Responses of cerebellar units to a passive movement in the decerebrate cat

Complex Spike Wars: a New Hope

The climbing fiber-Purkinje cell circuit is one of the most powerful and highly conserved in the central nervous system. Climbing fibers exert a powerful excitatory action that results in a complex spike in Purkinje cells and normal functioning of the cerebellum depends on the integrity of climbing fiber-Purkinje cell synapse. Over the last 50 years, multiple hypotheses have been put forward on the role of the climbing fibers and complex spikes in cerebellar information processing and motor control. Central to these theories is the nature of the interaction between the low-frequency complex spike discharge and the high-frequency simple spike firing of Purkinje cells. This review examines the major hypotheses surrounding the action of the climbing fiber-Purkinje cell projection, discussing both supporting and conflicting findings. The review describes newer findings establishing that climbing fibers and complex spikes provide predictive signals about movement parameters and that climbing fiber input controls the encoding of behavioral information in the simple spike firing of Purkinje cells. Finally, we propose the dynamic encoding hypothesis for complex spike function that strives to integrate established and newer findings.

Purkinje Cell Representations of Behavior: Diary of a Busy Neuron

Fundamental for understanding cerebellar function is determining the representations in Purkinje cell activity, the sole output of the cerebellar cortex. Up to the present, the most accurate descriptions of the information encoded by Purkinje cells were obtained in the context of motor behavior and reveal a high degree of heterogeneity of kinematic and performance error signals encoded. The most productive framework for organizing Purkinje cell firing representations is provided by the forward internal model hypothesis. Direct tests of this hypothesis show that individual Purkinje cells encode two different forward models simultaneously, one for effector kinematics and one for task performance. Newer results demonstrate that the timing of simple spike encoding of motor parameters spans an extend interval of up to ±2 seconds. Furthermore, complex spike discharge is not limited to signaling errors, can be predictive, and dynamically controls the information in the simple spike firing to meet the demands of upcoming behavior. These rich, diverse, and changing representations highlight the integrative aspects of cerebellar function and offer the opportunity to generalize the cerebellar computational framework over both motor and non-motor domains.

Gone in 0.6 seconds: the encoding of motor memories depends on recent sensorimotor states

Real-world tasks often require movements that depend on a previous action or on changes in the state of the world. Here we investigate whether motor memories encode the current action in a manner that depends on previous sensorimotor states. Human subjects performed trials in which they made movements in a randomly selected clockwise or counterclockwise velocity-dependent curl force field. Movements during this adaptation phase were preceded by a contextual phase that determined which of the two fields would be experienced on any given trial. As expected from previous research, when static visual cues were presented in the contextual phase, strong interference (resulting in an inability to learn either field) was observed. In contrast, when the contextual phase involved subjects making a movement that was continuous with the adaptation-phase movement, a substantial reduction in interference was seen. As the time between the contextual and adaptation movement increased, so did the interference, reaching a level similar to that seen for static visual cues for delays >600 ms. This contextual effect generalized to purely visual motion, active movement without vision, passive movement, and isometric force generation. Our results show that sensorimotor states that differ in their recent temporal history can engage distinct representations in motor memory, but this effect decays progressively over time and is abolished by ∼600 ms. This suggests that motor memories are encoded not simply as a mapping from current state to motor command but are encoded in terms of the recent history of sensorimotor states.

Representation of limb kinematics in Purkinje cell simple spike discharge is conserved across multiple tasks

Encoding of movement kinematics in Purkinje cell simple spike discharge has important implications for hypotheses of cerebellar cortical function. Several outstanding questions remain regarding representation of these kinematic signals. It is uncertain whether kinematic encoding occurs in unpredictable, feedback-dependent tasks or kinematic signals are conserved across tasks. Additionally, there is a need to understand the signals encoded in the instantaneous discharge of single cells without averaging across trials or time. To address these questions, this study recorded Purkinje cell firing in monkeys trained to perform a manual random tracking task in addition to circular tracking and center-out reach. Random tracking provides for extensive coverage of kinematic workspaces. Direction and speed errors are significantly greater during random than circular tracking. Cross-correlation analyses comparing hand and target velocity profiles show that hand velocity lags target velocity during random tracking. Correlations between simple spike firing from 120 Purkinje cells and hand position, velocity, and speed were evaluated with linear regression models including a time constant, τ, as a measure of the firing lead/lag relative to the kinematic parameters. Across the population, velocity accounts for the majority of simple spike firing variability (63 ± 30% of R(adj)(2)), followed by position (28 ± 24% of R(adj)(2)) and speed (11 ± 19% of R(adj)(2)). Simple spike firing often leads hand kinematics. Comparison of regression models based on averaged vs. nonaveraged firing and kinematics reveals lower R(adj)(2) values for nonaveraged data; however, regression coefficients and τ values are highly similar. Finally, for most cells, model coefficients generated from random tracking accurately estimate simple spike firing in either circular tracking or center-out reach. These findings imply that the cerebellum controls movement kinematics, consistent with a forward internal model that predicts upcoming limb kinematics.

Topsy turvy: functions of climbing and mossy fibers in the vestibulo-cerebellum

The cerebellum's role in sensory-motor control and adaptation is undisputed. However, a key hypothesis pertaining to the function of cerebellar circuitry lacks experimental support. It is universally assumed that the discharge of mossy fibers accounts for modulation of Purkinje cell "simple spikes" (SSs). This assumption acts as a prism through which all other functions of cerebellar circuitry are viewed. The vestibulo-cerebellum (nodulus and uvula) receives a large, unilateral, vestibular primary afferent mossy fiber projection. We can test its role in modulating Purkinje cell SSs by recording the modulated activity of both mossy fiber terminals and Purkinje cell SSs evoked by identical natural vestibular stimulation. Sinusoidal rotation about the longitudinal axis (roll) modulates the activity of vestibular primary afferent mossy and climbing fibers as well as Purkinje cell SSs and complex spikes (CSs). Remarkably, vestibular primary afferent mossy fibers discharge 180 degrees out of phase with SSs. This indicates that mossy fibers cannot account for SS modulation unless an inhibitory synapse is interposed between mossy fibers or vestibular climbing fibers and Purkinje cells. The authors review several experiments that address the relative contributions of mossy and climbing fiber afferents to the modulation of SSs. They conclude that climbing fibers, not mossy fibers, are primarily responsible for the modulation of SSs as well as CSs and they propose revised functions for these two afferent systems.

Cerebellar encoding of limb position

In this paper, we review single and multijoint studies that, over the years, have provided insight on the cerebellar encoding of limb spatial position. In particular, we present support to the idea that the cerebellum integrates signals from multiple sources to encode global limb parameters. Then, we highlight the result of recent studies that analyzed quantitatively the relationships between limb end-point position and cerebellar activity. These findings suggest that the cerebellum may share with other central sensory-motor structures an anisotropic representation of limb position characterized by a strong bias along the anteroposterior axis. Finally, we speculate that this anisotropy may also subtend an internal representation of limb mechanics.

Neuronal activity related to the visual representation of arm movements in the lateral cerebellar cortex

Testing the hypothesis that the lateral cerebellum forms a sensory representation of arm movements, we investigated cortical neuronal activity in two monkeys performing visually guided step-tracking movements with a manipulandum. A virtual target and cursor image were viewed co-planar with the manipulandum. In the normal task, manipulandum and cursor moved in the same direction; in the mirror task, the cursor was left-right reversed. In one monkey, 70- and 200-ms time delays were introduced on cursor movement. Significant task-related activity was recorded in 31 cells in one animal and 142 cells in the second: 10.2% increased activity before arm movements onset, 77.1% during arm movement, and 12.7% after the new position was reached. To test for neural representation of the visual outcome of movement, firing rate modulation was compared in normal and mirror step-tracking. Most task-related neurons (68%) showed no significant directional modulation. Of 70 directionally sensitive cells, almost one-half (n = 34, 48%) modulated firing with a consistent cursor movement direction, many fewer responding to the manipulandum direction (n = 9, 13%). For those "cursor-related" cells tested with delayed cursor movement, increased activity onset was time-locked to arm movement and not cursor movement, but activation duration was extended by an amount similar to the applied delay. Hence, activity returned to baseline about when the delayed cursor reached the target. We conclude that many cells in the lateral cerebellar cortex signaled the direction of cursor movement during active step-tracking. Such a predictive representation of the arm movement could be used in the guidance of visuo-motor actions.

Effects of inactivating individual cerebellar nuclei on the performance and retention of an operantly conditioned forelimb movement

These experiments were designed to examine the effects of inactivating separately each of the major cerebellar nuclear regions in cats on the execution and retention of a previously learned, operantly conditioned volitional forelimb movement. The experiments test the postulates that the cerebellar nuclei, and particularly the interposed nuclei, contribute substantially to the spatial and temporal features of the interjoint coordination required to execute the task and that the engram necessary for the retention of this task is not located in any one of the cerebellar nuclei. All cats were trained to perform a task in which they were required to reach for and grasp a vertical bar at the sound of a tone and move the bar to a reward zone through a template consisting of two straight grooves in the shape of an inverted "L." After the task was learned, the effects of inactivating separately each nuclear region (the fastigial, interposed, and dentate nuclei) using muscimol microinjections were determined. Data were analyzed by quantifying several features of the movement's kinematics and by determining changes in the organization of the reaching component of the movement using an application of dimensionality analysis, an analysis that examines the correlation among the changes in joint angles and limb segment positions during the task. The retention of the previously learned task also was assessed after each injection. Injections of each nuclear region affected temporal and spatial features of the learned movement. However, the largest effects resulted from inactivating the interposed nuclei. These effects included an increased length of the reach trajectory, an accentuated deviation of the wrist trajectory from a straight line, cyclic movement of the distal extremity as the target was approached, a difficulty in grasping the bar, altered temporal features of the movement, and a highly characteristic change in the dimensionality measurements. The changes in dimensionality reflected a decreased correlation (linear interdependence) of the joint angular velocities coupled with an increased correlation among the linear velocities of markers located on the joints themselves. Related but less consistent changes in dimensionality resulted from fastigial injections. The motor sequence required to negotiate the template could be executed after the nuclear microinjections, indicating that retention of the motor sequence was not affected by the inactivation of any of the cerebellar nuclei. However, in two of the five animals, some decreases in performance were observed after dentate injection that were not characteristic of changes related to an effect on retention. These data suggest that the cerebellum plays an important role in regulating the consistent, stereotypic organization of complex goal-directed movements, including the temporal correlation among joint angle velocities. The data also indicate that the retention of the task is not dependent on any of the individual cerebellar nuclear regions. Consequently, these structures are unlikely to be critical storage sites for the engram established during the learning of this task.

Cerebellar unit responses of the mossy fibre system to passive movements in the decerebrate cat. I. Responses to static parameters

1) Experiments were designed to detect how static parameters of natural, passive hand movements are encoded and integrated within the cerebellar cortex. For this purpose unit activity was recorded extracellularly from presumed mossy fibres (MF), presumed granule cells (GrC) and from Purkinje cells (PC) discharging with simple spikes (SS) and complex spikes (CS). With respect to the PC, our interest was focussed primarily on the SS activity. The recordings were performed in the intermediate part of the cerebellar anterior lobe of decerebrate cats. The animal's forepaw was passively moved around the wrist joint by an electronically controlled device. The movements were exactly reproducible so that peristimulus time histograms of the unit activity could be constructed. 2) At the input level (MF) and at the first level of integration within the cerebellar cortex (GrC), patterns with similar discharge characteristics were found. Such patterns could, to a limited extent, also be detected at the cerebellar output (SS of PC). However, in most cases of SS discharge, patterns were found with weak correlation between the tonic activity and static parameters of the movements. 3) Absolute paw position, amplitude, and duration of movements were found to be related over wide ranges to the activities of MF and GrC. Absolute position is directly encoded by tonic discharge during the low or high holding phases. Beside this, units were found without a correlation between the tonic discharge and the position of the nonmoving paw. However, in these units it was sometimes observed that the information about the momentary position or the information about the mean position was sometimes conveyed exclusively during the proceeding upward or downward movement. Thus, information about static parameters was transmitted only at times when a dynamic parameter (such as velocity) occurred. This type of position information encoding is termed "indirect mode of transmission". 4) A specific relationship between SS unit activity of PC and the absolute position of the forepaw or amplitude of the movement could be found primarily by using multiple ramps instead of single ramp movements. This was observed even if both types of ramp movements had the same velocity, individual amplitude, and tested range. However, on multiple ramp movements the paw generally remained for a shorter period at a specific position level as compared to the single ramp movements. 5) Apart from this timing phenomenon, a late movement response was observed, which results in a specific type of position information encoding on multiple ramp functions.(ABSTRACT TRUNCATED AT 400 WORDS)

Distribution of neurons in the main cuneate nucleus projecting to the inferior olive in the cat. Evidence that they differ from those directly projecting to the cerebellum

The distribution in the main cuneate nucleus of cells projecting to the inferior olive and the intermediate zone of the cerebellar anterior lobe were compared by means of double retrograde labeling methods in the cat. The tracer combinations were either Fast Blue and Diamidino Yellow Dihydrochloride; or horseradish peroxidase conjugated to wheat germ agglutinin and Diamidino Yellow Dihydrochloride. Neurons in the caudal, middle and rostral subdivisions of the main cuneate nucleus project to the inferior olive. Differences exist, however, in its number and location along the rostrocaudal extent of the nucleus. Cells projecting to the inferior olive predominate in the caudal and middle subdivisions, where they concentrate ventrally. No cells in the "clusters region" project to the inferior olive. Main cuneate nucleus neurons projecting to the cerebellum concentrate rostral to the obex, bordering the external cuneate nucleus and partially intermixing with the rostrally located cells projecting to the inferior olive. However, no double-labeled cells were found. The results indicate that the main cuneate nucleus projections to the inferior olive and cerebellar anterior lobe originate from different populations of neurons with high specific locations within the nucleus. This finding is in agreement with previous studies suggesting that each of the main cuneate nucleus targets receives its input from a distinct population of neurons within the nucleus.

Electrophysiological study of the corticonuclear projection in the cat cerebellum

Experiments were designed to examine the relationship between the responses of Purkinje cells to natural peripheral stimuli and the location of these neurons within identified zones of the corticonuclear projection in lobule V of the cat cerebellar cortex. It was hypothesized that the corticonuclear zones are sharply demarcated and that the responses of Purkinje cells to a restricted natural stimulus is not localized to only one zone but rather is present and varies in character across these 3 zones. Initially the spatial distribution of the antidromic field potential evoked by stimulating in the fastigial (FN), lateral vestibular (LVN), and anterior interposed nuclei (AIN) was determined in sublobules Va-Vc in unanesthetized decerebrate cats. In some animals the corticonuclear projection was further examined by evaluating the location of Purkinje cells responding antidromically to stimuli in the FN, LVN and AIN, or FN, AIN and the posterior interposed nuclei (PIN). Once a Purkinje cell was identified, its simple and complex spike responses to a step-like flexion-extension passive movement of the ipsilateral forepaw were determined. The boundary based on the antidromic activation of Purkinje cells between the fastigial zone (FZ) and the anterior interposed zone (AIZ) in sublobules Va-Vc of the cerebellar cortex was highly reproducible from cat to cat, although there was a slight overlap between these zones based on the antidromic field potential. The FZ-AIZ border was located at 2.1 +/- 0.12 mm lateral and parallel to the midline. The FZ also contained a few cells projecting to the LVN. However, the AIZ only contained neurons projecting to the AIN. The boundary between AIZ and PIZ in lobule Va-Vc was between 3.3 and 3.8 mm from the midline and ran parallel to it. The peristimulus time histograms (PSTHs) of the simple and complex spike activity to a passive forepaw displacement revealed extensive modulation of neurons located across the mediolateral extent of the AI and PIZ. Both the simple and complex spike discharge of Purkinje cells projecting to the FN also were modulated, but to a lesser degree than cells in AIZ or PIZ. The spatial distribution of simple and complex spike responses recorded from Purkinje cells overlapped extensively. The data support previous findings that the corticonuclear projection is organized into longitudinally oriented sagittal zones. Electrophysiologically the boundaries were remarkably reproducible from animal to animal. The results also show that information processing involving the modulation of Purkinje cell activity in response to the forepaw stimulus occurs in all 3 zones examined.(ABSTRACT TRUNCATED AT 400 WORDS)

Cerebellar feedback signals of a passive hand movement in the awake monkey

From three intact and awake monkeys, 149 Purkinje cells and 44 presumed mossy fibres were recorded in the intermediate part of the cerebellar anterior lobe, and this activity was analyzed with regard to different parameters of a passive hand movement. The tonic discharge rate of the simple spikes (SS) varied according to different joint positions only in a single Purkinje cell, whereas such a position relation was found in nine out of 44 presumed mossy fibres. A phasic increase of the complex spike (CS) discharge rate of Purkinje cells in response to passive wrist movements usually occurred within 100 ms after movement onset. However, in some units a phase of increased CS rate was observed which lasted for the whole movement duration. The amount of this phasic increase in the CS rate depended on the acceleration of movement, but the SS response to movements of different velocity remained unchanged.

Rhythmic discharge of climbing fibre afferents in response to natural peripheral stimuli in the cat

The rhythmicity of inferior olivary neurones evoked by natural ipsilateral forepaw inputs was evaluated in the climbing fibre afferent discharge of Purkinje cells recorded in the cerebellar cortex of the decerebrate, unanaesthetized cat. Almost 50% of all Purkinje cells responding to the forepaw stimulus with an increase in complex spike activity exhibited periodic discharge, with the dominant periodicity being between 100 and 160 ms. In ten of twenty-five neighbouring, simultaneously recorded Purkinje cells the forepaw stimulus evoked similar periodicity in their complex spike discharge. For some cells two peaks of complex spike activity were evoked by a forepaw stimulus without an obvious third peak. By altering the stimulus duration the second peak of the response was shown to be temporally uncoupled to the 'off' phase of the displacement for many cells. The interdependence of the trials contributing to the periodic peaks in the peristimulus time histogram (p.s.t.h.) was examined by a 'separation technique'. This analysis indicated that the complex spikes contributing to a specific peak in the p.s.t.h. were generated with a high degree of independence (i.e. in different trials) from the complex spikes contributing to any other peak. It was hypothesized that the independence of the rhythmic complex spike peaks is due to the long relative refractoriness following a complex spike in a single cell. Therefore, the probability of a complex spike occurring at the next one or two cycles is decreased significantly. As a consequence, an inferior olivary neurone fires usually at only one of the various peaks in response to a single presentation of the forepaw stimulus. This hypothesis predicts that stimuli evoking a complex spike at the initial peak in a high percentage of trials should give rise to less periodicity. This prediction was tested by comparing the presence or absence of evoked oscillation with the probability of evoking a complex spike in the first peak of the p.s.t.h. Cells exhibiting a probability for complex spike discharge of over 50% in the first peak showed much less periodicity than cells with a complex spike occurring in less than 50% of the trials in the first peak. These results are discussed in the context of the inferior olive being viewed as a population of coupled elements with a tendency to oscillate. The natural forepaw stimulus is hypothesized as synchronizing the phases of spontaneously oscillating climbing fibre afferents, resulting in the observed periodicity in the complex spike p.s.t.h.

A simple method for reliable separation of cerebellar Purkinje cell complex and simple spikes

During the analysis of cerebellar Purkinje cell firing the use of two level discriminators for the separation of complex spike (CS) and simple spike (SS) can produce "wrong SS-events", since the amplitude of the CS wavelets may exceed the discrimination level for the SS. This is also the case, when the initial spike of the CS is negatively deflected. A logic circuit was developed, which ensures reliable separation of the two types of spike by a mutual control of the two channels. The CS wavelet events are obtained via an additional channel.

Simple and complex spike activity of cerebellar Purkinje cells during active and passive movements in the awake monkey

Two Rhesus monkeys (Macaca mulatta) were trained to pursue a target light signal by moving the hand at the wrist joint. Additionally, a d.c. motor could be attached to the lever in order to perform similar passive movements. During performance of the task, single Purkinje cells were recorded from the intermediate part of the cerebellar anterior lobe. Electromyographic activity of the flexor and extensor muscles of the forearm was recorded simultaneously. Passive hand movements evoked changes in the complex spike and simple spike discharge of Purkinje cell. The complex spike responded most sensitively to the beginning of the movement; the activity pattern had phasic character and could be related specifically to the movement direction. The simple spike response was usually weak and hence revealed-less specific relations. During active movements the simple spike frequency change was generally stronger than during passive movements and reached a maximum (or minimum) at the beginning of hand deflexion. The complex spike activity during active movements was characterized by a contrast between the time phases before and after the movement onset. In most of the cases, where a phase of increased activity stopped at the movement onset, the sensory feed-back signal seen during passive movements was cancelled. The possible consequences of the convergence of the complex and simple spike signal for the motor control function of the cerebellum are discussed.

Information about peripheral events conveyed to the cerebellum via the climbing fiber system in the decerebrate cat

Discharges of Purkinje cells (PCs) with simple (SS) and complex spikes (CS) in the c1-zone of lobule Vc of the anterior lobe of the cerebellar cortex were analyzed in the decerebrate cat during a passive movement of the cat forepaw. The CS of the PC responded differentially and/or proportionally to the position of the extremity, amplitude of the movement, velocity and acceleration. Inphase and outphase responses of the climbing fiber (CF) system to sinusoidal movements could depend on the position of the extremity within the operational range. From these results we deduce that peripheral events can be signalled by the CF system. The possible function of the interaction between the two inputs at the PC level is discussed.

Somatotopic organization of climbing fiber projections from low threshold cutaneous afferents to pars intermedia of cerebellar cortex in the cat

The fine detail of climbing fiber projections to large areas of the pars intermedia of lobule V was demonstrated by means of low threshold natural cutaneous stimulation. These projections formed a complex mediolateral organization of patches that were elongated in the anteroposterior direction. In general, distal forelimb was represented medially and the face represented laterally, although there were also elongated patches of cells that did not respond to any cutaneous stimulus presentation. The entire ipsilateral anterior quadrant of the body was represented in lobules Vb, c, d with the addition of face projections which extended slightly across the midline. Ipsilateral hindlimb patches were observed in lobule Va. Although the boundary between patches was quite sharp, a slight overlap of the patches within the mosaic was often observed. In these areas of overlap, some cells possessed receptive fields that encompassed, either continuously or discontinuously, cutaneous areas of both the adjacent patches. It is proposed that the cerebellar cortex could correlate event timing in the climbing fiber patches with 'on-line' information relating the parameters of movement in the granule cell parallel fiber system, and that the areas described in the present study could mediate 'spatially organized and skilled movements' in the animal's repertoire, which involve paw-face-mouth interaction, such as feeding, cleaning and grooming.

The rubro-olivo-cerebellar teaching circuit

The hypothesis proposes a neural teaching circuit, and invokes the parvocellular Red Nucleus as the key nucleus in that circuit acting on the inferior olivary nucleus to maintain the efficiency of motor learning in primates, while acknowledging the inferior olive to be the key nucleus by which learning instructions go to Purkinje cells in the cerebellar cortex. Anatomical, physiological and pathological data is reviewed in an attempt to attribute a function to the evasive parvocellular Red Nucleus.

Discharge patterns of Purkinje cells activated through the climbing fiber system by stimulation of somatic and visceral afferents

Extracellular recordings were obtained from single Purkinje cells (PC) in the intermediate part of the lobule V and VI of the cerebellar cortex in cats anaesthetized with Nembutal. A number of PC responded with a "complex spike" (CS) to stimulation of both the superficial radial nerve (SRN) and the vagus nerve (VN). By suppressing the transmission of mossy fiber (MF) inputs through manipulation of the level of anaesthesia, attention was paid to the "simple spike" (SS) activity after the CS. Modality-specific differences were found in the length of the post-CS pause, the presence of a post-pause rebound, the effect of pre-CS SS firing rate on pause duration and in the frequency and regularity of post-pause SS discharge. We concluded that these differences arouse from the location of the PC within the climbing fiber (CF) sagittal strip and from the differential activation of the inhibitory interneurons. We propose that modification of SS activity following a CS represents a possible means of information transmission by the CF system.