scholarly journals Bringing up the rear: new premotor interneurons add regional complexity to a segmentally distributed motor pattern

2011 ◽  
Vol 106 (5) ◽  
pp. 2201-2215 ◽  
Author(s):  
Angela Wenning ◽  
Brian J. Norris ◽  
Anca Doloc-Mihu ◽  
Ronald L. Calabrese
Keyword(s):  
Phase Difference ◽  
Motor Neurons ◽  
Regional Difference ◽  
Motor Pattern ◽  
Central Pattern Generators ◽  
The Other ◽  
The Core ◽  
Asymmetric Pattern ◽  
Pattern Generators ◽  
Two Sides

Central pattern generators (CPGs) pace and pattern many rhythmic activities. We have uncovered a new module in the heartbeat CPG of leeches that creates a regional difference in this segmentally distributed motor pattern. The core CPG consists of seven identified pairs and one unidentified pair of heart interneurons of which 5 pairs are premotor and inhibit 16 pairs of heart motor neurons. The heartbeat CPG produces a side-to-side asymmetric pattern of activity of the premotor heart interneurons corresponding to an asymmetric fictive motor pattern and an asymmetric constriction pattern of the hearts with regular switches between the two sides. The premotor pattern progresses from rear to front on one side and nearly synchronously on the other; the motor pattern shows corresponding intersegmental coordination, but only from segment 15 forward. In the rearmost segments the fictive motor pattern and the constriction pattern progress from front to rear on both sides and converge in phase. Modeling studies suggested that the known inhibitory inputs to the rearmost heart motor neurons were insufficient to account for this activity. We therefore reexamined the constriction pattern of intact leeches. We also identified electrophysiologically two additional pairs of heart interneurons in the rear. These new heart interneurons make inhibitory connections with the rear heart motor neurons, are coordinated with the core heartbeat CPG, and are dye-coupled to their contralateral homologs. Their strong inhibitory connections with the rearmost heart motor neurons and the small side-to-side phase difference of their bursting contribute to the different motor and beating pattern observed in the animal's rear.

SENSORY FEEDBACK IN CNN-BASED CENTRAL PATTERN GENERATORS

2003 ◽  
Vol 13 (06) ◽  
pp. 469-478 ◽  
Author(s):  
PAOLO ARENA ◽  
LUIGI FORTUNA ◽  
MATTIA FRASCA ◽  
LUCA PATANÉ
Keyword(s):  
Nonlinear Systems ◽  
Motor Neurons ◽  
Sensory Feedback ◽  
Dynamic Properties ◽  
Central Pattern Generators ◽  
The Other ◽  
Walking Robots ◽  
Hexapod Robot ◽  
Local Bifurcations ◽  
Pattern Generators

Central Pattern Generators (CPGs) are a suitable paradigm to solve the problem of locomotion control in walking robots. CPGs are able to generate feed-forward signals to achieve a proper coordination among the robot legs. In literature they are often modelled as networks of coupled nonlinear systems. However the topic of feedback in these systems is rarely addressed. On the other hand feedback is essential for locomotion. In this paper the CPG for a hexapod robot is implemented through Cellular Neural Networks (CNNs). Feedback is included in the CPG controller by exploiting the dynamic properties of the CPG motor-neurons, such as synchronization issue and local bifurcations. These universal paradigms provide the essential issues to include sensory feedback in CPG architectures based on coupled nonlinear systems. Experiments on a dynamic model of a hexapod robot are presented to validate the approach introduced.

Intersegmental Coordination of Walking Movements in Stick Insects

2005 ◽  
Vol 93 (3) ◽  
pp. 1255-1265 ◽  
Author(s):  
Björn Ch. Ludwar ◽  
Marie L. Göritz ◽  
Joachim Schmidt
Keyword(s):  
Motor Pattern ◽  
Central Pattern Generators ◽  
Stick Insect ◽  
Neural Mechanisms ◽  
Chordotonal Organ ◽  
Adjacent Segment ◽  
Body Segments ◽  
Stick Insects ◽  
Pattern Generators ◽  
Leg Movements

Locomotion requires the coordination of movements across body segments, which in walking animals is expressed as gaits. We studied the underlying neural mechanisms of this coordination in a semi-intact walking preparation of the stick insect Carausius morosus. During walking of a single front leg on a treadmill, leg motoneuron (MN) activity tonically increased and became rhythmically modulated in the ipsilateral deafferented and deefferented mesothoracic (middle leg) ganglion. The pattern of modulation was correlated with the front leg cycle and specific for a given MN pool, although it was not consistent with functional leg movements for all MN pools. In an isolated preparation of a pair of ganglia, where one ganglion was made rhythmically active by application of pilocarpine, we found no evidence for coupling between segmental central pattern generators (CPGs) that could account for the modulation of MN activity observed in the semi-intact walking preparation. However, a third preparation provided evidence that signals from the front leg's femoral chordotonal organ (fCO) influenced activity of ipsilateral MNs in the adjacent mesothoracic ganglion. These intersegmental signals could be partially responsible for the observed MN activity modulation during front leg walking. While afferent signals from a single walking front leg modulate the activity of MNs in the adjacent segment, additional afferent signals, local or from contralateral or posterior legs, might be necessary to produce the functional motor pattern observed in freely walking animals.

Neural Control of Swimming in Nudipleura Molluscs

2017 ◽  
pp. 438-450
Author(s):  
Paul S. Katz ◽  
Akira Sakurai
Keyword(s):  
Neural Control ◽  
Central Pattern Generators ◽  
Swimming Behavior ◽  
Neural Mechanisms ◽  
The Other ◽  
Neural Basis ◽  
Tritonia Diomedea ◽  
Pleurobranchaea Californica ◽  
Sea Slugs ◽  
Pattern Generators

This article compares the neural basis for swimming in sea slugs belonging to the Nudipleura clade of molluscs. There are two primary forms of swimming. One, dorsal/ventral (DV) body flexions, is typified by Tritonia diomedea and Pleurobranchaea californica. Although Tritonia and Pleurobranchaea evolved DV swimming independently, there are at least two homologous neurons in the central pattern generators (CPGs) underlying DV swimming in these species. Furthermore, both species have serotonergic neuromodulation of synaptic strength intrinsic to their CPGs. The other form of swimming is with alternating left/right (LR) body flexions. Melibe and Dendronotus belong to a clade of species that all swim with LR body flexions. Although the swimming behavior is homologous, their swim CPGs differ in both cellular composition and in the details of the neural mechanisms. Thus, similar behaviors have independently evolved through parallel use of homologous neurons, and homologous behaviors can be produced by different neural mechanisms.

scholarly journals Central pattern generators in the turtle spinal cord: selection among the forms of motor behaviors

2018 ◽  
Vol 119 (2) ◽  
pp. 422-440 ◽  
Author(s):  
Paul S. G. Stein
Keyword(s):  
Spinal Cord ◽  
Motor Pattern ◽  
Central Pattern Generators ◽  
Knee Extensor ◽  
Motor Patterns ◽  
Motor Behaviors ◽  
Multiple Behaviors ◽  
Pattern Generators ◽  
Electrical Stimuli

Neuronal networks in the turtle spinal cord have considerable computational complexity even in the absence of connections with supraspinal structures. These networks contain central pattern generators (CPGs) for each of several behaviors, including three forms of scratch, two forms of swim, and one form of flexion reflex. Each behavior is activated by a specific set of cutaneous or electrical stimuli. The process of selection among behaviors within the spinal cord has multisecond memories of specific motor patterns. Some spinal cord interneurons are partially shared among several CPGs, whereas other interneurons are active during only one type of behavior. Partial sharing is a proposed mechanism that contributes to the ability of the spinal cord to generate motor pattern blends with characteristics of multiple behaviors. Variations of motor patterns, termed deletions, assist in characterization of the organization of the pattern-generating components of CPGs. Single-neuron recordings during both normal and deletion motor patterns provide support for a CPG organizational structure with unit burst generators (UBGs) whose members serve a direction of a specific degree of freedom of the hindlimb, e.g., the hip-flexor UBG, the hip-extensor UBG, the knee-flexor UBG, the knee-extensor UBG, etc. The classic half-center hypothesis that includes all the hindlimb flexors in a single flexor half-center and all the hindlimb extensors in a single extensor half-center lacks the organizational complexity to account for the motor patterns produced by turtle spinal CPGs. Thus the turtle spinal cord is a valuable model system for studies of mechanisms responsible for selection and generation of motor behaviors. NEW & NOTEWORTHY The concept of the central pattern generator (CPG) is a major tenet in motor neuroethology that has influenced the design and interpretations of experiments for over a half century. This review concentrates on the turtle spinal cord and describes studies from the 1970s to the present responsible for key developments in understanding the CPG mechanisms responsible for the selection and production of coordinated motor patterns during turtle hindlimb motor behaviors.

scholarly journals Evolution of central pattern generators and rhythmic behaviours

2016 ◽  
Vol 371 (1685) ◽  
pp. 20150057 ◽  
Author(s):  
Paul S. Katz
Keyword(s):  
Large Scale ◽  
Neural Circuits ◽  
Motor Pattern ◽  
Parallel Evolution ◽  
Central Pattern Generators ◽  
Neural Mechanism ◽  
Rhythmic Movements ◽  
Biological Organization ◽  
Gradual Evolution ◽  
Pattern Generators

Comparisons of rhythmic movements and the central pattern generators (CPGs) that control them uncover principles about the evolution of behaviour and neural circuits. Over the course of evolutionary history, gradual evolution of behaviours and their neural circuitry within any lineage of animals has been a predominant occurrence. Small changes in gene regulation can lead to divergence of circuit organization and corresponding changes in behaviour. However, some behavioural divergence has resulted from large-scale rewiring of the neural network. Divergence of CPG circuits has also occurred without a corresponding change in behaviour. When analogous rhythmic behaviours have evolved independently, it has generally been with different neural mechanisms. Repeated evolution of particular rhythmic behaviours has occurred within some lineages due to parallel evolution or latent CPGs. Particular motor pattern generating mechanisms have also evolved independently in separate lineages. The evolution of CPGs and rhythmic behaviours shows that although most behaviours and neural circuits are highly conserved, the nature of the behaviour does not dictate the neural mechanism and that the presence of homologous neural components does not determine the behaviour. This suggests that although behaviour is generated by neural circuits, natural selection can act separately on these two levels of biological organization.

Endogenous Motor Neuron Properties Contribute to a Program-Specific Phase of Activity in the Multifunctional Feeding Central Pattern Generator of Aplysia

2007 ◽  
Vol 98 (1) ◽  
pp. 29-42 ◽  
Author(s):  
Geidy E. Serrano ◽  
Clarissa Martínez-Rubio ◽  
Mark W. Miller
Keyword(s):  
Motor Neuron ◽  
Motor Neurons ◽  
Central Pattern Generators ◽  
Ingestive Behavior ◽  
Membrane Properties ◽  
Motor Patterns ◽  
Effector System ◽  
Bilateral Pair ◽  
Pattern Generators ◽  
Specific Phase

Multifunctional central pattern generators (CPGs) are circuits of neurons that can generate manifold actions from a single effector system. This study examined a bilateral pair of pharyngeal motor neurons, designated B67, that participate in the multifunctional feeding network of Aplysia californica. Fictive buccal motor programs (BMPs) were elicited with four distinct stimulus paradigms to assess the activity of B67 during ingestive versus egestive patterns. In both classes of programs, B67 fired during the phase of radula protraction and received a potent inhibitory postsynaptic potential (IPSP) during fictive radula retraction. When programs were ingestive, the retraction phase IPSP exhibited a depolarizing sag and was followed by a postinhibitory rebound (PIR) that could generate a postretraction phase of impulse activity. When programs were egestive, the depolarizing sag potential and PIR were both diminished or were not present. Examination of the membrane properties of B67 disclosed a cesium-sensitive depolarizing sag, a corresponding Ih-like current, and PIR in its responses to hyperpolarizing pulses. Direct IPSPs originating from the influential CPG retraction phase interneuron B64 were also found to activate the sag potential and PIR of B67. Dopamine, a modulator that can promote ingestive behavior in this system, enhanced the sag potential, Ih-like current, and PIR of B67. Finally, a pharyngeal muscle contraction followed the radula retraction phase of ingestive, but not egestive motor patterns. It is proposed that regulation of the intrinsic properties of this motor neuron can contribute to generating a program-specific phase of motor activity.

scholarly journals Output variability across animals and levels in a motor system

eLife ◽  
2018 ◽  
Vol 7 ◽  
Author(s):  
Angela Wenning ◽  
Brian J Norris ◽  
Cengiz Günay ◽  
Daniel Kueh ◽  
Ronald L Calabrese
Keyword(s):  
Life History ◽  
Central Pattern Generator ◽  
Motor Neurons ◽  
Motor System ◽  
Motor Pattern ◽  
Pattern Generator ◽  
Phase Relations ◽  
The Other ◽  
Output Variability ◽  
Rhythmic Behaviors

Rhythmic behaviors vary across individuals. We investigated the sources of this output variability across a motor system, from the central pattern generator (CPG) to the motor plant. In the bilaterally symmetric leech heartbeat system, the CPG orchestrates two coordinations in the bilateral hearts with different intersegmental phase relations (Δϕ) and periodic side-to-side switches. Population variability is large. We show that the system is precise within a coordination, that differences in repetitions of a coordination contribute little to population output variability, but that differences between bilaterally homologous cells may contribute to some of this variability. Nevertheless, much output variability is likely associated with genetic and life history differences among individuals. Variability of Δϕ were coordination-specific: similar at all levels in one, but significantly lower for the motor pattern than the CPG pattern in the other. Mechanisms that transform CPG output to motor neurons may limit output variability in the motor pattern.

FMRFamide-like peptides in the crayfish (Procambarus clarkii) stomatogastric nervous system: distribution and effects on the pyloric motor pattern.

1997 ◽  
Vol 200 (24) ◽  
pp. 3221-3233 ◽  
Author(s):  
A J Tierney ◽  
J Blanck ◽  
J Mercier
Keyword(s):  
Nervous System ◽  
Procambarus Clarkii ◽  
Motor Pattern ◽  
Central Pattern Generators ◽  
Projection Neurons ◽  
Inhibitory Effects ◽  
Stomatogastric Nervous System ◽  
Whole Mount ◽  
Cycling Frequency ◽  
Pattern Generators

Whole-mount immunocytochemistry was used to map the location of FMRFamide-like peptides in the crayfish (Procambarus clarkii) stomatogastric nervous system. This system contains the pyloric and gastric mill central pattern generators, which receive modulatory inputs from projection neurons with somata located primarily in other ganglia of the stomatogastric nervous system. Our studies revealed stained somata in the commissural and esophageal ganglia. A pair of stained somata was located in the inferior ventricular nerve, and another pair of somata was located in the stomatogastric nerve where it is joined by the two superior esophageal nerves. The stomatogastric ganglion contained no stained somata, but the neuropil was brightly stained and 2-4 axons projected laterally in small nerves directly from the ganglion. These results indicate that FMRFamide or related peptides may act as neuromodulators in the crayfish stomatogastric nervous system. To test this hypothesis, we studied the effects of FMRFamide and four related peptides (DF2, NF1, F1 and LMS) on the pyloric motor pattern. DF2, NF1 and F1 all excited certain pyloric cells, especially the lateral pyloric (LP) and ventricular dilator (VD) neurons, and enhanced pyloric cycling frequency in most actively rhythmic preparations. FMRFamide had no detectable effects on pyloric cells, and LMS had inhibitory effects, causing disruption of the pyloric rhythm in actively cycling preparations and reducing tonic activity in non-rhythmic preparations.

scholarly journals An optimality principle for locomotor central pattern generators

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Hansol X. Ryu ◽  
Arthur D. Kuo
Keyword(s):  
Internal Model ◽  
Sensory Feedback ◽  
Motor Pattern ◽  
Central Pattern Generators ◽  
Optimal Estimation ◽  
Legged Locomotion ◽  
Energetic Cost ◽  
Fictive Locomotion ◽  
Cost Of Transport ◽  
Pattern Generators

AbstractTwo types of neural circuits contribute to legged locomotion: central pattern generators (CPGs) that produce rhythmic motor commands (even in the absence of feedback, termed “fictive locomotion”), and reflex circuits driven by sensory feedback. Each circuit alone serves a clear purpose, and the two together are understood to cooperate during normal locomotion. The difficulty is in explaining their relative balance objectively within a control model, as there are infinite combinations that could produce the same nominal motor pattern. Here we propose that optimization in the presence of uncertainty can explain how the circuits should best be combined for locomotion. The key is to re-interpret the CPG in the context of state estimator-based control: an internal model of the limbs that predicts their state, using sensory feedback to optimally balance competing effects of environmental and sensory uncertainties. We demonstrate use of optimally predicted state to drive a simple model of bipedal, dynamic walking, which thus yields minimal energetic cost of transport and best stability. The internal model may be implemented with neural circuitry compatible with classic CPG models, except with neural parameters determined by optimal estimation principles. Fictive locomotion also emerges, but as a side effect of estimator dynamics rather than an explicit internal rhythm. Uncertainty could be key to shaping CPG behavior and governing optimal use of feedback.

scholarly journals A simple CPG-based model to generate human hip moment pattern in walking by generating stiffness and equilibrium point trajectories

2019 ◽  
Author(s):  
Alireza Bahramian ◽  
Farzad Towhidkhah ◽  
Sajad Jafari
Keyword(s):  
Equilibrium Point ◽  
Central Pattern Generators ◽  
Swing Phase ◽  
The Other ◽  
Double Pendulum ◽  
Basic Model ◽  
Human Movements ◽  
Co Activation ◽  
Point Trajectories ◽  
Pattern Generators

AbstractEquilibrium point hypothesis (its developed version named as referent control theory) presents a theory about how the central nerves system (CNS) generates human movements. On the other hand, it has been shown that nerves circuits known as central pattern generators (CPG) likely produce motor commands to the muscles in rhythmic motions. In the present study, we designed a bio-inspired walking model, by coupling double pendulum to CPGs that produces equilibrium and stiffness trajectories as reciprocal and co-activation commands. As a basic model, it is has been shown that this model can regenerate pattern of a hip moment in the swing phase by high correlation (ρ = 0.970) with experimental data. Moreover, it has been reported that a global electromyography (EMG) minima occurs in the mid-swing phase when the hip is more flexed in comparison with the other leg. Our model showed that equilibrium and actual hip angle trajectories match each other in mid-swing, similar to the mentioned posture, that is consistent with previous findings. Such a model can be used in active exoskeletons and prosthesis to make proper active stiffness and torque.

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