The Rat Lumbosacral Spinal Cord Adapts to Robotic Loading Applied During Stance

2002 ◽  
Vol 88 (6) ◽  
pp. 3108-3117 ◽  
Author(s):  
W. K. Timoszyk ◽  
R. D. de Leon ◽  
N. London ◽  
R. R. Roy ◽  
V. R. Edgerton ◽  
...  
Keyword(s):  
Spinal Cord ◽  
Force Field ◽  
Muscle Activation ◽  
Interlimb Coordination ◽  
Medial Gastrocnemius ◽  
Step Cycle ◽  
Adult Rats ◽  
Robotic Arms ◽  
Lumbosacral Spinal Cord ◽  
Muscle Activation Patterns

Load-related afferent information modifies the magnitude and timing of hindlimb muscle activity during stepping in decerebrate animals and spinal cord–injured humans and animals, suggesting that the spinal cord mediates load-related locomotor responses. In this study, we found that stepping on a treadmill by adult rats that received complete, midthoracic spinal cord transections as neonates could be altered by loading the hindlimbs using a pair of small robotic arms. The robotic arms applied a downward force to the lower shanks of the hindlimbs during the stance phase and measured the position of the lower shank during stepping. No external force was applied during the swing phase of the step. When applied bilaterally, this stance force field perturbed the hindlimb trajectories so that the ankle position was shifted downward during stance. In response to this perturbation, both the stance and step cycle durations decreased. During swing, the hindlimb initially accelerated toward the normal, unperturbed swing trajectory and then tracked the normal trajectory. Bilateral loading increased the magnitude of the medial gastrocnemius electromyographic (EMG) burst during stance and increased the amplitude of the semitendinosus and rectus femoris EMG bursts. When the force field was applied unilaterally, stance duration decreased in the loaded hindlimb, while swing duration was decreased in the contralateral hindlimb, thereby preserving interlimb coordination. These results demonstrate the feasibility of using robotic devices to mechanically modulate afferent input to the injured spinal cord during weight-supported locomotion. In addition, these results indicate that the lumbosacral spinal cord responds to load-related input applied to the lower shank during stance by modifying step timing and muscle activation patterns, while preserving normal swing kinematics and interlimb coordination.

The Human Central Pattern Generator for Locomotion: Does It Exist and Contribute to Walking?

2017 ◽  
Vol 23 (6) ◽  
pp. 649-663 ◽  
Author(s):  
Karen Minassian ◽  
Ursula S. Hofstoetter ◽  
Florin Dzeladini ◽  
Pierre A. Guertin ◽  
Auke Ijspeert
Keyword(s):  
Spinal Cord ◽  
Neural Control ◽  
Muscle Activation ◽  
Central Pattern Generators ◽  
Lumbar Spinal Cord ◽  
Step Cycle ◽  
Experimental Conditions ◽  
Activation Patterns ◽  
Muscle Activation Patterns ◽  
Cord Injury

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

scholarly journals Phase-Dependent Modulation of Percutaneously Elicited Multisegmental Muscle Responses After Spinal Cord Injury

2010 ◽  
Vol 103 (5) ◽  
pp. 2808-2820 ◽  
Author(s):  
Christine J. Dy ◽  
Yury P. Gerasimenko ◽  
V. Reggie Edgerton ◽  
Poul Dyhre-Poulsen ◽  
Grégoire Courtine ◽  
...  
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Vastus Lateralis ◽  
Medial Gastrocnemius ◽  
Emg Activity ◽  
Step Cycle ◽  
Human Spinal Cord ◽  
Lumbosacral Spinal Cord ◽  
Weight Support ◽  
Cord Injury

Phase-dependent modulation of monosynaptic reflexes has been reported for several muscles of the lower limb of uninjured rats and humans. To assess whether this step-phase-dependent modulation can be mediated at the level of the human spinal cord, we compared the modulation of responses evoked simultaneously in multiple motor pools in clinically complete spinal cord injury (SCI) compared with noninjured (NI) individuals. We induced multisegmental responses of the soleus, medial gastrocnemius, tibialis anterior, medial hamstring, and vastus lateralis muscles in response to percutaneous spinal cord stimulation over the Th11–Th12 vertebrae during standing and stepping on a treadmill. Individuals with SCI stepped on a treadmill with partial body-weight support and manual assistance of leg movements. The NI group demonstrated phase-dependent modulation of evoked potentials in all recorded muscles with the modulation of the response amplitude corresponding with changes in EMG amplitude in the same muscle. The SCI group demonstrated more variation in the pattern of modulation across the step cycle and same individuals in the SCI group could display responses with a magnitude as great as that of modulation observed in the NI group. The relationship between modulation and EMG activity during the step cycle varied from noncorrelated to highly correlated patterns. These findings demonstrate that the human lumbosacral spinal cord can phase-dependently modulate motor neuron excitability in the absence of functional supraspinal influence, although with much less consistency than that in NI individuals.

scholarly journals Changes in Locomotor Muscle Activity After Treadmill Training in Subjects With Incomplete Spinal Cord Injury

2009 ◽  
Vol 101 (2) ◽  
pp. 969-979 ◽  
Author(s):  
Monica A. Gorassini ◽  
Jonathan A. Norton ◽  
Jennifer Nevett-Duchcherer ◽  
Francois D. Roy ◽  
Jaynie F. Yang
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Muscle Activity ◽  
Muscle Activation ◽  
Treadmill Training ◽  
Emg Activity ◽  
Incomplete Spinal Cord Injury ◽  
Activation Patterns ◽  
Muscle Activation Patterns ◽  
Cord Injury

Intensive treadmill training after incomplete spinal cord injury can improve functional walking abilities. To determine the changes in muscle activation patterns that are associated with improvements in walking, we measured the electromyography (EMG) of leg muscles in 17 individuals with incomplete spinal cord injury during similar walking conditions both before and after training. Specific differences were observed between subjects that eventually gained functional improvements in overground walking (responders), compared with subjects where treadmill training was ineffective (nonresponders). Although both groups developed a more regular and less clonic EMG pattern on the treadmill, it was only the tibialis anterior and hamstring muscles in the responders that displayed increases in EMG activation. Likewise, only the responders demonstrated decreases in burst duration and cocontraction of proximal (hamstrings and quadriceps) muscle activity. Surprisingly, the proximal muscle activity in the responders, unlike nonresponders, was three- to fourfold greater than that in uninjured control subjects walking at similar speeds and level of body weight support, suggesting that the ability to modify muscle activation patterns after injury may predict the ability of subjects to further compensate in response to motor training. In summary, increases in the amount and decreases in the duration of EMG activity of specific muscles are associated with functional recovery of walking skills after treadmill training in subjects that are able to modify muscle activity patterns following incomplete spinal cord injury.

scholarly journals The Central Nervous System Does Not Minimize Energy Cost in Arm Movements

2010 ◽  
Vol 104 (6) ◽  
pp. 2985-2994 ◽  
Author(s):  
Dinant A. Kistemaker ◽  
Jeremy D. Wong ◽  
Paul L. Gribble
Keyword(s):  
Force Field ◽  
Energy Cost ◽  
Degrees Of Freedom ◽  
Muscle Activation ◽  
Arm Movements ◽  
Dominant Factor ◽  
Minimal Energy ◽  
Null Field ◽  
Muscle Activation Patterns ◽  
Point To Point

It has been widely suggested that the many degrees of freedom of the musculoskeletal system may be exploited by the CNS to minimize energy cost. We tested this idea by having subjects making point-to-point movements while grasping a robotic manipulandum. The robot created a force field chosen such that the minimal energy hand path for reaching movements differed substantially from those observed in a null field. The results show that after extended exposure to the force field, subjects continued to move exactly as they did in the null field and thus used substantially more energy than needed. Even after practicing to move along the minimal energy path, subjects did not adapt their freely chosen hand paths to reduce energy expenditure. The results of this study indicate that for point-to-point arm movements minimization of energy cost is not a dominant factor that influences how the CNS arrives at kinematics and associated muscle activation patterns.

Influence of Ankle Injury on Muscle Activation and Postural Control During Ballet Grand Plié

2014 ◽  
Vol 30 (1) ◽  
pp. 37-49 ◽  
Author(s):  
Chia-Wei Lin ◽  
Fong-Chin Su ◽  
Cheng-Feng Lin
Keyword(s):  
Lower Extremity ◽  
Tibialis Anterior ◽  
Muscle Activation ◽  
Center Of Pressure ◽  
Ankle Injury ◽  
Medial Gastrocnemius ◽  
Ankle Sprains ◽  
Activation Patterns ◽  
Temporal Muscle ◽  
Muscle Activation Patterns

Ballet deep squat with legs rotated externally (grand plié) is a fundamental movement for dancers. However, performing this task is a challenge to ankle control, particularly for those with ankle injury. Thus, the purpose of this study was to investigate how ankle sprains affect the ability of postural and muscular control during grand plié in ballet dancers. Thirteen injured dancers and 20 uninjured dancers performed a 15 second grand plié consisting of lowering, squatting, and rising phases. The lower extremity motion patterns and muscle activities, pelvic orientation, and center of pressure (COP) excursion were measured. In addition, a principal component analysis was applied to analyze waveforms of muscle activity in bilateral medial gastrocnemius, peroneus longus, and tibialis anterior. Our findings showed that the injured dancers had smaller pelvic motions and COP excursions, greater maximum angles of knee flexion and ankle dorsiflexion as well as different temporal activation patterns of the medial gastrocnemius and tibialis anterior. These findings suggested that the injured dancers coped with postural challenges by changing lower extremity motions and temporal muscle activation patterns.

scholarly journals Robotic assistance that encourages the generation of stepping rather than fully assisting movements is best for learning to step in spinally contused rats

2011 ◽  
Vol 105 (6) ◽  
pp. 2764-2771 ◽  
Author(s):  
Connie Lee ◽  
Deborah Won ◽  
Mary Jo Cantoria ◽  
Marvin Hamlin ◽  
Ray D. de Leon
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injuries ◽  
Treadmill Training ◽  
Medial Gastrocnemius ◽  
Emg Activity ◽  
Robotic Assistance ◽  
Training Algorithms ◽  
Robotic Training ◽  
Adult Rats ◽  
Movement Error

Robotic devices have been developed to assist body weight-supported treadmill training (BWSTT) in individuals with spinal cord injuries (SCIs) and stroke. Recent findings have raised questions about the effectiveness of robotic training that fully assisted (FA) stepping movements. The purpose of this study was to examine whether assist-as-needed robotic (AAN) training was better than FA movements in rats with incomplete SCI. Electromyography (EMG) electrodes were implanted in the tibialis anterior and medial gastrocnemius hindlimb muscles of 14 adult rats. Afterward, the rats received a severe midthoracic spinal cord contusion and began daily weight-supported treadmill training 1 wk later using a rodent robotic system. During training, assistive forces were applied to the ankle when it strayed from a desired stepping trajectory. The amount of force was proportional to the magnitude of the movement error, and this was multiplied by either a high or low scale factor to implement the FA ( n = 7) or AAN algorithms ( n = 7), respectively. Thus FA training drove the ankle along the desired trajectory, whereas greater variety in ankle movements occurred during AAN training. After 4 wk of training, locomotor recovery was greater in the AAN group, as demonstrated by the ability to generate steps without assistance, more normal-like kinematic characteristics, and greater EMG activity. The findings suggested that flexible robotic assistance facilitated learning to step after a SCI. These findings support the rationale for the use of AAN robotic training algorithms in human robotic-assisted BWSTT.

scholarly journals Locomotor training improves reciprocal and nonreciprocal inhibitory control of soleus motoneurons in human spinal cord injury

2015 ◽  
Vol 113 (7) ◽  
pp. 2447-2460 ◽  
Author(s):  
Maria Knikou ◽  
Andrew C. Smith ◽  
Chaithanya K. Mummidisetty
Keyword(s):  
Spinal Cord ◽  
Spinal Cord Injury ◽  
Spinal Injury ◽  
Reciprocal Inhibition ◽  
H Reflex ◽  
Medial Gastrocnemius ◽  
Locomotor Training ◽  
Step Cycle ◽  
Human Spinal Cord ◽  
Cord Injury

Pathologic reorganization of spinal networks and activity-dependent plasticity are common neuronal adaptations after spinal cord injury (SCI) in humans. In this work, we examined changes of reciprocal Ia and nonreciprocal Ib inhibition after locomotor training in 16 people with chronic SCI. The soleus H-reflex depression following common peroneal nerve (CPN) and medial gastrocnemius (MG) nerve stimulation at short conditioning-test (C-T) intervals was assessed before and after training in the seated position and during stepping. The conditioned H reflexes were normalized to the unconditioned H reflex recorded during seated. During stepping, both H reflexes were normalized to the maximal M wave evoked at each bin of the step cycle. In the seated position, locomotor training replaced reciprocal facilitation with reciprocal inhibition in all subjects, and Ib facilitation was replaced by Ib inhibition in 13 out of 14 subjects. During stepping, reciprocal inhibition was decreased at early stance and increased at midswing in American Spinal Injury Association Impairment Scale C (AIS C) and was decreased at midstance and midswing phases in AIS D after training. Ib inhibition was decreased at early swing and increased at late swing in AIS C and was decreased at early stance phase in AIS D after training. The results of this study support that locomotor training alters postsynaptic actions of Ia and Ib inhibitory interneurons on soleus motoneurons at rest and during stepping and that such changes occur in cases with limited or absent supraspinal inputs.

scholarly journals An In Vitro Spinal Cord–Hindlimb Preparation for Studying Behaviorally Relevant Rat Locomotor Function

2009 ◽  
Vol 101 (2) ◽  
pp. 1114-1122 ◽  
Author(s):  
Heather Brant Hayes ◽  
Young-Hui Chang ◽  
Shawn Hochman
Keyword(s):  
Spinal Cord ◽  
Sensory Feedback ◽  
Muscle Activation ◽  
Motor Pattern ◽  
Motor Output ◽  
Afferent Feedback ◽  
Neonatal Rat ◽  
Stride Frequency ◽  
Muscle Activation Patterns

Although the spinal cord contains the pattern-generating circuitry for producing locomotion, sensory feedback reinforces and refines the spatiotemporal features of motor output to match environmental demands. In vitro preparations, such as the isolated rodent spinal cord, offer many advantages for investigating locomotor circuitry, but they lack the natural afferent feedback provided by ongoing locomotor movements. We developed a novel preparation consisting of an isolated in vitro neonatal rat spinal cord oriented dorsal-up with intact hindlimbs free to step on a custom-built treadmill. This preparation combines the neural accessibility of in vitro preparations with the modulatory influence of sensory feedback from physiological hindlimb movement. Locomotion induced by N-methyl d-aspartate and serotonin showed kinematics similar to that of normal adult rat locomotion. Changing orientation and ground interaction (dorsal-up locomotion vs ventral-up air-stepping) resulted in significant kinematic and electromyographic changes that were comparable to those reported under similar mechanical conditions in vivo. We then used two mechanosensory perturbations to demonstrate the influence of sensory feedback on in vitro motor output patterns. First, swing assistive forces induced more regular, robust muscle activation patterns. Second, altering treadmill speed induced corresponding changes in stride frequency, confirming that changes in sensory feedback can alter stride timing in vitro. In summary, intact hindlimbs in vitro can generate behaviorally appropriate locomotor kinematics and responses to sensory perturbations. Future studies combining the neural and chemical accessibility of the in vitro spinal cord with the influence of behaviorally appropriate hindlimb movements will provide further insight into the operation of spinal motor pattern-generating circuits.

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