A Role for Hip Position in Initiating the Swing-to-Stance Transition in Walking Cats

Sensory Feedback and Central Neuronal Interactions in Mouse Locomotion

Locomotion is a complex process involving specific interactions between the central neural controller and the mechanical components of the system. The basic rhythmic activity generated by locomotor circuits in the spinal cord defines rhythmic limb movements and their central coordination. The operation of these circuits is modulated by sensory feedback from the limbs providing information about the state of the limbs and the body. However, the specific role and contribution of central interactions and sensory feedback in the control of locomotor gait and posture remain poorly understood. We use biomechanical data on quadrupedal locomotion in mice and recent findings on the organization of neural interactions within the spinal locomotor circuitry to create and analyze a tractable mathematical model of mouse locomotion. The model includes a simplified mechanical model of the mouse body with four limbs and a central controller composed of four rhythm generators, each operating as a state machine controlling the state of one limb. Feedback signals characterize the load and extension of each limb as well as postural stability (balance). We systematically investigate and compare several model versions and compare their behavior to existing experimental data on mouse locomotion. Our results highlight the specific roles of sensory feedback and some central propriospinal interactions between circuits controlling fore and hind limbs for speed-dependent gait expression. Our models suggest that postural imbalance feedback may be critically involved in the control of swing-to-stance transitions in each limb and the stabilization of walking direction.

Adapting the pantograph limb: Differential robustness of fore- and hindlimb kinematics against genetically induced perturbation in the neural control networks and its evolutionary implications

The evolutionary transformation of limb morphology to the four-segmented pantograph of therians is among the milestones of mammalian evolution. But, it is still unknown if changes of the mechanical limb function were accompanied by corresponding changes in development and sensorimotor control. The impressive locomotor performance of mammals leaves no doubt about the high integration of pattern formation, neural control and mechanics. But, deviations from normal intra- and interlimb coordination (spatial and temporal) become evident in the presence of perturbations. We induced a perturbation in the development of the neural circuits of the spinal cord of mice (Mus musculus) using a deletion of the Wilms tumor suppressor gene Wt1 in a subpopulation of dI6 interneurons. These interneurons are assumed to participate in the intermuscular coordination within the limb and in left-right-coordination between the limbs. We describe the locomotor kinematics in mice with conditional Wt1 knockout and compare them to mice without Wt1 deletion. Unlike knockout neonates, knockout adult mice do not display severe deviations from normal (=control group) interlimb coordination, but the coordinated protraction and retraction of the limbs is altered. The forelimbs are more affected by deviations from the control than the hindlimbs. This observation appears to reflect a different degree of integration and resistance against the induced perturbation between the limbs. Interestingly, the observed effects are similar to locomotor deficits reported to arise when sensory feedback from proprioceptors or cutaneous receptors is impaired. A putative participation of Wt1 positive dI6 interneurons in sensorimotor integration is therefore considered.

Biomechanical and Sensory Feedback Regularize the Behavior of Different Locomotor Central Pattern Generators

This work presents an in-depth numerical investigation into a hypothesized two-layer central pattern generator (CPG) that controls mammalian walking and how different parameter choices might affect the stepping of a simulated neuromechanical model. Particular attention is paid to the functional role of features that have not received a great deal of attention in previous work: the weak cross-excitatory connectivity within the rhythm generator and the synapse strength between the two layers. Sensitivity evaluations of deafferented CPG models and the combined neuromechanical model are performed. Locomotion frequency is increased in two different ways for both models to investigate whether the model's stability can be predicted by trends in the CPG's phase response curves (PRCs). Our results show that the weak cross-excitatory connection can make the CPG more sensitive to perturbations and that increasing the synaptic strength between the two layers results in a trade-off between forced phase locking and the amount of phase delay that can exist between the two layers. Additionally, although the models exhibit these differences in behavior when disconnected from the biomechanical model, these differences seem to disappear with the full neuromechanical model and result in similar behavior despite a variety of parameter combinations. This indicates that the neural variables do not have to be fixed precisely for stable walking; the biomechanical entrainment and sensory feedback may cancel out the strengths of excitatory connectivity in the neural circuit and play a critical role in shaping locomotor behavior. Our results support the importance of including biomechanical models in the development of computational neuroscience models that control mammalian locomotion.

Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory information processing to muscle activation, which includes: 1) a visual-attention control mechanism for controlling attention to external inputs; 2) object recognition representing the primary motor cortex; 3) a motor control model that determines motor commands traveling down the corticospinal and reticulospinal tracts; 4) a central pattern generation model representing pattern generation in the spinal cord; and 5) a muscle reflex model representing the muscle model and its reflex mechanism. The proposed model is able to generate the locomotion of a quadruped robot in flat and natural terrain. The experiment also shows the importance of a postural reflex mechanism when experiencing a sudden obstacle. We show the reflex mechanism when a sudden obstacle is separately detected from both external (retina) and internal (touching afferent) sensory information. We present the biological rationale for supporting the proposed model. Finally, we discuss future contributions, trends, and the importance of the proposed research.

Kinematic trajectories in response to speed perturbations in walking suggest modular task-level control of leg angle and length

Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated and mechanical perturbation responses. Here, we use treadmill belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force-length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt speed perturbations.

Review of Electronics-Free Robotics: Toward a Highly Decentralized Control Architecture

In recent years, conventional model-based motion control has become more challenging owing to the continuously increasing complexity of areas in which robots must operate and navigate. A promising approach for solving this issue is by employing interaction-based robotics, which includes behavior-based robotics, morphological computations, and soft robotics that generate control and computation functions based on interactions between the robot body and environment. These control strategies, which incorporate the diverse dynamics of the environment to generate control and computation functions, may alleviate the limitations imposed by the finite physical and computational resources of conventional robots. However, current interaction-based robots can only perform a limited number of actions compared with conventional robots. To increase the diversity of behaviors generated from body–environment interactions, a robotic body design methodology that can generate appropriate behaviors depending on the various situations and environmental stimuli that arise from them is necessitated. Electronics-free robotics is reviewed herein as a paradigm for designing robots with control and computing functions in each part of the body. In electronics-free robotics, instead of using electrical sensors or computers, a control system is constructed based on only mechanical or chemical reactions. Robotic bodies fabricated using this approach do not require bulky electrical wiring or peripheral circuits and can perform control and computational functions by obtaining energy from a central source. Therefore, by distributing these electronics-free controllers throughout the body, we hope to design autonomous and highly decentralized robotic bodies than can generate various behaviors in response to environmental stimuli. This new paradigm of designing and controlling robot bodies can enable realization of completely electronics-free robots as well as expand the range of conventional electronics-based robot designs.

Enhancing Locomotor Learning With Transcutaneous Spinal Electrical Stimulation and Somatosensory Augmentation: A Pilot Randomized Controlled Trial in Older Adults

This study investigated locomotor learning of a complex terrain walking task in older adults, when combined with two adjuvant interventions: transcutaneous spinal direct current stimulation (tsDCS) to increase lumbar spinal cord excitability, and textured shoe insoles to increase somatosensory feedback to the spinal cord. The spinal cord has a crucial contribution to control of walking, and is a novel therapeutic target for rehabilitation of older adults. The complex terrain task involved walking a 10-meter course consisting of nine obstacles and three sections of compliant (soft) walking surface. Twenty-three participants were randomly assigned to one of the following groups: sham tsDCS and smooth insoles (sham/smooth; control group), sham tsDCS and textured insoles (sham/textured), active tsDCS and smooth insoles (active/smooth), and active tsDCS and textured insoles (active/textured). The first objective was to assess the feasibility, tolerability, and safety of the interventions. The second objective was to assess preliminary efficacy for increasing locomotor learning, as defined by retention of gains in walking speed between a baseline visit of task practice, and a subsequent follow-up visit. Variability of the center of mass while walking over the course was also evaluated. The change in executive control of walking (prefrontal cortical activity) between the baseline and follow-up visits was measured with functional near infrared spectroscopy. The study results demonstrated feasibility based on enrollment and retention of participants, tolerability based on self-report, and safety based on absence of adverse events. Preliminary efficacy was supported based on trends showing larger gains in walking speed and more pronounced reductions in mediolateral center of mass variability at the follow-up visit in the groups randomized to active tsDCS or textured insoles. These data justify future larger studies to further assess dosing and efficacy of these intervention approaches. In conclusion, rehabilitation interventions that target spinal control of walking present a potential opportunity for enhancing walking function in older adults.

State- and Condition-Dependent Modulation of the Hindlimb Locomotor Pattern in Intact and Spinal Cats Across Speeds

Locomotion after complete spinal cord injury (spinal transection) in animal models is usually evaluated in a hindlimb-only condition with the forelimbs suspended or placed on a stationary platform and compared with quadrupedal locomotion in the intact state. However, because of the quadrupedal nature of movement in these animals, the forelimbs play an important role in modulating the hindlimb pattern. This raises the question: whether changes in the hindlimb pattern after spinal transection are due to the state of the system (intact versus spinal) or because the locomotion is hindlimb-only. We collected kinematic and electromyographic data during locomotion at seven treadmill speeds before and after spinal transection in nine adult cats during quadrupedal and hindlimb-only locomotion in the intact state and hindlimb-only locomotion in the spinal state. We attribute some changes in the hindlimb pattern to the spinal state, such as convergence in stance and swing durations at high speed, improper coordination of ankle and hip joints, a switch in the timing of knee flexor and hip flexor bursts, modulation of burst durations with speed, and incidence of bi-phasic bursts in some muscles. Alternatively, some changes relate to the hindlimb-only nature of the locomotion, such as paw placement relative to the hip at contact, magnitude of knee and ankle yield, burst durations of some muscles and their timing. Overall, we show greater similarity in spatiotemporal and EMG variables between the two hindlimb-only conditions, suggesting that the more appropriate pre-spinal control is hindlimb-only rather than quadrupedal locomotion.

Control of Mammalian Locomotion by Somatosensory Feedback

When animals walk overground, mechanical stimuli activate various receptors located in muscles, joints, and skin. Afferents from these mechanoreceptors project to neuronal networks controlling locomotion in the spinal cord and brain. The dynamic interactions between the control systems at different levels of the neuraxis ensure that locomotion adjusts to its environment and meets task demands. In this article, we describe and discuss the essential contribution of somatosensory feedback to locomotion. We start with a discussion of how biomechanical properties of the body affect somatosensory feedback. We follow with the different types of mechanoreceptors and somatosensory afferents and their activity during locomotion. We then describe central projections to locomotor networks and the modulation of somatosensory feedback during locomotion and its mechanisms. We then discuss experimental approaches and animal models used to investigate the control of locomotion by somatosensory feedback before providing an overview of the different functional roles of somatosensory feedback for locomotion. Lastly, we briefly describe the role of somatosensory feedback in the recovery of locomotion after neurological injury. We highlight the fact that somatosensory feedback is an essential component of a highly integrated system for locomotor control. © 2021 American Physiological Society. Compr Physiol 11:1-71, 2021.

Role of DSCAM in the Development of Neural Control of Movement and Locomotion

Locomotion results in an alternance of flexor and extensor muscles between left and right limbs generated by motoneurons that are controlled by the spinal interneuronal circuit. This spinal locomotor circuit is modulated by sensory afferents, which relay proprioceptive and cutaneous inputs that inform the spatial position of limbs in space and potential contacts with our environment respectively, but also by supraspinal descending commands of the brain that allow us to navigate in complex environments, avoid obstacles, chase prey, or flee predators. Although signaling pathways are important in the establishment and maintenance of motor circuits, the role of DSCAM, a cell adherence molecule associated with Down syndrome, has only recently been investigated in the context of motor control and locomotion in the rodent. DSCAM is known to be involved in lamination and delamination, synaptic targeting, axonal guidance, dendritic and cell tiling, axonal fasciculation and branching, programmed cell death, and synaptogenesis, all of which can impact the establishment of motor circuits during development, but also their maintenance through adulthood. We discuss herein how DSCAM is important for proper motor coordination, especially for breathing and locomotion.

Common and distinct muscle synergies during level and slope locomotion in the cat

Although it is well established that the motor control system is modular, the organization of muscle synergies during locomotion and their change with ground slope are not completely understood. For example, typical reciprocal flexor-extensor muscle synergies of level walking in cats break down in downslope: one-joint hip extensors are silent throughout the stride cycle, whereas hindlimb flexors demonstrate an additional stance phase-related electromyogram (EMG) burst (Smith JL, Carlson-Kuhta P, Trank TV. J Neurophysiol 79: 1702-1716, 1998). Here, we investigated muscle synergies during level, upslope (27°), and downslope (-27°) walking in adult cats to examine common and distinct features of modular organization of locomotor EMG activity. Cluster analysis of EMG burst onset-offset times of 12 hindlimb muscles revealed five flexor and extensor burst groups that were generally shared across slopes. Stance-related bursts of flexor muscles in downslope were placed in a burst group from level and upslope walking formed by the rectus femoris. Walking upslope changed swing/stance phase durations of level walking but not the cycle duration. Five muscle synergies computed using non-negative matrix factorization accounted for at least 95% of variance in EMG patterns in each slope. Five synergies were shared between level and upslope walking, whereas only three of those were shared with downslope synergies; these synergies were active during the swing phase and phase transitions. Two stance-related synergies of downslope walking were distinct; they comprised a mixture of flexors and extensors. We suggest that the modular organization of muscle activity during level and slope walking results from interactions between motion-related sensory feedback, CPG, and supraspinal inputs.NEW & NOTEWORTHY We demonstrated that the atypical EMG activities during cat downslope walking, silent one-joint hip extensors and stance-related EMG bursts in flexors, have many features shared with activities of level and upslope walking. Majority of EMG burst groups and muscle synergies were shared among these slopes, and upslope modulated the swing/stance phase duration but not cycle duration. Thus, synergistic EMG activities in all slopes might result from a shared CPG receiving somatosensory and supraspinal inputs.

A Reciprocal Excitatory Reflex Between Extensors Reproduces the Prolongation of Stance Phase in Walking Cats: Analysis on a Robotic Platform

Spinal reflex is essential to the robust locomotion of quadruped animals. To investigate the reflex mechanisms, we developed a quadruped robot platform that emulates the neuromuscular dynamics of animals. The leg is designed to be highly back-drivable, and four Hill-type muscles and neuronal pathways are simulated on each leg using software. By searching for the reflex circuit that contributes to the generation of steady gait in cats through robotic experiments, we found a simple reflex circuit that could produce leg trajectories and a steady gait. In addition, this circuit can reproduce the experimental behavior observed in cats. As a major contribution of this study, we show that the underlying structure of the reflex circuit is the reciprocal coupling between extensor muscles via excitatory neural pathways. In the walking experiments on the robot, a steady gait and experimental behaviors of walking cats emerged from the reflex circuit without any central pattern generators. Furthermore, to take advantage of walking experiments using a neurophysiological robotic platform, we conducted experiments in which a part of the proposed reflex circuit was disconnected for a certain period of time during walking. The results showed that the prolongation of the stance phase caused by the reciprocal excitatory reflex contributed greatly to the generation of a steady gait.

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.

Adaptation to slope in locomotor-trained spinal cats with intact and self-reinnervated lateral gastrocnemius and soleus muscles

Sensorimotor training providing motion-dependent somatosensory feedback to spinal locomotor networks restores treadmill weight-bearing stepping on flat surfaces in spinal cats. In this study, we examined if locomotor ability on flat surfaces transfers to sloped surfaces and the contribution of length-dependent sensory feedback from lateral gastrocnemius (LG) and soleus (Sol) to locomotor recovery after spinal transection and locomotor training. We compared kinematics and muscle activity at different slopes (±10° and ±25°) in spinalized cats (n = 8) trained to walk on a flat treadmill. Half of those animals had their right hindlimb LG/Sol nerve cut and reattached before spinal transection and locomotor training, a procedure called muscle self-reinnervation that leads to elimination of autogenic monosynaptic length feedback in spinally intact animals. All spinal animals trained on a flat surface were able to walk on slopes with minimal differences in walking kinematics and muscle activity between animals with/without LG/Sol self-reinnervation. We found minimal changes in kinematics and muscle activity at lower slopes (±10°), indicating that walking patterns obtained on flat surfaces are robust enough to accommodate low slopes. Contrary to results in spinal intact animals, force responses to muscle stretch largely returned in both SELF-REINNERVATED muscles for the trained spinalized animals. Overall, our results indicate that the locomotor patterns acquired with training on a level surface transfer to walking on low slopes and that spinalization may allow the recovery of autogenic monosynaptic length feedback following muscle self-reinnervation.NEW & NOTEWORTHY Spinal locomotor networks locomotor trained on a flat surface can adapt the locomotor output to slope walking, up to ±25° of slope, even with total absence of supraspinal CONTROL. Autogenic length feedback (stretch reflex) shows signs of recovery in spinalized animals, contrary to results in spinally intact animals.

Flexor and Extensor Ankle Afferents Broadly Innervate Locomotor Spinal Shox2 Neurons and Induce Similar Effects in Neonatal Mice

Central pattern generators (CPGs) in the thoracolumbar spinal cord generate the basic hindlimb locomotor pattern. The locomotor CPG integrates descending commands and sensory information from the periphery to activate, modulate and halt the rhythmic program. General CPG function and response to sensory perturbations are well described in cat and rat models. In mouse, roles for many genetically identified spinal interneurons have been inferred from locomotor alterations following population deletion or modulation. However, the organization of afferent input to specific genetically identified populations of spinal CPG interneurons in mouse remains comparatively less resolved. Here, we focused on a population of CPG neurons marked by the transcription factor Shox2. To directly test integration of afferent signaling by Shox2 neurons, sensory afferents were stimulated during patch clamp recordings of Shox2 neurons in isolated spinal cord preparations from neonatal mice. Shox2 neurons broadly displayed afferent-evoked currents at multiple segmental levels, particularly from caudal dorsal roots innervating distal hindlimb joints. As dorsal root stimulation may activate both flexor- and extensor-related afferents, preparations preserving peripheral nerves were used to provide more specific activation of ankle afferents. We found that both flexor- and extensor-related afferent stimulation were likely to evoke similar currents in a given Shox2 neuron, as assessed by response polarity, latency, duration and amplitude. It has been proposed that Shox2 neurons can be divided into neurons which contribute to rhythm generation and neurons that are premotor by the absence and presence of the V2a marker Chx10, respectively. Response to afferent stimulation did not differ based on Chx10 expression. Although currents evoked in response to flexor and extensor afferent activation did not follow expected functional antagonism, they were consistent with the observation that stimulation of flexor- and extensor-related afferents both reset the phase of ongoing fictive locomotion to flexion in neonatal mice. Together, the data suggest that Shox2 neurons are interposed in multiple sensory pathways and low threshold proprioceptive input reinforces sensory perturbation of ongoing locomotion by similarly activating or inhibiting both the rhythm and patterning layers of the CPG.

Current Principles of Motor Control, with Special Reference to Vertebrate Locomotion

The vertebrate control of locomotion involves all levels of the nervous system from cortex to the spinal cord. Here, we aim to cover all main aspects of this complex behavior, from the operation of the microcircuits in the spinal cord to the systems and behavioral levels and extend from mammalian locomotion to the basic undulatory movements of lamprey and fish. The cellular basis of propulsion represents the core of the control system, and it involves the spinal central pattern generator networks (CPGs) controlling the timing of different muscles, the sensory compensation for perturbations, and the brain stem command systems controlling the level of activity of the CPGs and the speed of locomotion. The forebrain and in particular the basal ganglia are involved in determining which motor programs should be recruited at a given point of time and can both initiate and stop locomotor activity. The propulsive control system needs to be integrated with the postural control system to maintain body orientation. Moreover, the locomotor movements need to be steered so that the subject approaches the goal of the locomotor episode, or avoids colliding with elements in the environment or simply escapes at high speed. These different aspects will all be covered in the review.

Adaptive hindlimb split-belt treadmill walking in rats by controlling basic muscle activation patterns via phase resetting

To investigate the adaptive locomotion mechanism in animals, a split-belt treadmill has been used, which has two parallel belts to produce left–right symmetric and asymmetric environments for walking. Spinal cats walking on the treadmill have suggested the contribution of the spinal cord and associated peripheral nervous system to the adaptive locomotion. Physiological studies have shown that phase resetting of locomotor commands involving a phase shift occurs depending on the types of sensory nerves and stimulation timing, and that muscle activation patterns during walking are represented by a linear combination of a few numbers of basic temporal patterns despite the complexity of the activation patterns. Our working hypothesis was that resetting the onset timings of basic temporal patterns based on the sensory information from the leg, especially extension of hip flexors, contributes to adaptive locomotion on the split-belt treadmill. Our hypothesis was examined by conducting forward dynamic simulations using a neuromusculoskeletal model of a rat walking on a split-belt treadmill with its hindlimbs and by comparing the simulated motions with the measured motions of rats.

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.

Time course of functional recovery during the first 3 mo after surgical transection and repair of nerves to the feline soleus and lateral gastrocnemius muscles

Locomotion outcomes after peripheral nerve injury and repair in cats have been described in the literature for the period immediately following the injury (muscle denervation period) and then again for an ensuing period of long-term recovery (at 3 mo and longer) resulting in muscle self-reinnervation. Little is known about the changes in muscle activity and walking mechanics during midrecovery, i.e., the early reinnervation period that takes place between 5 and 10 wk of recovery. Here, we investigated hindlimb mechanics and electromyogram (EMG) activity of ankle extensors in six cats during level and slope walking before and every 2 wk thereafter in a 14-wk period of recovery after the soleus (SO) and lateral gastrocnemius (LG) muscle nerves in one hindlimb were surgically transected and repaired. We found that the continued increase in SO and LG EMG magnitudes and corresponding changes in hindlimb mechanics coincided with the formation of neuromuscular synapses revealed in muscle biopsies. Throughout the recovery period, EMG magnitude of SO and LG during the stance phase and the duration of the stance-related activity were load dependent, similar to those in the intact synergistic medial gastrocnemius and plantaris. These results and the fact that EMG activity of ankle extensors and locomotor mechanics during level and upslope walking recovered 14 wk after nerve transection and repair suggest that loss of the stretch reflex in self-reinnervated muscles may be compensated by the recovered force-dependent feedback in self-reinnervated muscles, by increased central drive, and by increased gain in intermuscular motion-dependent pathways from intact ankle extensors. NEW & NOTEWORTHY This study provides new evidence that the timeline for functional recovery of gait after peripheral nerve injury and repair is consistent with the time required for neuromuscular junctions to form and muscles to reach preoperative tensions. Our findings suggest that a permanent loss of autogenic stretch reflex in self-reinnervated muscles may be compensated by recovered intermuscular force-dependent and oligosynaptic length-dependent feedback and central drive to regain adequate locomotor output capabilities during level and upslope walking.

A neural network with central pattern generators entrained by sensory feedback controls walking of a bipedal model

A neuromechanical simulation of a planar, bipedal walking robot has been developed. It is constructed as a simplified, planar musculoskeletal model of the biomechanics of the human lower body. The controller consists of a dynamic neural network with central pattern generators (CPGs) entrained by force and movement sensory feedback to generate appropriate muscle forces for walking. The CPG model is a two-level architecture, which consists of separate rhythm generator and pattern formation networks. The biped model walks stably in the sagittal plane without inertial sensors or a centralized posture controller or a 'baby walker' to help overcome gravity. Its gait is similar to humans' and it walks at speeds from 0.850 m s^-1 up to 1.289 m s^-1 with leg length of 0.84 m. The model walks over small unknown steps (6% of leg length) and up and down 5° slopes without any additional higher level control actions.

Development and Training of a Neural Controller for Hind Leg Walking in a Dog Robot

Animals dynamically adapt to varying terrain and small perturbations with remarkable ease. These adaptations arise from complex interactions between the environment and biomechanical and neural components of the animal's body and nervous system. Research into mammalian locomotion has resulted in several neural and neuro-mechanical models, some of which have been tested in simulation, but few “synthetic nervous systems” have been implemented in physical hardware models of animal systems. One reason is that the implementation into a physical system is not straightforward. For example, it is difficult to make robotic actuators and sensors that model those in the animal. Therefore, even if the sensorimotor circuits were known in great detail, those parameters would not be applicable and new parameter values must be found for the network in the robotic model of the animal. This manuscript demonstrates an automatic method for setting parameter values in a synthetic nervous system composed of non-spiking leaky integrator neuron models. This method works by first using a model of the system to determine required motor neuron activations to produce stable walking. Parameters in the neural system are then tuned systematically such that it produces similar activations to the desired pattern determined using expected sensory feedback. We demonstrate that the developed method successfully produces adaptive locomotion in the rear legs of a dog-like robot actuated by artificial muscles. Furthermore, the results support the validity of current models of mammalian locomotion. This research will serve as a basis for testing more complex locomotion controllers and for testing specific sensory pathways and biomechanical designs. Additionally, the developed method can be used to automatically adapt the neural controller for different mechanical designs such that it could be used to control different robotic systems.

A sensory-driven controller for quadruped locomotion

Locomotion of quadruped robots has not yet achieved the harmony, flexibility, efficiency and robustness of its biological counterparts. Biological research showed that spinal reflexes are crucial for a successful locomotion in the most varied terrains. In this context, the development of bio-inspired controllers seems to be a good way to move toward an efficient and robust robotic locomotion, by mimicking their biological counterparts. This contribution presents a sensory-driven controller designed for the simulated Oncilla quadruped robot. In the proposed reflex controller, movement is generated through the robot's interactions with the environment, and therefore, the controller is solely dependent on sensory information. The results show that the reflex controller is capable of producing stable quadruped locomotion with a regular stepping pattern. Furthermore, it is capable of dealing with slopes without changing the parameters and with small obstacles, overcoming them successfully. Finally, system robustness was verified by adding noise to sensors and actuators and also delays.

Left-right coordination from simple to extreme conditions during split-belt locomotion in the chronic spinal adult cat

KEY POINTS

Coordination between the left and right sides is essential for dynamic stability during locomotion. The immature or neonatal mammalian spinal cord can adjust to differences in speed between the left and right sides during split-belt locomotion by taking more steps on the fast side. We show that the adult mammalian spinal cord can also adjust its output so that the fast side can take more steps. During split-belt locomotion, only certain parts of the cycle are modified to adjust left-right coordination, primarily those associated with swing onset. When the fast limb takes more steps than the slow limb, strong left-right interactions persist. Therefore, the adult mammalian spinal cord has a remarkable adaptive capacity for left-right coordination, from simple to extreme conditions.

ABSTRACT

Although left-right coordination is essential for locomotion, its control is poorly understood, particularly in adult mammals. To investigate the spinal control of left-right coordination, a spinal transection was performed in six adult cats that were then trained to recover hindlimb locomotion. Spinal cats performed tied-belt locomotion from 0.1 to 1.0 m s^-1 and split-belt locomotion with low to high (1:1.25-10) slow/fast speed ratios. With the left hindlimb stepping at 0.1 m s^-1 and the right hindlimb stepping from 0.2 to 1.0 m s^-1 , 1:1, 1:2, 1:3, 1:4 and 1:5 left-right step relationships could appear. The appearance of 1:2+ relationships was not linearly dependent on the difference in speed between the slow and fast belts. The last step taken by the fast hindlimb displayed longer cycle, stance and swing durations and increased extensor activity, as the slow limb transitioned to swing. During split-belt locomotion with 1:1, 1:2 and 1:3 relationships, the timing of stance onset of the fast limb relative to the slow limb and placement of both limbs at contact were invariant with increasing slow/fast speed ratios. In contrast, the timing of stance onset of the slow limb relative to the fast limb and the placement of both limbs at swing onset were modulated with slow/fast speed ratios. Thus, left-right coordination is adjusted by modifying specific parts of the cycle. Results highlight the remarkable adaptive capacity of the adult mammalian spinal cord, providing insight into spinal mechanisms and sensory signals regulating left-right coordination.

Spinal Inhibitory Interneuron Diversity Delineates Variant Motor Microcircuits

Animals generate movement by engaging spinal circuits that direct precise sequences of muscle contraction, but the identity and organizational logic of local interneurons that lie at the core of these circuits remain unresolved. Here, we show that V1 interneurons, a major inhibitory population that controls motor output, fractionate into highly diverse subsets on the basis of the expression of 19 transcription factors. Transcriptionally defined V1 subsets exhibit distinct physiological signatures and highly structured spatial distributions with mediolateral and dorsoventral positional biases. These positional distinctions constrain patterns of input from sensory and motor neurons and, as such, suggest that interneuron position is a determinant of microcircuit organization. Moreover, V1 diversity indicates that different inhibitory microcircuits exist for motor pools controlling hip, ankle, and foot muscles, revealing a variable circuit architecture for interneurons that control limb movement.

A biologically based neural system coordinates the joints and legs of a tetrapod

A biologically inspired neural control system has been developed that coordinates a tetrapod trotting gait in the sagittal plane. The developed neuromechanical system is used to explore properties of connections in inter-leg and intra-leg coordination. The neural controller is built with biologically based neurons and synapses, and connections are based on data from literature where available. It is applied to a planar biomechanical model of a rat with 14 joints, each actuated by a pair of antagonistic Hill muscle models. The controller generates tension in the muscles through activation of simulated motoneurons. The hind leg and inter-leg control networks are based on pathways discovered in cat research tuned to the kinematic motions of a rat. The foreleg network was developed by extrapolating analogous pathways from the hind legs. The formulated intra-leg and inter-leg networks properly coordinate the joints and produce motions similar to those of a walking rat. Changing the strength of a single inter-leg connection is sufficient to account for differences in phase timing in different trotting rats.

Automaticity of walking: functional significance, mechanisms, measurement and rehabilitation strategies

Automaticity is a hallmark feature of walking in adults who are healthy and well-functioning. In the context of walking, “automaticity” refers to the ability of the nervous system to successfully control typical steady state walking with minimal use of attention-demanding executive control resources. Converging lines of evidence indicate that walking deficits and disorders are characterized in part by a shift in the locomotor control strategy from healthy automaticity to compensatory executive control. This is potentially detrimental to walking performance, as an executive control strategy is not optimized for locomotor control. Furthermore, it places excessive demands on a limited pool of executive reserves. The result is compromised ability to perform basic and complex walking tasks and heightened risk for adverse mobility outcomes including falls. Strategies for rehabilitation of automaticity are not well defined, which is due to both a lack of systematic research into the causes of impaired automaticity and to a lack of robust neurophysiological assessments by which to gauge automaticity. These gaps in knowledge are concerning given the serious functional implications of compromised automaticity. Therefore, the objective of this article is to advance the science of automaticity of walking by consolidating evidence and identifying gaps in knowledge regarding: (a) functional significance of automaticity; (b) neurophysiology of automaticity; (c) measurement of automaticity; (d) mechanistic factors that compromise automaticity; and (e) strategies for rehabilitation of automaticity.

A marching-walking hybrid induces step length adaptation and transfers to natural walking

Walking is highly adaptable to new demands and environments. We have previously studied adaptation of locomotor patterns via a split-belt treadmill, where subjects learn to walk with one foot moving faster than the other. Subjects learn to adapt their walking pattern by changing the location (spatial) and time (temporal) of foot placement. Here we asked whether we can induce adaptation of a specific walking pattern when one limb does not "walk" but instead marches in place (i.e., marching-walking hybrid). The marching leg's movement is limited during the stance phase, and thus certain sensory signals important for walking may be reduced. We hypothesized that this would produce a spatial-temporal strategy different from that of normal split-belt adaptation. Healthy subjects performed two experiments to determine whether they could adapt their spatial-temporal pattern of step lengths during the marching-walking hybrid and whether the learning transfers to over ground walking. Results showed that the hybrid group did adapt their step lengths, but the time course of adaptation and deadaption was slower than that for the split-belt group. We also observed that the hybrid group utilized a mostly spatial strategy whereas the split-belt group utilized both spatial and temporal strategies. Surprisingly, we found no significant difference between the hybrid and split-belt groups in over ground transfer. Moreover, the hybrid group retained more of the learned pattern when they returned to the treadmill. These findings suggest that physical rehabilitation with this marching-walking paradigm on conventional treadmills may produce changes in symmetry comparable to what is observed during split-belt training.

The effect of sensory feedback on crayfish posture and locomotion: I. Experimental analysis of closing the loop

The effect of proprioceptive feedback on the control of posture and locomotion was studied in the crayfish Procambarus clarkii (Girard). Sensory and motor nerves of an isolated crayfish thoracic nerve cord were connected to a computational neuromechanical model of the crayfish thorax and leg. Recorded levator (Lev) and depressor (Dep) nerve activity drove the model Lev and Dep muscles to move the leg up and down. These movements released and stretched a model stretch receptor, the coxobasal chordotonal organ (CBCO). Model CBCO length changes drove identical changes in the real CBCO; CBCO afferent responses completed the feedback loop. In a quiescent preparation, imposed model leg lifts evoked resistance reflexes in the Dep motor neurons that drove the leg back down. A muscarinic agonist, oxotremorine, induced an active state in which spontaneous Lev/Dep burst pairs occurred and an imposed leg lift excited a Lev assistance reflex followed by a Lev/Dep burst pair. When the feedback loop was intact, Lev/Dep burst pairs moved the leg up and down rhythmically at nearly three times the frequency of burst pairs when the feedback loop was open. The increased rate of rhythmic bursting appeared to result from the positive feedback produced by the assistance reflex.

Degradation of mouse locomotor pattern in the absence of proprioceptive sensory feedback

Mammalian locomotor programs are thought to be directed by the actions of spinal interneuron circuits collectively referred to as "central pattern generators." The contribution of proprioceptive sensory feedback to the coordination of locomotor activity remains less clear. We have analyzed changes in mouse locomotor pattern under conditions in which proprioceptive feedback is attenuated genetically and biomechanically. We find that locomotor pattern degrades upon elimination of proprioceptive feedback from muscle spindles and Golgi tendon organs. The degradation of locomotor pattern is manifest as the loss of interjoint coordination and alternation of flexor and extensor muscles. Group Ia/II sensory feedback from muscle spindles has a predominant influence in patterning the activity of flexor muscles, whereas the redundant activities of group Ia/II and group Ib afferents appear to determine the pattern of extensor muscle firing. These findings establish a role for proprioceptive feedback in the control of fundamental aspects of mammalian locomotor behavior.

Reflex control of robotic gait using human walking data

Control of human walking is not thoroughly understood, which has implications in developing suitable strategies for the retraining of a functional gait following neurological injuries such as spinal cord injury (SCI). Bipedal robots allow us to investigate simple elements of the complex nervous system to quantify their contribution to motor control. RunBot is a bipedal robot which operates through reflexes without using central pattern generators or trajectory planning algorithms. Ground contact information from the feet is used to activate motors in the legs, generating a gait cycle visually similar to that of humans. Rather than developing a more complicated biologically realistic neural system to control the robot's stepping, we have instead further simplified our model by measuring the correlation between heel contact and leg muscle activity (EMG) in human subjects during walking and from this data created filter functions transferring the sensory data into motor actions. Adaptive filtering was used to identify the unknown transfer functions which translate the contact information into muscle activation signals. Our results show a causal relationship between ground contact information from the heel and EMG, which allows us to create a minimal, linear, analogue control system for controlling walking. The derived transfer functions were applied to RunBot II as a proof of concept. The gait cycle produced was stable and controlled, which is a positive indication that the transfer functions have potential for use in the control of assistive devices for the retraining of an efficient and effective gait with potential applications in SCI rehabilitation.

Differential effects of brain-derived neurotrophic factor and neurotrophin-3 on hindlimb function in paraplegic rats

We compared the effect of viral administration of brain-derived neurotrophic factor (BDNF) or neurotrophin 3 (NT-3) on locomotor recovery in adult rats with complete thoracic (T10) spinal cord transection injuries, in order to determine the effect of chronic neurotrophin expression on spinal plasticity. At the time of injury, BDNF, NT-3 or green fluorescent protein (GFP) (control) was delivered to the lesion via adeno-associated virus (AAV) constructs. AAV–BDNF was significantly more effective than AAV–NT-3 in eliciting locomotion. In fact, AAV–BDNF-treated rats displayed plantar, weight-supported hindlimb stepping on a stationary platform, that is, without the assistance of a moving treadmill and without step training. Rats receiving AAV–NT-3 or AAV–GFP were incapable of hindlimb stepping during this task, despite provision of balance support. AAV–NT-3 treatment did promote the recovery of treadmill-assisted stepping, but this required continuous perineal stimulation. In addition, AAV–BDNF-treated rats were sensitized to noxious heat, whereas AAV–NT-3-treated and AAV–GFP-treated rats were not. Notably, AAV–BDNF-treated rats also developed hindlimb spasticity, detracting from its potential clinical applicability via the current viral delivery method. Intracellular recording from triceps surae motoneurons revealed that AAV–BDNF significantly reduced motoneuron rheobase, suggesting that AAV–BDNF promoted the recovery of over-ground stepping by enhancing neuronal excitability. Elevated nuclear c-Fos expression in interneurons located in the L2 intermediate zone after AAV–BDNF treatment indicated increased activation of interneurons in the vicinity of the locomotor central pattern generator. AAV–NT-3 treatment reduced motoneuron excitability, with little change in c-Fos expression. These results support the potential for BDNF delivery at the lesion site to reorganize locomotor circuits.

Locomotor adaptations and aftereffects to resistance during walking in individuals with spinal cord injury

Muscle activity during the swing phase of walking is influenced by proprioceptive feedback pathways. Previous studies have shown that feedback and anticipatory motor commands contribute to locomotor adaptive strategies to prolonged exposure to a resistance against leg movements during walking. The purpose of this study was to determine whether people with motor-incomplete spinal cord injuries (SCI) modulate flexor muscle activity in response to different levels of resistance in a similar way as uninjured controls. A second purpose was to determine whether people with motor-incomplete SCI have the capacity to form anticipatory motor commands following exposure to resistance. Subjects walked on a treadmill with the Lokomat robotic gait orthosis. The Lokomat applied different levels of a velocity-dependent resistance, normalized to each subject's maximum voluntary contraction of the hip flexors. Each condition consisted of 20 steps against resistance followed by 20 steps without. Electromyography and kinematics of the lower limb were recorded. Although both groups responded to the resistance with an overall increase in rectus femoris activity during swing, the SCI group showed weak modulation of muscle activity to different levels of resistance. Following removal of the resistance, both groups showed aftereffects, but they were manifested differently. Controls responded to the removal of resistance with a high step, whereas the SCI subjects exhibited increased step length. The size of the aftereffect was related to the amount of added resistance. In addition, the SCI group showed a negative relationship between the size of the aftereffect and locomotor function.

Bilateral adaptation during locomotion following a unilaterally applied resistance to swing in nondisabled adults

Human walking must be flexible enough to accommodate many contexts and goals. One form of this flexibility is locomotor adaptation: a practice-dependent alteration to walking occurring in response to some novel perturbing stimulus. Although studies have examined locomotor adaptation and its storage by the CNS in humans, it remains unclear whether altered movements occurring in the leg contralateral to a perturbation are caused by true practice-dependent adaptation or whether they are generated via feedback corrective mechanisms. To test this, we recorded leg kinematics and electromyography (EMG) from nondisabled adults as they walked on a treadmill before, during, and after a novel force was applied to one leg, which resisted its forward movement during swing phase. The perturbation produced kinematic changes to numerous walking parameters, including swing phase durations, step lengths, and hip angular excursions. Nearly all occurred bilaterally. Importantly, kinematic changes were gradually adjusted over a period of exposure to the perturbation and were associated with negative aftereffects on its removal, suggesting they were adjusted through a true motor adaptation process. In addition, increases in the EMG of both legs persisted even after the perturbation was removed, providing further evidence that the CNS made and stored changes to feedforward motor commands controlling each leg. Our results show evidence for a feedforward adaptation of walking involving the leg opposite a perturbation. This result may help support the application of locomotor adaptation paradigms in clinical rehabilitation interventions targeting recovery of symmetric walking patterns in a variety of patient populations.

Neuromechanical simulation

The importance of the interaction between the body and the brain for the control of behavior has been recognized in recent years with the advent of neuromechanics, a field in which the coupling between neural and biomechanical processes is an explicit focus. A major tool used in neuromechanics is simulation, which connects computational models of neural circuits to models of an animal's body situated in a virtual physical world. This connection closes the feedback loop that links the brain, the body, and the world through sensory stimuli, muscle contractions, and body movement. Neuromechanical simulations enable investigators to explore the dynamical relationships between the brain, the body, and the world in ways that are difficult or impossible through experiment alone. Studies in a variety of animals have permitted the analysis of extremely complex and dynamic neuromechanical systems, they have demonstrated that the nervous system functions synergistically with the mechanical properties of the body, they have examined hypotheses that are difficult to test experimentally, and they have explored the role of sensory feedback in controlling complex mechanical systems with many degrees of freedom. Each of these studies confronts a common set of questions: (i) how to abstract key features of the body, the world and the CNS in a useful model, (ii) how to ground model parameters in experimental reality, (iii) how to optimize the model and identify points of sensitivity and insensitivity, and (iv) how to share neuromechanical models for examination, testing, and extension by others.

Afferent inputs to mid- and lower-lumbar spinal segments are necessary for stepping in spinal cats

Afferent inputs are known to modulate the activity of locomotor central pattern generators, but their role in the generation of locomotor patterns remains uncertain. This study sought to investigate the importance of afferent input for producing bilateral, coordinated hindlimb stepping in adult cats. Following complete spinal transection, animals were trained to step on the moving belt of a treadmill until proficient, weight-bearing stepping of the hindlimbs was established. Selective dorsal rhizotomies of roots reaching various segments of the lumbosacral enlargement were then conducted, and hindlimb stepping capacity was reassessed. Depending on the deafferented lumbosacral segments, stepping was either abolished or unaffected. Deafferentation of mid-lumbar (L3/L4) or lower-lumbar (L5-S1) segments abolished locomotion. Locomotor capacity in these animals could not be restored with the administration of serotonergic or adrenergic agonists. Deafferentation of L3, L6, or S1 had mild effects on locomotion. This suggested that critical afferent inputs pertaining to hip position (mid-lumbar) and limb loading (lower-lumbar) play an important role in the generation of locomotor patterns after spinal cord injury.

Effects of ankle and hip muscle afferent inputs on rhythm generation during fictive locomotion

Hip position and loading of limb extensors are major sensory cues for the initiation and duration of different phases during walking. Although these inputs have pathways projecting to the locomotor rhythm generator, their effects may vary in different parts of the locomotor cycle. In the present study, the plantaris (Pl), sartorius (Sart), rectus femoris (RF), and caudal gluteal (cGlu) nerves were stimulated at group I and/or group II strength during spontaneous fictive locomotion in 16 adult decerebrate cats. These nerves supply muscles that extend the ankle (Pl), flex the hip (Sart, RF), or extend the hip (cGlu). Stimuli were given at six epochs of the locomotor cycle to evaluate when they access the rhythm generator. Group I afferents from Pl nerve always reset the locomotor rhythm; stimulation during extension prolonged cycle period and extension phase duration, while stimulation during flexion terminated flexion and initiated extension. On the other hand, stimulating RF and cGlu nerves only produced significant effects on the rhythm in precise epochs, particularly during mid-flexion and/or mid- to late extension. Stimulating the Sart nerve produced complex effects on the rhythm that were not distributed evenly to all extensor motor pools. The most consistent effect was reduced flexion phase duration with stimulation during flexion, particularly at group II strength, and prolongation of the extension phase but only in late extension. That hip muscle afferents reset the rhythm in only specific epochs of the locomotor cycle suggests that the rhythm generator operates with several subdivisions to determine phase and cycle durations.

Neuromechanical considerations for incorporating rhythmic arm movement in the rehabilitation of walking

We have extensively used arm cycling to study the neural control of rhythmic movements such as arm swing during walking. Recently rhythmic movement of the arms has also been shown to enhance and shape muscle activity in the legs. However, restricted information is available concerning the conditions necessary to maximally alter lumbar spinal cord excitability. Knowledge on the neuromechanics of a task can assist in the determination of the type, level, and timing of neural signals, yet arm swing during walking and arm cycling have not received a detailed neuromechanical comparison. The purpose of this research was to provide a combined neural and mechanical measurement approach that could be used to assist in the determination of the necessary and sufficient conditions for arm movement to assist in lower limb rehabilitation after stroke and spinal cord injury. Subjects performed three rhythmic arm movement tasks: (1) cycling (cycle); (2) swinging while standing (swing); and (3) swinging while treadmill walking (walk). We hypothesized that any difference in neural control between tasks (i.e., pattern of muscle activity) would reflect changes in the mechanical constraints unique to each task. Three-dimensional kinematics were collected simultaneously with force measurement at the hand and electromyography from the arms and trunk. All data were appropriately segmented to allow a comparison between and across conditions and were normalized and averaged to 100% movement cycle based on shoulder excursion. Separate mathematical principal components analysis of kinematic and neural variables was performed to determine common task features and muscle synergies. The results highlight important neural and mechanical features that distinguish differences between tasks. For example, there are considerable differences in the anatomical positions of the arms during each task, which relate to the moments experienced about the elbow and shoulder. Also, there are differences between tasks in elbow flexion/extension kinematics alongside differential muscle activation profiles. As well, mechanical assistance and constraints during all tasks could affect muscle recruitment and the functional role of muscles. Overall, despite neural and mechanical differences, the results are consistent with conserved common central motor control mechanisms operational for cycle, walk, and swing but appropriately sculpted to demands unique to each task. However, changing the mechanical parameters could affect the role of afferent feedback altering neural control and the coupling to the lower limbs.

Stretch reflex coupling between the hip and knee: implications for impaired gait following stroke

Individuals with hemiparetic stroke often exhibit an abnormal coupling between the frontal plane of the hip and saggital plane of the knee during gait. The purpose of this study was to determine if stretch sensitive reflexes, which are known to be altered following stroke, exhibit similar coupling between the muscles of the hip and knee in the post-stroke population. Eighteen subjects were recruited for this study including ten with hemiparesis resulting from stroke and eight unimpaired, age-matched controls. A servomotor was used to apply ramp and hold perturbations to both the hip and knee joints in separate sessions and electromyographic activity was recorded in eight muscles of the lower limb. Hip abduction perturbations elicited abnormal activation in rectus femoris (RF) in seven of ten stroke subjects with amplitudes ranging from 3.2 to 12.5% of the maximum voluntary contraction (MVC). Only two of eight control subjects exhibited any activity in RF and these responses were only 2.1 and 2.7% of MVC. To determine if the responses in the stroke group were a result of muscle stretch, a musculoskeletal model was used to simulate the experimental abduction perturbations and estimate muscle length changes. The simulation revealed that RF should be shortened by the perturbations and this suggests that the response was not likely due to direct stretch. Moreover, knee flexion perturbations elicited responses in the hip adductors (AL) with a mean amplitude of 5.1 +/- 3.8% of MVC across all stroke subjects while no significant responses were recorded in controls. The presence of a reciprocal, reflex-mediated coupling between RF and AL following stroke suggests that changes in the excitability of spinal networks may contribute to the development of abnormal inter-joint coordination patterns observed during hemiparetic gait.

A 3D analysis of fore- and hindlimb motion during locomotion: Comparison of overground and ladder walking in rats

The locomotor pattern, generated by the central pattern generator, is under the dependence of descending and peripheral pathways. The afferent feedback from peripheral receptors allows the animal to correct for disturbances that occur during walking, while supraspinal structures are important for locomotion in demanding situations such as ladder walking. Such walking, by regards to the control needed for accuracy of movements, is now widely used for description of consequences of nervous system dysfunction on motor performance. It is important to have a good knowledge of the changes in kinematic parameters according to walking conditions, since it might reflect different neural mechanisms. The aim of this work was to perform a 3D kinematic analysis of both hind- and forelimb during overground and ladder walking, to study qualitative and quantitative locomotor characteristics in different modes of locomotion. The analysis was performed on 5 rats. Movements of the right hind- and forelimb were evaluated using a 3D optical analyser, and EMG of the soleus and tibialis anterior muscles was synchronously recorded. Results indicate that kinematic and electromyographic characteristics of locomotion are dependent on the type of support. Changes were more obvious for hindlimb than for forelimb. Velocity, stride length and tibialis anterior burst duration were lower on ladder than on runway. In addition, during ladder walking, a protraction was noticed, rats bring their feet more rostral at the end of the swing phase. All these changes constitute an adaptive strategy to allow a better tactile activity with forelimbs and to avoid foot misplacement.

The rodent lumbar spinal cord learns to correct errors in hindlimb coordination caused by viscous force perturbations during stepping

The nervous system can adapt to external forces that perturb locomotion by correcting errors in limb movements. It is believed that supraspinal structures mediate these adaptations, whereas the spinal cord contributes only reflexive responses to perturbations. We examined whether the lumbar spinal cord in postnatal day 5 neonatal spinally transected (ST) rats corrected errors in hindlimb coordination through repetitive exposure to an external perturbation. A robotic device was used to deliver a viscous (velocity-dependent) force that opposed only the forward movement of the ankle in one hindlimb while the ST rats performed hindlimb stepping on a treadmill. We measured the interval between paw contact in the perturbed hindlimb and toe off in the unperturbed hindlimb. Before the force was activated, a normal pattern of coordination occurred: paw contact in the perturbed hindlimb occurred before toe off in the unperturbed hindlimb. This sequence was initially disrupted when the force was activated and the unperturbed hindlimb initiated swing during the swing phase of the perturbed hindlimb. Within five step cycles of exposure to the unilateral viscous force, however, the ST rats regained the preforce pattern of hindlimb coordination. These findings suggest that in the absence of supraspinal input, the lumbar spinal circuitry is capable of processing a complex ensemble of sensory information to maintain locomotor stability. Thus, the lumbar spinal circuitry may play a greater role in generating locomotor adaptations than previously thought.

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.

Hip-phase-dependent flexion reflex modulation and expression of spasms in patients with spinal cord injury

The flexion reflex in human spinal cord injury (SCI) is believed to incorporate interneuronal circuits that consist elements of the stepping generator while ample evidence suggest that hip proprioceptive input is a controlling signal of locomotor output. In this study, we examined the expression of the non-nociceptive flexion reflex in response to imposed sinusoidal passive movements of the ipsilateral hip in human SCI. The flexion reflex was elicited by low-intensity stimulation (300 Hz, 30 ms pulse train) of the right sural nerve at the lateral malleolus, and recorded from the tibialis anterior (TA) muscle. Sinusoidal hip movements were imposed to the right hip joint at 0.2 Hz by a Biodex system while subjects were supine. The effects of leg movement on five leg muscles along with hip, knee, and ankle joint torques were established simultaneously with the modulation pattern of the flexion reflex during hip oscillations. Phase-dependent modulation of the flexion reflex was present during hip movement, with the reflex to be significantly facilitated during hip extension and suppressed during hip flexion. The phase-dependent flexion reflex modulation coincided with no changes in TA pre- and post-stimulus background ongoing activity during hip extension and flexion. Reflexive muscle and joint torque responses, induced by the hip movement and substantiated by excitation of flexion reflex afferents, were entrained to specific phases of hip movement. Joint torque responses were consistent with multi-joint spasmodic muscle activity, which was present mostly during the transition phase of the hip from flexion to extension and from mid- to peak extension. Our findings provide further evidence on the interaction of hip proprioceptors with spinal interneuronal circuits engaged in locomotor pathways, and such interaction should be considered in rehabilitation protocols employed to restore sensorimotor function in people with SCI.

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.

Spinal control of locomotion--from cat to man

For a large number of vertebrate species it is now indisputable that spinal networks have the capability of generating the basic locomotor rhythm. The aim of this review is to summarize the evidence for spinal pattern generators in cats and primates, including man and its interaction with sensory signals from the limbs. For all species the sensory feed-back from the moving limb is very important to achieve effective locomotor behaviour by adapting to the environment and compensating for unexpected postural disturbances. Sensory regulation of stepping can occur via reflex pathways to motoneurones (by-passing the locomotor rhythm generators) or by acting on the spinal locomotor networks themselves. The sensory feed-back serves to control the timing of the different phases in the step cycle, to shape the pattern of muscle activity, to contribute to the excitatory drive of the motoneurones and to the long-term adaptation of the locomotor activity. In this review we discuss the spinal locomotor circuits and the sensory feed-back in animals (mainly the cat) and human subjects. Special emphasis is given to work that has been of importance for the development of new rehabilitation paradigms following spinal cord injury.

Physiologically based controller for generating overground locomotion using functional electrical stimulation

The physiological control of stepping is governed both by signals descending from supraspinal systems and by circuitry residing within the lumbosacral spinal cord. The goal of this study was to evaluate the capacity of physiologically based controllers to restore functional overground locomotion after neurological damage, such as spinal cord injury when used in conjunction with functional electrical stimulation. For this purpose we implemented and tested two controllers: 1) an intrinsically timed system that generated a predetermined rhythmic output and 2) a sensory-based system that used feedback signals to make appropriate transitions between the unloaded (flexion) and loaded (extension) phases of the gait cycle. A third controller, a combination of the intrinsically timed and sensory-driven controllers, was implemented and two sessions were conducted to demonstrate the functional advantages of this approach. The controllers were tested in anesthetized cats, implanted with intramuscular electrodes in six major extensor and flexor muscles of the hindlimbs. The cats were partially supported on a sliding trolley that was propelled by the hindlimbs along a 2.5-m instrumented walkway. Ground reaction forces and limb positions were measured by force plates in the walkway and by accelerometers secured to the legs of the cat, respectively. The controllers were used to generate patterns of stimulation that would elicit alternating flexor (swing) and extensor (stance) movements in the hindlimbs. Using either the intrinsically timed or sensory-driven controllers, the cats were able to travel a distance of 2.5 m, taking five to 12 steps. Functional stepping sequences were more easily achieved using the intrinsically timed controller as the result of a lower sensitivity to the selection of initial stimulation parameters. However, unlike the sensory-driven controller, the intrinsically timed controller was unable to adjust to overcome walkway resistance and muscle fatigue. Neither system was consistently able to ensure load-bearing stepping. Therefore we propose the use of a "combined controller" that relies heavily on intrinsic timing but that can be reset based on sensory signals. A combined controller such as this one may provide the best solution for restoring robust overground locomotion after spinal cord injury.