Control of a 'simple' stretch reflex in humans

A housefly sensory-motor integration laboratory

Insects have many interesting behaviors that can be observed in an introductory biology laboratory setting. In the present article, we describe several reflexes using the housefly Musca domestica that can be used to introduce students to sensory and motor responses and encourage them to think about the underlying neural circuits and integration of sensory information that mediate the behaviors.

Bifurcation and stability analysis in musculoskeletal systems: a study in human stance

Reflexes are important in the control of such daily activities as standing and walking. The goal of this study is to establish how reflexive feedback of muscle length, velocity, and force can lead to stable equilibria (i.e., posture) and limit cycles (e.g., ankle clonus and gait). The influence of stretch reflexes on the behavior and stability of musculoskeletal systems was examined using a model of human stance. We computed branches of fold and Hopf bifurcations by numerical bifurcation analysis of the model. These fold and Hopf branches divide the parameter space, constructed by the reflexive feedback gains, into regions of different behavior: unstable posture, stable posture, and stable limit cycles. These limit cycles correspond to a neural deficiency, termed ankle clonus. We also linked bifurcation analysis to known biomechanical concepts by linearizing the model: the fold branch corresponds to zero ankle stiffness and defines the minimal muscle length feedback necessary for stable posture; the Hopf branch is related to unstable reflex loops. Crossing the Hopf branch can lead to the above-mentioned stable limit cycles. The Hopf branch reduces with increasing time delays, making the subject's posture more susceptible to unstable reflex loops. This might be one of the reasons why elderly people, or those with injuries to the central nervous system, often have trouble with standing and other posture tasks. The influence of cocontraction and force feedback on the behavior of the posture model was also investigated. An increase in cocontraction leads to an increase in ankle stiffness (i.e., intrinsic muscle stiffness) and a decrease in the effective reflex loop gain. On the one hand, positive force feedback increases the ankle stiffness (i.e., intrinsic and reflexive muscle stiffness); on the other hand it makes the posture more susceptible to unstable reflex loops. For negative force feedback, the opposite is true. Finally, we calculated areas of reflex gains for perturbed stance and quiet stance in healthy subjects by fitting the model to data from the literature. The overlap of these areas of reflex gains could indicate that stretch reflexes are the major control mechanisms in both quiet and perturbed stance. In conclusion, this study has successfully combined bifurcation analysis with the more common biomechanical concepts and tools to determine the influence of reflexes on the stability and quality of stance. In the future, we will develop this line of research to look at rhythmic tasks, such as walking.

Inhibitory component of the resistance reflex in the locomotor network of the crayfish

The aim of this study was to investigate the inhibitory components of a resistance reflex in the walking system of the crayfish. This study was performed using an in vitro preparation of several thoracic ganglia including motor nerves and the proprioceptor that codes movements of the second joint (coxo-basipodite chordotonal organ-CBCO). Sinusoidal movements were imposed on the CBCO, and intracellular responses were recorded from levator (Lev) and depressor (Dep) motoneurons (MNs). We found that in MNs that oppose the imposed movements (e.g., the Lev MNs during the imposed downward movement), the response consists in a depolarization resulting from the summation of excitatory postsynaptic potentials (EPSPs). A movement in the opposite direction resulted in hyperpolarization during which inhibitory postsynaptic potentials (IPSPs) summated. The inhibitory pathway to each MN is oligosynaptic (i.e., composed of a small number of neurons in series) and involves spiking interneurons because it was blocked in the presence of a high-divalent cation solution. The IPSPs were mediated by a chloride conductance because their amplitude was sensitive to the chloride concentration of the bathing solution and because they were blocked by the chloride channel blocker, picrotoxin. Resistance reflex IPSPs related to single CBCO neurons could be identified. These unitary IPSPs were blocked in the presence of 3-mercapto-propionic acid, an inhibitor of gamma-amino-butyric acid (GABA) synthesis, indicating that they are mediated by GABA. In addition to this GABAergic pathway, electrical stimulation of the CBCO sensory nerve induced compound IPSPs that were blocked by glutamate pyruvate transaminase (GPT), indicating the presence of glutamatergic inhibitory pathways. These glutamatergic interneurons do not appear to be involved in the resistance reflex, however, as GPT did not block the unitary IPSPs. Functionally, the resistance reflex is mainly supported by movement-coding CBCO sensory neurons. We demonstrate that such movement-coding CBCO neurons produce both monosynaptic EPSPs in the MNs opposing imposed movements and oligosynaptic IPSPs in the antagonistic motoneurons. These results highlight the similarities between the inhibitory pathways in resistance reflex of the crayfish and in the stretch reflex of vertebrates mediated by Ia inhibitory interneurons.

The special nature of human walking and its neural control

Walking the way we do is inherently unstable. Sophisticated neurological control systems are required to ensure that we progress and maintain our balance at the same time. Most of what is known about the functional organization of these neurological control systems is inferred from studies on animals. Here, I compare selected studies on the neural control of human walking with similar studies in reduced animal preparations. The simple monosynaptic reflex appears to be controlled by comparable mechanisms in walking cats and humans. However, peripheral feedback mechanisms suggested to contribute to the switch from stance to swing on the basis of experiments in reduced cat preparations have little influence during human walking. A cat whose spinal cord has been completely transected can be made to walk on a treadmill by drug injections, but such an immediate effect of pharmacological intervention is not seen in humans. However, there have been reports that pharmacological intervention can improve the walking of patients with incomplete spinal cord injury, especially when pharmacological treatment is combined with training.

A walking robot called human: lessons to be learned from neural control of locomotion

From what we know at present with respect to the neural control of walking, it can be concluded that an optimal biologically inspired robot could have the following features. The limbs should include several joints in which position changes can be obtained by actuators across the joints. The control of mono- and biarticular actuators should occur at least at three levels: one at direct control of the actuators (equivalent to motoneuron level), the second at indirect control acting at a level which controls whole limb movement (flexion or extension) and the third at a still higher level controlling the interlimb coordination. The limb level circuits should be able to produce alternating flexion and extension movements in the limb by means of coupled oscillator flexor and extensor parts which are mutually inhibitory. The interlimb control level should be able to command the various limb control centers. All three control levels should have some basic feedback circuits but the most essential one is needed at the limb control level and concerns the decision to either flex or extend a given limb. The decision to activate the extensor part of the limb oscillator has to be based on feedback signalling the onset of loading of the limb involved. This should be signalled by means of load sensors in the limb. The decision to activate the flexor part of the limb oscillator has to depend on various types of feedback. The most important requirement is that flexion should only occur when the limb concerned is no longer loaded above a given threshold. The rule for the initiation of limb flexion can be made more robust by adding the requirement that position at the base of the limb ("hip") should be within a normal end of stance phase range. Hence, human locomotion is thought to use a number of principles which simplify control, just as in other species such as the cat. It is suggested that cat and human locomotion are good models to learn from when designing efficient walking robots.