What features of visually guided arm movements are encoded in the simple spike discharge of cerebellar Purkinje cells?

Somatosensory cortex participates in the consolidation of human motor memory

Newly learned motor skills are initially labile and then consolidated to permit retention. The circuits that enable the consolidation of motor memories remain uncertain. Most work to date has focused on primary motor cortex, and although there is ample evidence of learning-related plasticity in motor cortex, direct evidence for its involvement in memory consolidation is limited. Learning-related plasticity is also observed in somatosensory cortex, and accordingly, it may also be involved in memory consolidation. Here, by using transcranial magnetic stimulation (TMS) to block consolidation, we report the first direct evidence that plasticity in somatosensory cortex participates in the consolidation of motor memory. Participants made movements to targets while a robot applied forces to the hand to alter somatosensory feedback. Immediately following adaptation, continuous theta-burst transcranial magnetic stimulation (cTBS) was delivered to block retention; then, following a 24-hour delay, which would normally permit consolidation, we assessed whether there was an impairment. It was found that when mechanical loads were introduced gradually to engage implicit learning processes, suppression of somatosensory cortex following training almost entirely eliminated retention. In contrast, cTBS to motor cortex following learning had little effect on retention at all; retention following cTBS to motor cortex was not different than following sham TMS stimulation. We confirmed that cTBS to somatosensory cortex interfered with normal sensory function and that it blocked motor memory consolidation and not the ability to retrieve a consolidated motor memory. In conclusion, the findings are consistent with the hypothesis that in adaptation learning, somatosensory cortex rather than motor cortex is involved in the consolidation of motor memory.

Visual feedback alters force control and functional activity in the visuomotor network after stroke

Modulating visual feedback may be a viable option to improve motor function after stroke, but the neurophysiological basis for this improvement is not clear. Visual gain can be manipulated by increasing or decreasing the spatial amplitude of an error signal. Here, we combined a unilateral visually guided grip force task with functional MRI to understand how changes in the gain of visual feedback alter brain activity in the chronic phase after stroke. Analyses focused on brain activation when force was produced by the most impaired hand of the stroke group as compared to the non-dominant hand of the control group. Our experiment produced three novel results. First, gain-related improvements in force control were associated with an increase in activity in many regions within the visuomotor network in both the stroke and control groups. These regions include the extrastriate visual cortex, inferior parietal lobule, ventral premotor cortex, cerebellum, and supplementary motor area. Second, the stroke group showed gain-related increases in activity in additional regions of lobules VI and VIIb of the ipsilateral cerebellum. Third, relative to the control group, the stroke group showed increased activity in the ipsilateral primary motor cortex, and activity in this region did not vary as a function of visual feedback gain. The visuomotor network, cerebellum, and ipsilateral primary motor cortex have each been targeted in rehabilitation interventions after stroke. Our observations provide new insight into the role these regions play in processing visual gain during a precisely controlled visuomotor task in the chronic phase after stroke.

The activity in the contralateral primary motor cortex, dorsal premotor and supplementary motor area is modulated by performance gains

There is growing experimental evidence that the engagement of different brain areas in a given motor task may change with practice, although the specific brain activity patterns underlying different stages of learning, as defined by kinematic or dynamic performance indices, are not well understood. Here we studied the change in activation in motor areas during practice on sequences of handwriting-like trajectories, connecting four target points on a digitizing table “as rapidly and as accurately as possible” while lying inside an fMRI scanner. Analysis of the subjects' pooled kinematic and imaging data, acquired at the beginning, middle, and end of the training period, revealed no correlation between the amount of activation in the contralateral M1, PM (dorsal and ventral), supplementary motor area (SMA), preSMA, and Posterior Parietal Cortex (PPC) and the amount of practice per-se. Single trial analysis has revealed that the correlation between the amount of activation in the contralateral M1 and trial mean velocity was partially modulated by performance gains related effects, such as increased hand motion smoothness. Furthermore, it was found that the amount of activation in the contralateral preSMA increased when subjects shifted from generating straight point-to-point trajectories to their spatiotemporal concatenation into a smooth, curved trajectory. Altogether, our results indicate that the amount of activation in the contralateral M1, PMd, and preSMA during the learning of movement sequences is correlated with performance gains and that high level motion features (e.g., motion smoothness) may modulate, or even mask correlations between activity changes and low-level motion attributes (e.g., trial mean velocity).

Neuroimaging Evidence of Motor Control and Pain Processing in the Human Midcingulate Cortex

Human neuroimaging and virus-tracing studies in monkey predict that motor control and pain processes should overlap in anterior midcingulate cortex (aMCC), but there is currently no direct evidence that this is the case. We used a novel functional magnetic resonance imaging paradigm to examine brain activity while subjects performed a motor control task, experienced a pain-eliciting stimulus on their hand, and performed the motor control task while also experiencing the pain-eliciting stimulus. Our experiment produced 3 novel results. First, group-level analyses showed that when separate trials of motor control and pain processing were performed, overlapping functional activity was found in the same regions of aMCC, supplementary motor area (SMA), anterior insula, and putamen. Secondly, increased activity was found in the aMCC and SMA when motor control and pain processing occurred simultaneously. Thirdly, individual-level analyses showed that 93% of subjects engaged the same region of aMCC during separate trials of motor control and pain processing irrespective of differences in the sulcal/gyral morphology of the cingulate cortex across individuals. These observations provide direct evidence in humans that the same region of aMCC is engaged for motor control and pain processing.

Internal models in the cerebellum

This review will focus on the possibility that the cerebellum contains an internal model or models of the motor apparatus. Inverse internal models can provide the neural command necessary to achieve some desired trajectory. First, we review the necessity of such a model and the evidence, based on the ocular following response, that inverse models are found within the cerebellar circuitry. Forward internal models predict the consequences of actions and can be used to overcome time delays associated with feedback control. Secondly, we review the evidence that the cerebellum generates predictions using such a forward model. Finally, we review a computational model that includes multiple paired forward and inverse models and show how such an arrangement can be advantageous for motor learning and control.

What features of limb movements are encoded in the discharge of cerebellar neurons?

This review examines the signals encoded in the discharge of cerebellar neurons during voluntary arm and hand movements, assessing the state of our knowledge and the implications for hypotheses of cerebellar function. The evidence for the representation of forces, joint torques, or muscle activity in the discharge of cerebellar neurons is limited, questioning the validity of theories that the cerebellum directly encodes the motor command. In contrast, kinematic parameters such as position, direction, and velocity are widely and robustly encoded in the activity of cerebellar neurons. These findings favor hypotheses that the cerebellum plans or controls movements in a kinematic framework, such as the proposal that the cerebellum provides a forward internal model. Error signals are needed for on-line correction and motor learning, and several hypotheses postulate the need for their representations in the cerebellum. Error signals have been described mostly in the complex spike discharge of Purkinje cells, but no consensus has emerged on the exact information signaled by complex spikes during limb movements. Newer studies suggest that simple spike firing may also encode error signals. Finally, Purkinje cells located more posterior and laterally in the cerebellar cortex and dentate neurons encode nonmotor, task-related signals such as visual cues. These results suggest that cerebellar neurons provide a complement of information about motor behaviors. We assert that additional single unit studies are needed using rich movement paradigms, given the power of this approach to directly test specific hypotheses about cerebellar function.

Spatiotemporal tuning of brain activity and force performance

The spatial and temporal features of visual stimuli are either processed independently or are conflated in specific cells of visual cortex. Although spatial and temporal features of visual stimuli influence motor performance, it remains unclear how spatiotemporal information is processed beyond visual cortex in brain regions that control movement. We used functional magnetic resonance imaging to examine how brain activity and force control are influenced by visual gain at a high visual feedback frequency of 6.4 Hz and a low visual feedback frequency of 0.4 Hz. At 6.4 Hz, increasing visual gain led to improved force performance and increased activity in classic areas of the visuomotor system-V5, IPL, SPL, PMv, SMA-proper, and M1. At 0.4 Hz, increasing gain also led to improved force performance. In addition to activation in M1/PMd and IPL in the visuomotor system, increasing visual gain at 0.4 Hz also corresponded with activity in the striatal-frontal circuit including DLPFC, ACC, and widespread activity in putamen, caudate, and SMA-proper. This study demonstrates that the frequency of visual feedback drives where in the brain visual gain mediated reductions in force error are regulated.

Selective regions of the visuomotor system are related to gain-induced changes in force error

When humans perform movements and receive on-line visual feedback about their performance, the spatial qualities of the visual information alter performance. The spatial qualities of visual information can be altered via the manipulation of visual gain and changes in visual gain lead to changes in force error. The current study used functional magnetic resonance imaging during a steady-state precision grip force task to examine how cortical and subcortical brain activity can change with visual gain induced changes in force error. Small increases in visual gain < 1° were associated with a substantial reduction in force error and a small increase in the spatial amplitude of visual feedback. These behavioral effects corresponded with an increase in activation bilaterally in V3 and V5 and in left primary motor cortex and left ventral premotor cortex. Large increases in visual gain > 1° were associated with a small change in force error and a large change in the spatial amplitude of visual feedback. These behavioral effects corresponded with increased activity bilaterally in dorsal and ventral premotor areas and right inferior parietal lobule. Finally, activity in the left and right lobule VI of the cerebellum and left and right putamen did not change with increases in visual gain. Together, these findings demonstrate that the visuomotor system does not respond uniformly to changes in the gain of visual feedback. Instead, specific regions of the visuomotor system selectively change in activity related to large changes in force error and large changes in the spatial amplitude of visual feedback.

Connectivity alterations assessed by combining fMRI and MR-compatible hand robots in chronic stroke

The aim of this study was to investigate functional reorganization of motor systems by probing connectivity between motor related areas in chronic stroke patients using functional magnetic resonance imaging (fMRI) in conjunction with a novel MR-compatible hand-induced, robotic device (MR_CHIROD). We evaluated data sets obtained from healthy volunteers and right-hand-dominant patients with first-ever left-sided stroke > or =6 months prior and mild to moderate hemiparesis affecting the right hand. We acquired T1-weighted echo planar and fluid attenuation inversion recovery MR images and multi-level fMRI data using parallel imaging by means of the GeneRalized Autocalibrating Partially Parallel Acquisitions (GRAPPA) algorithm on a 3 T MR system. Participants underwent fMRI while performing a motor task with the MR_CHIROD in the MR scanner. Changes in effective connectivity among a network of primary motor cortex (M1), supplementary motor area (SMA) and cerebellum (Ce) were assessed using dynamic causal modeling. Relative to healthy controls, stroke patients exhibited decreased intrinsic neural coupling between M1 and Ce, which was consistent with a dysfunctional M1 to Ce connection. Stroke patients also showed increased SMA to M1 and SMA to cerebellum coupling, suggesting that changes in SMA and Ce connectivity may occur to compensate for a dysfunctional M1. The results demonstrate for the first time that connectivity alterations between motor areas may help counterbalance a functionally abnormal M1 in chronic stroke patients. Assessing changes in connectivity by means of fMRI and MR_CHIROD might be used in the future to further elucidate the neural network plasticity that underlies functional recovery in chronic stroke patients.

Complexity of force output during static exercise in individuals with Down syndrome

Force variability is greater in individuals with Down syndrome (DS) compared with persons without DS and is similar to that seen with normal aging. The purpose of this study was to examine the structure (in both time and frequency domains) of force output variability in persons with DS to determine whether deficits in force control are similar between individuals with DS and older adults. An isometric handgrip task at a constant force (30% of maximal voluntary contraction) was completed by individuals with DS (n = 29, age 26 yr), and healthy young (n = 26, age 27 yr) and older (n = 33, age 70 yr) individuals. Mean, standard deviation (SD), and coefficient of variation (CV) were used to analyze the magnitude of force output variability. Spectral analysis and approximate entropy (ApEn) were used to analyze the structure of force output variability. Mean force output for DS was lower than in young controls (P < 0.05) but no different from old controls. Individuals with DS had greater SD and CV than young and old controls (P < 0.05). The DS group had a significantly greater proportion of spectral power within the 0-to 4-Hz bandwidth than the young and older controls (P < 0.05). The DS group had significantly lower ApEn values than the young controls (P < 0.05), but there were no differences in ApEn between the DS group and the old controls (P > 0.05). In conclusion, young persons with DS demonstrate enhanced temporal structure and greater amplitude of low-frequency oscillations in the force output signal than age-matched non-DS peers. Interestingly, young persons with DS and older persons without DS have similar time-dependent structure of force output variability. This would suggest a possible link between premature aging and less complex force output in persons with DS.

An internal model of a moving visual target in the lateral cerebellum

In order to overcome the relatively long delay in processing visual feedback information when pursuing a moving visual target, it is necessary to predict the future trajectory of the target if it is to be tracked with accuracy. Predictive behaviour can be achieved through internal models, and the cerebellum has been implicated as a site for their operation. Purkinje cells in the lateral cerebellum (D zones) respond to visual inputs during visually guided tracking and it has been proposed that their neural activity reflects the operation of an internal model of target motion. Here we provide direct evidence for the existence of such a model in the cerebellum by demonstrating an internal model of a moving external target. Single unit recordings of Purkinje cells in lateral cerebellum (D2 zone) were made in cats trained to perform a predictable visually guided reaching task. For all Purkinje cells that showed tonic simple spike activity during target movement, this tonic activity was maintained during the transient disappearance of the target. Since simple spike activity could not be correlated to eye or limb movements, and the target was familiar and moved in a predictable fashion, we conclude that the Purkinje cell activity reflects the operation of an internal model based on memory of its previous motion. Such a model of the target's motion, reflected in the maintained modulation during the target's absence, could be used in a predictive capacity in the interception of a moving object.

The cerebellum and sensorimotor coupling: Looking at the problem from the perspective of vestibular reflexes

Cerebellar modules process afferent information and deliver outputs relevant for both reflex and voluntary movements. The response of cerebellar modules to a given input depends on the whole array of signals impinging on them. Studies on vestibular reflexes indicate that the response of the cerebellar circuits to the vestibular input is modified by the integration of multiple visual, vestibular and somatosensory afferent signals. In this way the cerebellum slowly adapts these reflexes when they are not adequate to the behavioural condition and allows their fast modifications when the relative position of the body segments and that of the body in space are changed. Studies on voluntary movements indicate that the cerebellum is responsible for motor learning that consists of the development of new input-output associations. Several theoretical, anatomical and clinical studies are consistent with the hypothesis that the cerebellum allows the delivery of motor commands which vary according to the condition of the motor apparatus. Finally, the cerebellum could change the relation between visual information and aimed reaching movements according to the position of the eyes in the orbit and of the neck over the body. We propose that, due to the large expansion of its cortex, an important function of the cerebellum could be that of expanding the range of sensorimotor associations according to all the factors characterizing the behavioural condition. Indeed, following cerebellar lesion, learning is often lost, the movement results impaired and requires an increased attention. In the light of the recently discovered connections of the cerebellum with the rostral regions of the frontal lobe, it can be suggested that the ability of cerebellar circuits to modify the rules of input-output coupling according to a general context is a fundamental property allowing the cerebellum to control not only motor but also cognitive functions.

Age-related differences in stepping performance during step cycle-related removal of vision

The aim of the present study was to investigate whether there are age-related changes in the ability of individuals to use vision to plan (feedforward control) and guide (on-line control) foot placement during locomotion. This aim was achieved by constraining the availability of vision and comparing the effects on the stepping performances of older and young adults during a precision stepping task. We experimentally controlled the availability of visual information such that: (1) vision was only available during each stance phase of the targeting limb, (2) vision was only available during each swing phase of the targeting limb or (3) vision was always available. Our visual manipulations had relatively little effect on younger adults' stepping performance as demonstrated by their missing the target on less than 10% of occasions. However, there were clear visual condition-related differences in older adults' stepping performance. When vision was only available during the stance phase of the targeting limb, older adults demonstrated significantly larger foot placement error and associated task failure rate (23%) than trials in which vision was always available (10%). There was an even greater increase in older adults' foot placement error and task failure rate (42%) during trials in which vision was only available in the swing phase than the other visual conditions. These findings suggest that older adults need vision at particular times during the step cycle, to effectively pre-plan future stepping movements. We discuss the evidence that these age-related changes in performance reflect decline in visual and visuomotor CNS pathways.

Visual angle is the critical variable mediating gain-related effects in manual control

Theoretically visual gain has been identified as a control variable in models of isometric force. However, visual gain is typically confounded with visual angle and distance, and the relative contribution of visual gain, distance, and angle to the control of force remains unclear. This study manipulated visual gain, distance, and angle in three experiments to examine the visual information properties used to regulate the control of a constant level of isometric force. Young adults performed a flexion motion of the index finger of the dominant hand in 20 s trials under a range of parameter values of the three visual variables. The findings demonstrate that the amount and structure of the force fluctuations were organized around the variable of visual angle, rather than gain or distance. Furthermore, the amount and structure of the force fluctuations changed considerably up to 1 degrees , with little change higher than a 1 degrees visual angle. Visual angle is the critical informational variable for the visuomotor system during the control of isometric force.

Intermittent visuomotor processing in the human cerebellum, parietal cortex, and premotor cortex

The cerebellum, parietal cortex, and premotor cortex are integral to visuomotor processing. The parameters of visual information that modulate their role in visuomotor control are less clear. From motor psychophysics, the relation between the frequency of visual feedback and force variability has been identified as nonlinear. Thus we hypothesized that visual feedback frequency will differentially modulate the neural activation in the cerebellum, parietal cortex, and premotor cortex related to visuomotor processing. We used functional magnetic resonance imaging at 3 Tesla to examine visually guided grip force control under frequent and infrequent visual feedback conditions. Control conditions with intermittent visual feedback alone and a control force condition without visual feedback were examined. As expected, force variability was reduced in the frequent compared with the infrequent condition. Three novel findings were identified. First, infrequent (0.4 Hz) visual feedback did not result in visuomotor activation in lateral cerebellum (lobule VI/Crus I), whereas frequent (25 Hz) intermittent visual feedback did. This is in contrast to the anterior intermediate cerebellum (lobule V/VI), which was consistently active across all force conditions compared with rest. Second, confirming previous observations, the parietal and premotor cortices were active during grip force with frequent visual feedback. The novel finding was that the parietal and premotor cortex were also active during grip force with infrequent visual feedback. Third, right inferior parietal lobule, dorsal premotor cortex, and ventral premotor cortex had greater activation in the frequent compared with the infrequent grip force condition. These findings demonstrate that the frequency of visual information reduces motor error and differentially modulates the neural activation related to visuomotor processing in the cerebellum, parietal cortex, and premotor cortex.

Purkinje cells in the lateral cerebellum of the cat encode visual events and target motion during visually guided reaching

In this study the receipt of visual information by the lateral cerebellum and its contribution to a motor output was studied using single unit recording of cerebellar cortical neurones in cats trained to perform visually guided reaching. The activity of Purkinje cells and other cortical neurones in the lateral cerebellum was investigated in relation to various aspects of the task, such as visual events, parameters of target movement, and limb and eye movements. Two-thirds (66%) of Purkinje cells tested could signal simple visual events, such as a flash of light. Neurones were also capable of detecting other less potent, but behaviourally important visual events, such as a 'GO' signal (LED brightening). Half of the cells tested were responsive to the on-going motion of the visual target, displaying tonically altered discharge rates for as long as it was moving, and a 'preferred' target velocity. A small proportion of cells showed short latency visual modulation that persisted during the forelimb reach. Anatomical tracing studies confirmed that the recordings were obtained from the D1 zone of crus I. In summary, cells in this region of lateral cerebellar cortex perform simple visual functions, such as event detection, but also more complex visual functions, such as encoding parameters of target motion, and their visual responsiveness is appropriate for a role in accurate visually guided reaching to a moving target.

Position, direction of movement, and speed tuning of cerebellar Purkinje cells during circular manual tracking in monkey

The cerebellum plays an essential role in pursuit tracking with the eye and with the hand. During smooth pursuit eye movements, both tracking position and velocity are signaled by Purkinje cells. Purkinje cell simple spike discharge is also modulated by direction and speed during linear manual tracking. This study evaluated how all three parameters, position, movement direction, and speed, are signaled in the simple spike discharge of Purkinje cells during circular manual tracking. Three rhesus monkeys intercepted and then tracked a target moving in a circle in both counterclockwise and clockwise directions across a range of constant target speeds. Two sets of analyses of the simple spike firing of 97 Purkinje cells examined the effects of position, movement direction, and speed. The first approach was the incremental improvement of regression models, initially modeling a pure position dependence, then incorporating movement direction, and finally incorporating speed dependence. The second was a model-independent approach, without any explicit assumptions about the character of the directional tuning or speed effects. Both analyses revealed the same three results: (1) Purkinje cell discharge is spatially tuned, to both the position and direction of movement, and (2) this spatial tuning is not altered by the speed, except (3) the speed scales the average firing and/or depth of modulation. The results suggest that the population of Purkinje cells forms a representation of the entire position-direction space of arm movements, and that the speed modulates the scale of that representation. This speed scaling provides insights into the cerebellar processing of movement-related timing.

The cerebellum may implement the appropriate coupling of sensory inputs and motor responses: evidence from vestibular physiology

Starting from a survey of current ideas on the role of the cerebellum in sensorimotor transformations, the present review summarizes the results of recent experiments showing that (a) somatosensory signals modify the spatial organization of the postural reflexes, thus leading to body stability, and (b) otolith input changes the plane of reflex eye movements, by keeping it perpendicular to the gravito-inertial vector. Evidence will be given that both transformations require the integrity of specific cerebellar regions. These data indicates that the cerebellum allows an optimal input-output coupling in relation to the ultimate behavioural goal of the motor activity.

Consolidation of Dynamic Motor Learning Is Not Disrupted by rTMS of Primary Motor Cortex

Motor skills, once learned, are often retained over a long period of time. However, such learning first undergoes a period of consolidation after practice. During this time, the motor memory is susceptible to being disrupted by the performance of another motor-learning task. Recently, it was shown that repetitive transcranial magnetic stimulation (rTMS) over the primary motor cortex could disrupt the retention of a newly learned ballistic task in which subjects had to oppose their index finger and thumb as rapidly as possible. Here we investigate whether the motor cortex is similarly involved during the consolidation that follows learning novel dynamics. We applied rTMS to primary motor cortex shortly after subjects had either learned to compensate for a dynamic force field applied to their index finger or learned a ballistic finger abduction task. rTMS severely degraded the retention of the learning for the ballistic task but had no effect on retention of the dynamic force-field learning. This suggests that, unlike learning of simple ballistic skills, learning of dynamics may be stored in a more distributed manner, possibly outside the primary motor cortex.

Spike firing in the lateral cerebellar cortex correlated with movement and motor parameters irrespective of the effector limb

Neuronal signals in the lateral aspect of the macaque cerebellar cortex were studied during a visually guided reaching task. During the performance of this task, the firing rate of most neurons was significantly modulated when reaching with either the ipsilateral or the contralateral arm. In some of these reach-modulated cells, we found that spike firing was correlated with the direction and speed of the reach. These correlations with motor parameters were present during reaching with either the ipsilateral or the contralateral arm. Based on these observations we suggest that spike firing in the lateral cerebellum was correlated with movement and motor parameters irrespective of the effector limb.

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.

Proprioception from a spinocerebellar perspective

This review explores how proprioceptive sensory information is organized at spinal cord levels as it relates to a sense of body position and movement. The topic is considered in an historical context and develops a different framework that may be more in tune with current views of sensorimotor processing in other central nervous system structures. The dorsal spinocerebellar tract (DSCT) system is considered in detail as a model system that may be considered as an end point for the processing of proprioceptive sensory information in the spinal cord. An analysis of this system examines sensory processing at the lowest levels of synaptic connectivity with central neurons in the nervous system. The analysis leads to a framework for proprioception that involves a highly flexible network organization based in some way on whole limb kinematics. The functional organization underlying this framework originates with the biomechanical linkages in the limb that establish functional relationships among the limb segments. Afferent information from limb receptors is processed further through a distributed neural network in the spinal cord. The result is a global representation of hindlimb parameters rather than a muscle-by-muscle or joint-by-joint representation.

Processing of multiple kinematic signals in the cerebellum and motor cortices

The cerebellum and motor cortices are hypothesized to make fundamentally different but synergistic contributions to the control of movement. Richly interconnected, these structures must communicate and translate salient parameters of movement. This review examines the similarities and differences in the encoding of multiple limb movement parameters in the cerebellum and motor cortices. Also presented are recent data on direction and speed coding by cerebellar Purkinje cells and primary motor and dorsal premotor cortical neurons during a visually-instructed, manual tracking task. Both similarities and differences have been found in the way that these two motor areas process movement parameters. For example, the two motor control structures encode direction with almost identical depths of modulation, which may simplify the exchange of directional signals. Two major differences between the cerebellum and motor cortices consist of the distribution of the preferred directions and the manner in which direction and speed are jointly signaled within the discharge of individual neurons. First, an anterior-posterior distribution of preferred directions has been shown for both reaching and manual tracking, consistent with an intrinsic reference frame and/or the structure of afferent input. In contrast, neurons in the motor cortices have uniformly distributed preferred directions, consistent with general purpose directional calculations. Secondly, Purkinje cells in the cerebellum and motor cortices combine movement direction and speed information differently. For example, Purkinje cell discharge encodes combinations of direction and speed, a 'preferred velocity', while the motor cortical neurons use a temporal parcellation scheme to encode multiple parameters of movement. These results demonstrate that the cerebellum and motor cortices process and use kinematic information in fundamentally different ways that may underlie the functional uniqueness of the two motor control structures.

Cerebellar Purkinje cell simple spike discharge encodes movement velocity in primates during visuomotor arm tracking

Pathophysiological, lesion, and electrophysiological studies suggest that the cerebellar cortex is important for controlling the direction and speed of movement. The relationship of cerebellar Purkinje cell discharge to the control of arm movement parameters, however, remains unclear. The goal of this study was to examine how movement direction and speed and their interaction-velocity-modulate Purkinje cell simple spike discharge in an arm movement task in which direction and speed were independently controlled. The simple spike discharge of 154 Purkinje cells was recorded in two monkeys during the performance of two visuomotor tasks that required the animals to track targets that moved in one of eight directions and at one of four speeds. Single-parameter regression analyses revealed that a large proportion of cells had discharge modulation related to movement direction and speed. Most cells with significant directional tuning, however, were modulated at one speed, and most cells with speed-related discharge were modulated along one direction; this suggested that the patterns of simple spike discharge were not adequately described by single-parameter models. Therefore, a regression surface was fitted to the data, which showed that the discharge could be tuned to specific direction-speed combinations (preferred velocities). The overall variability in simple spike discharge was well described by the surface model, and the velocities corresponding to maximal and minimal discharge rates were distributed uniformly throughout the workspace. Simple spike discharge therefore appears to integrate information about both the direction and speed of arm movements, thereby encoding movement velocity.

Movement-related gating of climbing fibre input to cerebellar cortical zones

The inferior olive climbing fibre projection and associated spino-olivocerebellar paths (SOCPs) have been studied intensively over the last quarter of a century yet precisely what information they signal to the cerebellar cortex during movements remains unclear. A different approach is to consider the times during a movement when afferent signals are likely to be conveyed via these paths. Central regulation (gating) of afferent transmission during active movements is well documented in sensory pathways leading to the cerebral cortex and the present review examines the possibility that a similar phenomenon also occurs in SOCPs during movements such as locomotion and reaching. Several lines of evidence are considered which suggest that SOCPs are not always open for transmission. Instead, flow of sensory information to the cerebellum via climbing fibre paths is powerfully modulated during active movements. The findings are discussed in relation to the parasagittal zonal organization of the cerebellar cortex and, in particular, evidence is presented that different cerebellar zones are subject to similar patterns of gating during reaching but can differ appreciably in the pattern of modulation their SOCPs exhibit during locomotion. Furthermore, differences in gating can occur at different rostrocaudal loci within the same zone, suggesting that in the awake behaving animal, individual cerebellar zones are not functionally homogeneous. Finally, the data are interpreted in relation to the error detector hypothesis of climbing fibre function and the possibility explored that the gating serves as a task-dependent mechanism that operates to prevent self-generated 'irrelevant' sensory inputs from being relayed via the SOCPs to the cerebellar cortex, while behaviourally 'relevant' signals are selected for transmission.

The cerebellum, predictive control and motor coordination

I argue that the cerebellum has at least two related roles, both sub-served by its operation as a 'forward model' of the motor system. First, it provides an internal state estimate or sensory prediction that is used for online control of movements; second, these predictive state estimates are used to coordinate actions by different effectors in the normal coordination of eye and hand, reach and grasp, etc. Preliminary electrophysiological data from cerebellar cortical neurons in the monkey supports the hypothesis that a proportion of cells code for the sensory consequences of movement. In a contrast between normal visually guided movement of a cursor and mirror reversed movement, approximately half the sample of 47 directionally sensitive cells were found to code for the movement of the cursor controlled by the monkey's limb, and not the limb movement itself. Functional imaging of the human cerebellum further supports the hypothesis that the cerebellum is involved in motor coordination. Subjects were tested performing ocular tracking, manual tracking without eye movement, or combined eye and hand tracking. Activation of cerebellar areas related to movement of eyes or hand alone was significantly enhanced when the subjects performed coordinated eye and hand tracking of a visual target.

A role for the cerebellum in the control of limb movement velocity

Accepting, rejecting or modifying the many different theories of the cerebellum's role in the control of movement requires an understanding of the signals encoded in the discharge of cerebellar neurons and how those signals are transformed by the cerebellar circuitry. Particularly challenging is understanding the sensory and motor signals carried by the two types of action potentials generated by cerebellar Purkinje cells, the simple spikes and complex spikes. Advances have been made in understanding this signal processing in the context of voluntary arm movements. Recent evidence suggests that mossy fiber afferents to the cerebellar cortex are a source of kinematic signals, providing information about movement direction and speed. In turn, the simple spike discharge of Purkinje cells integrates this mossy fiber information to generate a movement velocity signal. Complex spikes may signal errors in movement velocity. It is proposed that the cerebellum uses the signals carried by the simple and complex spike discharges to control movement velocity for both step and tracking arm movements.

Activation of visuomotor systems during visually guided movements: a functional MRI study

The dorsal stream is a dominant visuomotor pathway that connects the striate and extrastriate cortices to posterior parietal areas. In turn, the posterior parietal areas send projections to the frontal primary motor and premotor areas. This cortical pathway is hypothesized to be involved in the transformation of a visual input into the appropriate motor output. In this study we used functional magnetic resonance imaging (fMRI) of the entire brain to determine the patterns of activation that occurred while subjects performed a visually guided motor task. In nine human subjects, fMRI data were acquired on a 4-T whole-body MR system equipped with a head gradient coil and a birdcage RF coil using a T2*-weighted EPI sequence. Functional activation was determined for three different tasks: (1) a visuomotor task consisting of moving a cursor on a screen with a joystick in relation to various targets, (2) a hand movement task consisting of moving the joystick without visual input, and (3) a eye movement task consisting of moving the eyes alone without visual input. Blood oxygenation level-dependent (BOLD) contrast-based activation maps of each subject were generated using period cross-correlation statistics. Subsequently, each subject's brain was normalized to Talairach coordinates, and the individual maps were compared on a pixel by pixel basis. Significantly activated pixels common to at least four out of six subjects were retained to construct the final functional image. The pattern of activation during visually guided movements was consistent with the flow of information from striate and extrastriate visual areas, to the posterior parietal complex, and then to frontal motor areas. The extensive activation of this network and the reproducibility among subjects is consistent with a role for the dorsal stream in transforming visual information into motor behavior. Also extensively activated were the medial and lateral cerebellar structures, implicating the cortico-pontocerebellar pathway in visually guided movements. Thalamic activation, particularly of the pulvinar, suggests that this nucleus is an important subcortical target of the dorsal stream.