previously collected muscle activity and mechanics data from cats with an isolated medial gastrocnemius muscle walking along a sloped pegway. Models of proprioceptor dynamics predicted afferent activity from the measured muscle mechanics. We modeled muscle activity as the weighted sum of the activity predicted from the different proprioceptive pathways and a simple model of central drive. We determined the unknown model parameters using optimization procedures that minimized the error between the predicted and measured muscle activity. We found that the modulation of muscle activity within the stance phase and across walking slopes is indeed well described by neural control that employs constant central drive and constant proprioceptive feedback gains. Furthermore, it is force feedback from Ib afferents that is primarily responsible for modulating muscle activity; group II afferent feedback makes a small contribution to tonic activity, and Ia afferent feedback makes no contribution. Force feedback combined with tonic central drive appears to provide a simple control mechanism for automatically compensating for changes in terrain without requiring different commands from the brain or even modification of central nervous system gains.

Adaptive behaviour of the spinal cord in the transition from quiet stance to walking

BACKGROUND

Modulation of nociceptive withdrawal reflex (NWR) excitability was evaluated during gait initiation in 10 healthy subjects to investigate how load- and movement-related joint inputs activate lower spinal centres in the transition from quiet stance to walking. A motion analysis system integrated with a surface EMG device was used to acquire kinematic, kinetic and EMG variables. Starting from a quiet stance, subjects were asked to walk forward, at their natural speed. The sural nerve was stimulated and EMG responses were recorded from major hip, knee and ankle muscles. Gait initiation was divided into four subphases based on centre of pressure and centre of mass behaviours, while joint displacements were used to categorise joint motion as flexion or extension. The reflex parameters were measured and compared between subphases and in relation to the joint kinematics.

RESULTS

The NWR was found to be subphase-dependent. NWR excitability was increased in the hip and knee flexor muscles of the starting leg, just prior to the occurrence of any movement, and in the knee flexor muscles of the same leg as soon as it was unloaded. The NWR was hip joint kinematics-dependent in a crossed manner. The excitability of the reflex was enhanced in the extensor muscles of the standing leg during the hip flexion of the starting leg, and in the hip flexors of the standing leg during the hip extension of the starting leg. No notable reflex modulation was observed in the ankle muscles.

CONCLUSIONS

Our findings show that the NWR is modulated during the gait initiation phase. Leg unloading and hip joint motion are the main sources of the observed modulation and work in concert to prepare and assist the starting leg in the first step while supporting the contralateral leg, thereby possibly predisposing the lower limbs to the cyclical pattern of walking.

Chaotic exploration and learning of locomotion behaviors

We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.

Walking is not like reaching: evidence from periodic mechanical perturbations

The control architecture underlying human reaching has been established, at least in broad outline. However, despite extensive research, the control architecture underlying human locomotion remains unclear. Some studies show evidence of high-level control focused on lower-limb trajectories; others suggest that nonlinear oscillators such as lower-level rhythmic central pattern generators (CPGs) play a significant role. To resolve this ambiguity, we reasoned that if a nonlinear oscillator contributes to locomotor control, human walking should exhibit dynamic entrainment to periodic mechanical perturbation; entrainment is a distinctive behavior of nonlinear oscillators. Here we present the first behavioral evidence that nonlinear neuro-mechanical oscillators contribute to the production of human walking, albeit weakly. As unimpaired human subjects walked at constant speed, we applied periodic torque pulses to the ankle at periods different from their preferred cadence. The gait period of 18 out of 19 subjects entrained to this mechanical perturbation, converging to match that of the perturbation. Significantly, entrainment occurred only if the perturbation period was close to subjects' preferred walking cadence: it exhibited a narrow basin of entrainment. Further, regardless of the phase within the walking cycle at which perturbation was initiated, subjects' gait synchronized or phase-locked with the mechanical perturbation at a phase of gait where it assisted propulsion. These results were affected neither by auditory feedback nor by a distractor task. However, the convergence to phase-locking was slow. These characteristics indicate that nonlinear neuro-mechanical oscillators make at most a modest contribution to human walking. Our results suggest that human locomotor control is not organized as in reaching to meet a predominantly kinematic specification, but is hierarchically organized with a semi-autonomous peripheral oscillator operating under episodic supervisory control.

The upright posture improves plantar stepping and alters responses to serotonergic drugs in spinal rats

Recent studies on the restoration of locomotion after spinal cord injury have employed robotic means of positioning rats above a treadmill such that the animals are held in an upright posture and engage in bipedal locomotor activity. However, the impact of the upright posture alone, which alters hindlimb loading, an important variable in locomotor control, has not been examined. Here we compared the locomotor capabilities of chronic spinal rats when placed in the horizontal and upright postures. Hindlimb locomotor movements induced by exteroceptive stimulation (tail pinching) were monitored with video and EMG recordings. We found that the upright posture alone significantly improved plantar stepping. Locomotor trials using anaesthesia of the paws and air stepping demonstrated that the cutaneous receptors of the paws are responsible for the improved plantar stepping observed when the animals are placed in the upright posture.We also tested the effectiveness of serotonergic drugs that facilitate locomotor activity in spinal rats in both the horizontal and upright postures. Quipazine and (±)-8-hydroxy-2-(dipropylamino)tetralin hydrobromide (8-OH-DPAT) improved locomotion in the horizontal posture but in the upright posture either interfered with or had no effect on plantar walking. Combined treatment with quipazine and 8-OH-DPAT at lower doses dramatically improved locomotor activity in both postures and mitigated the need to activate the locomotor CPG with exteroceptive stimulation. Our results suggest that afferent input from the paw facilitates the spinal CPG for locomotion. These potent effects of afferent input from the paw should be taken into account when interpreting the results obtained with rats in an upright posture and when designing interventions for restoration of locomotion after spinal cord injury.

Positive afferent feedback to the human soleus muscle during quiet standing

INTRODUCTION

In this study we investigated the mechanisms responsible for soleus muscle contraction during quiet standing.

METHODS

Subjects stood on a platform that was randomly moved forward or downward or rotated around the ankle.

RESULTS

Downward perturbation caused a short-latency drop in averaged rectified soleus electromyography (SOL EMG). SOL drop increased monotonically with downward acceleration amplitude. Ischemia above the knee abolished or diminished this drop. Ischemia above the ankle had no diminishing effect. Vibration of the Achilles tendon had a diminishing effect on the amplitude of SOL responses.

CONCLUSIONS

The short-latency drop in SOL observed for downward perturbation might be due to a decrease in positive afferent feedback due to the sudden decrease in body weight. This implies the existence of an ongoing afferent feedback loop toward the SOL motoneuron pool from force-sensitive receptors. Both Ia and Ib afferents probably play a role in the responses observed.

Reciprocal Ia inhibition contributes to motoneuronal hyperpolarisation during the inactive phase of locomotion and scratching in the cat

Despite decades of research, the classical idea that 'reciprocal inhibition' is involved in the hyperpolarisation of motoneurones in their inactive phase during rhythmic activity is still under debate. Here, we investigated the contribution of reciprocal Ia inhibition to the hyperpolarisation of motoneurones during fictive locomotion (evoked either by electrical stimulation of the brainstem or by l-DOPA administration following a spinal transection at the cervical level) and fictive scratching (evoked by stimulation of the pinna) in decerebrate cats. Simultaneous extracellular recordings of Ia inhibitory interneurones and intracellular recordings of lumbar motoneurones revealed the interneurones to be most active when their target motoneurones were hyperpolarised (i.e. in the inactive phase of the target motoneurones). To date, these results are the most direct evidence that Ia inhibitory interneurones contribute to the hyperpolarisation of motoneurones during rhythmic behaviours. We also estimated the amount of Ia inhibition as the amplitude of Ia IPSC in voltage-clamp mode. In both flexor and extensor motoneurones, Ia IPSCs were always larger in the inactive phase than in the active phase during locomotion (n = 14) and during scratch (n = 11). Results obtained from spinalised animals demonstrate that the spinal rhythm-generating network simultaneously drives the motoneurones of one muscle group and the Ia interneurones projecting to motoneurones of the antagonist muscles in parallel. Our results thus support the classical view of reciprocal inhibition as a basis for relaxation of antagonist muscles during flexion-extension movements.

The influence of body weight support on ankle mechanics during treadmill walking

The use of body weight support (BWS) systems during locomotor retraining has become routine in clinical settings. BWS alters load receptor feedback, however, and may alter the biomechanical role of the ankle plantarflexors, influencing gait. The purpose of this study was to characterize the biomechanical adaptations that occur as a result of a change in limb load (controlled indirectly through BWS) and gait speed during treadmill locomotion. Fifteen unimpaired participants underwent gait analysis with surface electromyography while walking on an instrumented dual-belt treadmill at seven different speeds (ranging from 0.4 to 1.6m/s) and three BWS conditions (ranging from 0% to 40% BWS). While walking, spatiotemporal measures, anterior/posterior ground reaction forces, and ankle kinetics and muscle activity were measured and compared between conditions. At slower gait speeds, propulsive forces and ankle kinetics were unaffected by changing BWS; however, at gait speeds ≥ approximately 0.8m/s, an increase in BWS yielded reduced propulsive forces and diminished ankle plantarflexor moments and powers. Muscle activity remained unaltered by changing BWS across all gait speeds. The use of BWS could provide the advantage of faster walking speeds with the same push-off forces as required of a slower speed. While the use of BWS at slower speeds does not appear to detrimentally affect gait, it may be important to reduce BWS as participants progress with training, to encourage maximal push-off forces. The reduction in plantarflexor kinetics at higher speeds suggests that the use of BWS in higher functioning individuals may impair the ability to relearn walking.

Feedback and feedforward locomotor adaptations to ankle-foot load in people with incomplete spinal cord injury

Humans with spinal cord injury (SCI) modulate locomotor output in response to limb load. Understanding the neural control mechanisms responsible for locomotor adaptation could provide a framework for selecting effective interventions. We quantified feedback and feedforward locomotor adaptations to limb load modulations in people with incomplete SCI. While subjects airstepped (stepping performed with kinematic assistance and 100% bodyweight support), a powered-orthosis created a dorisflexor torque during the "stance phase" of select steps producing highly controlled ankle-load perturbations. When given repetitive, stance phase ankle-load, the increase in hip extension work, 0.27 J/kg above baseline (no ankle-load airstepping), was greater than the response to ankle-load applied during a single step, 0.14 J/kg (P = 0.029). This finding suggests that, at the hip, subjects produced both feedforward and feedback locomotor modulations. We estimate that, at the hip, the locomotor response to repetitive ankle-load was modulated almost equally by ongoing feedback and feedforward adaptations. The majority of subjects also showed after-effects in hip kinetic patterns that lasted 3 min in response to repetitive loading, providing additional evidence of feedforward locomotor adaptations. The magnitude of the after-effect was proportional to the response to repetitive ankle-foot load (R(2) = 0.92). In contrast, increases in soleus EMG amplitude were not different during repetitive and single-step ankle-load exposure, suggesting that ankle locomotor modulations were predominately feedback-based. Although subjects made both feedback and feedforward locomotor adaptations to changes in ankle-load, between-subject variations suggest that walking function may be related to the ability to make feedforward adaptations.

Ankle load modulates hip kinetics and EMG during human locomotion

The purpose of this research was to examine the role of isolated ankle-foot load in regulating locomotor patterns in humans with and without spinal cord injury (SCI). We used a powered ankle-foot orthosis to unilaterally load the ankle and foot during robotically assisted airstepping. The load perturbation consisted of an applied dorsiflexion torque designed to stimulate physiological load sensors originating from the ankle plantar flexor muscles and pressure receptors on the sole of the foot. We hypothesized that 1) the response to load would be phase specific with enhanced ipsilateral extensor muscle activity and joint torque occurring when unilateral ankle-foot load was provided during the stance phase of walking and 2) that the phasing of subject produced hip moments would be modulated by varying the timing of the applied ankle-foot load within the gait cycle. As expected, both SCI and nondisabled subjects demonstrated a significant increase (P < 0.05) in peak hip extension moments (142 and 43% increase, respectively) when given ankle-foot load during the stance phase compared with no ankle-foot load. In SCI subjects, this enhanced hip extension response was accompanied by significant increases (P < 0.05) in stance phase gluteus maximus activity (27% increase). In addition, when ankle-foot load was applied either 200 ms earlier or later within the gait cycle, SCI subjects demonstrated significant phase shifts ( approximately 100 ms) in hip moment profile (P < 0.05; i.e., the onset of hip extension moments occurred earlier when ankle-foot load was applied earlier). This study provides new insights into how individuals with spinal cord injury use sensory feedback from ankle-foot load afferents to regulate hip joint moments and muscle activity during gait.

Heterogenic feedback between hindlimb extensors in the spontaneously locomoting premammillary cat

Electrophysiological studies in anesthetized animals have revealed that pathways carrying force information from Golgi tendon organs in antigravity muscles mediate widespread inhibition among other antigravity muscles in the feline hindlimb. More recent evidence in paralyzed or nonparalyzed decerebrate cats has shown that some inhibitory pathways are suppressed and separate excitatory pathways from Golgi tendon organ afferents are opened on the transition from steady force production to locomotor activity. To obtain additional insight into the functions of these pathways during locomotion, we investigated the distribution of force-dependent inhibition and excitation during spontaneous locomotion and during constant force exertion in the premammillary decerebrate cat. We used four servo-controlled stretching devices to apply controlled stretches in various combinations to the gastrocnemius muscles (G), plantaris muscle (PLAN), flexor hallucis longus muscle (FHL), and quadriceps muscles (QUADS) during treadmill stepping and the crossed-extension reflex (XER). We recorded the force responses from the same muscles and were therefore able to evaluate autogenic (intramuscular) and heterogenic (intermuscular) reflexes among this set of muscles. In previous studies using the intercollicular decerebrate cat, heterogenic inhibition among QUADS, G, FHL, and PLAN was bidirectional. During treadmill stepping, heterogenic feedback from QUADS onto G and G onto PLAN and FHL remained inhibitory and was force-dependent. However, heterogenic inhibition from PLAN and FHL onto G, and from G onto QUADS, was weaker than during the XER. We propose that pathways mediating heterogenic inhibition may remain inhibitory under some forms of locomotion on a level surface but that the strengths of these pathways change to result in a proximal to distal gradient of inhibition. The potential contributions of heterogenic inhibition to interjoint coordination and limb stability are discussed.

Effects of contraction intensity on muscle fascicle and stretch reflex behavior in the human triceps surae

The aims of this study were to examine changes in the distribution of a stretch to the muscle fascicles with changes in contraction intensity in the human triceps surae and to relate fascicle stretch responses to short-latency stretch reflex behavior. Thirteen healthy subjects were seated in an ankle ergometer, and dorsiflexion stretches (8°; 250°/s) were applied to the triceps surae at different moment levels (0–100% of maximal voluntary contraction). Surface EMG was recorded in the medial gastrocnemius, soleus, and tibialis anterior muscles, and ultrasound was used to measure medial gastrocnemius and soleus fascicle lengths. At low forces, reflex amplitudes increased despite a lack of change or even a decrease in fascicle stretch velocities. At high forces, lower fascicle stretch velocities coincided with smaller stretch reflexes. The results revealed a decline in fascicle stretch velocity of over 50% between passive conditions and maximal force levels in the major muscles of the triceps surae. This is likely to be an important factor related to the decline in stretch reflex amplitudes at high forces. Because short-latency stretch reflexes contribute to force production and stiffness regulation of human muscle fibers, a reduction in afferent feedback from muscle spindles could decrease the efficacy of human movements involving the triceps surae, particularly where high force production is required.

Robotic platform for human gait analysis

A hydraulically actuated platform with 4-degrees of freedom (4-DOF) was designed to be able to apply velocity- or acceleration-controlled floor surface perturbations to freely walking human subjects. The apparatus was required to provide velocity-controlled translational perturbations over the floor surface, rotational perturbations about the ankle joint, and acceleration-controlled vertical translational perturbations. The apparatus was physically constructed, and tested by both measurements of dynamics and repeatability. Crossover of movement from one DOF to another was shown to be less than 1 mm or 0.5 degrees for all desired perturbations. Repeated perturbations were nearly identical with a standard deviation of less than 0.2 mm over translational axes. The application of the platform to human gait research was demonstrated with a protocol of midstance phase perturbations (n=8). For this, the platform controller was programmed to randomly select one out of three conditions: (1) no movement (control); (2) upward perturbation of 0.8 g, 50 mm, 300 ms after heel contact; (3) downward perturbation of 0.8 g, 50 mm, 300 ms after heel contact. In total, 90 trials (3 conditions x 30 repetitions) were recorded for each subject. By singling out the SOL EMG and normalizing and averaging over the subject population, it was shown that the upward and downward perturbations elicited at least two distinctive stereotypical reflex responses in the ankle extensors, opposite in sign. All subjects reported comfort with the apparatus and nobody fell.

Role of sensory feedback in the control of stance duration in walking cats

The rate of stepping in the hind legs of chronic spinal and decerebrate cats adapts to the speed of the treadmill on which the animals walk. This adaptive behavior depends on sensory signals generated near the end of stance phase controlling the transition from stance to swing. Two sensory signals have been identified to have this role: one from afferents activated by hip extension, most likely arising from muscle spindles in hip flexor muscles, and the other from group Ib afferents from Golgi tendon organs in the ankle extensor muscles. The relative importance of these two signals in controlling the stance to swing transition differs in chronic spinal cats and in decerebrate cats. Activation of hip afferents is necessary for controlling the transition in chronic spinal cats but not in decerebrate cats, while reduction in activity in group Ib afferents from GTOs is the primary factor controlling the transition in decerebrate cats. Possible mechanisms for this difference are discussed. The extent to which these two sensory signals control the stance to swing transition in normal walking cats is unknown, but it is likely that both could play an important role when animals are walking in a variable environment.

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.

Physiological evaluation of gait disturbances post stroke

A large proportion of stroke survivors have to deal with problems in mobility. Proper evaluations must be undertaken to understand the sensorimotor impairments underlying locomotor disorders post stroke, so that evidence-based interventions can be developed. The current electrophysiological, biomechanical, and imagery evaluations that provide insight into locomotor dysfunction post stroke, as well as their advantages and limitations, are reviewed in this paper. In particular, electrophysiological evaluations focus on the contrast of electromyographic patterns and integrity of spinal reflex pathways during perturbed and unperturbed locomotion between persons with stroke and healthy individuals. At a behavioral level, biomechanical evaluations that include temporal distance factors, kinematic and kinetic analyses, as well as the mechanical energy and metabolic cost, are useful when combined with electrophysiological measures for the interpretation of gait disturbances that are related to the control of the central nervous system or secondary to biomechanical constraints. Finally, current methods in imaging and transcranial magnetic stimulation can provide further insight into cortical control of locomotion and the integrity of the corticospinal pathways.

Loading the Limb During Rhythmic Leg Movements Lengthens the Duration of Both Flexion and Extension in Human Infants

Sensory input is critical for adapting motor outputs to meet environmental conditions. A ubiquitous force on all terrestrial animals is gravity. It is possible that when performing rhythmic movements, animals respond to load-related feedback in the same way by prolonging the muscle activity resisting the load. We hypothesized that for rhythmic leg movements, the period (extension or flexion) experiencing the higher load will be longer and vary more strongly with cycle period. Six rhythmic movements were studied in human infants (aged 3–10 mo), each providing different degrees of load-related feedback to the legs during flexion and extension of the limb. Kicking in supine provided similar loads (inertial) during flexion and extension. Stepping on a treadmill, kicking in supine against a foot-plate, and kicking in sitting loaded the legs during extension more than flexion, whereas air-stepping and air-stepping with ankle weights did the opposite. Video, electrogoniometry, surface electromyography, and contact forces were recorded. We showed that load-related feedback could make either the duration of flexion or extension longer. Within the tasks of stepping and kicking against a plate, infants who exerted lower forces showed shorter extensor durations than those who exerted higher forces. Because older babies tend to step with greater force, we wished to rule out the contribution of age. Eight babies (>8 mo old) were studied during stepping, in which we manipulated the amount of weight-bearing. The same effect of load was seen. Hence, the degree of loading directly affects the duration of extension in an incremental way.

Spastic Reflexes Triggered by Ankle Load Release in Human Spinal Cord Injury

The rapid decrease in firing of load-sensitive group Ib muscle afferents during unloading may be particularly important in triggering the swing phase of gait. However, it still remains unclear whether load-sensitive muscle afferents modulate reflex activity in human spinal cord injury (SCI), as suggested by studies in the cat. The right hip of 12 individuals with chronic SCI was subjected to ramp (60°/s) and hold (10 s) movements over a range from 40° flexion to 0–10°extension using a custom servomotor system. An ankle dorsiflexion load was imposed and released after the hip reached a targeted position using a custom-designed pneumatic motor system. Isometric joint torques of the hip and knee, reaction torque of the ankle, and surface electromyograms (EMGs) from eight muscles of the leg were recorded following the imposed hip movement and ankle load release. Reflexes, characterized by hip flexion torque, knee extension, and coactivation of ankle flexors and extensors, were triggered by ankle load release when the hip was in an extended position. The ankle load release was observed to enhance the reflexes triggered by hip extension itself, suggesting that ankle load afferents play an important role in spastic reflexes in human SCI and that the reflex pathways associated with ankle load afferents have important implications in the spinal reflex regulation of human movement. Such muscle behaviors emphasize the role of ankle load afferents and hip proprioceptors on locomotion. This knowledge may be especially helpful in the treatment of spasms and in identifying rehabilitation strategies for producing functional movements in human SCI.

Spinal and brain control of human walking: implications for retraining of walking

In this update, the authors will discuss evidence for both spinal and brain regulation of walking in humans. They will consider the sensory control of walking in young babies and spinal cord-injured adults, two models with weak descending input from the brain, to suggest that subcortical structures are important in shaping walking behavior. Based on evidence from development, the authors suggest that the primitive pattern of walking seen in babies forms the base upon which additional features are added by supraspinal input as independent walking develops. Increasing evidence suggests the motor cortex is important in the control of level-ground walking in adults, in contrast to quadrupeds. This brain input seems particularly important for distal flexors in the leg. Finally, the authors will consider evidence that the recovery of walking after incomplete spinal cord injuries is dependent on the presence of descending input from the motor cortex and our ability to strengthen that input. These findings imply that training methods for improving walking after injury to the nervous system must promote the involvement of both spinal and brain circuits.