Contributions of Parietal Cortex to the Working Memory of an Obstacle Acquired Visually or Tactilely in the Locomoting Cat.

A working memory of obstacles is essential for navigating complex, cluttered terrain. In quadrupeds, it has been proposed that parietal cortical areas related to movement planning and working memory may be important for guiding the hindlegs over an obstacle previously cleared by the forelegs. To test this hypothesis, parietal areas 5 and 7 were reversibly deactivated in walking cats. The working memory of an obstacle was assessed in both a visually dependent and tactilely dependent paradigm. Reversible bilateral deactivation of area 5, but not area 7, altered hindleg stepping in a manner indicating that the animals did not recall the obstacle over which their forelegs had stepped. Similar deficits were observed when area 5 deactivation was restricted to the delay during which obstacle memory must be maintained. Furthermore, partial memory recovery observed when area 5 function was deactivated and restored within this maintenance period suggests that the deactivation may suppress, but not eliminate, the working memory of an obstacle. As area 5 deactivations incurred similar memory deficits in both visual and tactile obstacle working memory paradigms, parietal area 5 is critical for maintaining the working memory of an obstacle acquired via vision or touch that is used to modify stepping for avoidance.

Memory-Guided Stumbling Correction in the Hindlimb of Quadrupeds Relies on Parietal Area 5.

In complex environments, tripping over an unexpected obstacle evokes the stumbling corrective reaction, eliciting rapid limb hyperflexion to lift the leg over the obstruction. While stumbling correction has been characterized within a single limb in the cat, this response must extend to both forelegs and hindlegs for successful avoidance in naturalistic settings. Furthermore, the ability to remember an obstacle over which the forelegs have tripped is necessary for hindleg clearance if locomotion is delayed. Therefore, memory-guided stumbling correction was studied in walking cats after the forelegs tripped over an unexpected obstacle. Tactile input to only one foreleg was often sufficient in modulating stepping of all four legs when locomotion was continuous, or when hindleg clearance was delayed. When obstacle height was varied, animals appropriately scaled step height to obstacle height. As tactile input without foreleg clearance was insufficient in reliably modulating stepping, efference, or proprioceptive information about modulated foreleg stepping may be important for producing a robust, long-lasting memory. Finally, cooling-induced deactivation of parietal area 5 altered hindleg stepping in a manner indicating that animals no longer recalled the obstacle over which they had tripped. Altogether, these results demonstrate the integral role area 5 plays in memory-guided stumbling correction.

Leg mechanics contribute to establishing swing phase trajectories during memory-guided stepping movements in walking cats: a computational analysis.

When quadrupeds stop walking after stepping over a barrier with their forelegs, the memory of barrier height and location is retained for many minutes. This memory is subsequently used to guide hind leg movements over the barrier when walking is resumed. The upslope of the initial trajectory of hind leg paw movements is strongly dependent on the initial location of the paw relative to the barrier. In this study, we have attempted to determine whether mechanical factors contribute significantly in establishing the slope of the paw trajectories by creating a four-link biomechanical model of a cat hind leg and driving this model with a variety of joint-torque profiles, including average torques for a range of initial paw positions relative to the barrier. Torque profiles for individual steps were determined by an inverse dynamic analysis of leg movements in three normal cats. Our study demonstrates that limb mechanics can contribute to establishing the dependency of trajectory slope on the initial position of the paw relative to the barrier. However, an additional contribution of neuronal motor commands was indicated by the fact that the simulated slopes of paw trajectories were significantly less than the observed slopes. A neuronal contribution to the modification of paw trajectories was also revealed by our observations that both the magnitudes of knee flexor muscle EMG bursts and the initial knee flexion torques depended on initial paw position. Previous studies have shown that a shift in paw position prior to stepping over a barrier changes the paw trajectory to be appropriate for the new paw position. Our data indicate that both mechanical and neuronal factors contribute to this updating process, and that any shift in leg position during the delay period modifies the working memory of barrier location.

Neurosteroid-mediated regulation of brain innate immunity in HIV/AIDS: DHEA-S suppresses neurovirulence.

Neurosteroids are cholesterol-derived molecules synthesized within the brain, which exert trophic and protective actions. Infection by human and feline immunodeficiency viruses (HIV and FIV, respectively) causes neuroinflammation and neurodegeneration, leading to neurological deficits. Secretion of neuroinflammatory host and viral factors by glia and infiltrating leukocytes mediates the principal neuropathogenic mechanisms during lentivirus infections, although the effect of neurosteroids on these processes is unknown. We investigated the interactions between neurosteroid-mediated effects and lentivirus infection outcomes. Analyses of HIV-infected (HIV(+)) and uninfected human brains disclosed a reduction in neurosteroid synthesis enzyme expression. Human neurons exposed to supernatants from HIV(+) macrophages exhibited suppressed enzyme expression without reduced cellular viability. HIV(+) human macrophages treated with sulfated dehydroepiandrosterone (DHEA-S) showed suppression of inflammatory gene (IL-1ß, IL-6, TNF-α) expression. FIV-infected (FIV(+)) animals treated daily with 15 mg/kg body weight. DHEA-S treatment reduced inflammatory gene transcripts (IL-1ß, TNF-α, CD3ε, GFAP) in brain compared to vehicle-(ß-cyclodextrin)-treated FIV(+) animals similar to levels found in vehicle-treated FIV(-) animals. DHEA-S treatment also increased CD4(+) T-cell levels and prevented neurobehavioral deficits and neuronal loss among FIV(+) animals, compared to vehicle-treated FIV(+) animals. Reduced neuronal neurosteroid synthesis was evident in lentivirus infections, but treatment with DHEA-S limited neuroinflammation and prevented neurobehavioral deficits. Neurosteroid-derived therapies could be effective in the treatment of virus- or inflammation-mediated neurodegeneration.

Enhancing memory of stair height by the motor experience of stepping.

A concept emerging from recent studies on obstacle avoidance in quadrupeds is that working memory of the height of an obstacle established by visual information is enhanced by motor interactions with the obstacle. In this investigation, we found that this concept is valid in adult humans when viewing and walking up stairs. The main finding was that the memory of the height of stairs was enhanced when information about stair height was gained by walking up a short flight of stairs compared to when information about stair height was gained by vision alone. By measuring the maximum toe clearance when subjects step onto a stair, we observed that maximum toe clearance increased after diverting vision from the stair for a few seconds prior to stepping. Most of this increase occurred within a 2-s period between diverting vision from the stair and initiating the step. By contrast, this increase in maximum toe clearance after diverting vision from a stair was significantly reduced after subjects walked up two stairs prior to stepping onto a stair without vision. This reduction persisted for delays as long as 10 s between diverting vision from the stair and initiating the step. In four of twelve subjects, the maximum toe clearance after these long periods without vision of the stair was close to the value when steps were made with full vision of the stairs.

Updating neural representations of objects during walking.

In quadrupeds, a unique form of memory is used to guide the hind legs over barriers that have already been stepped over by the forelegs. This memory is very long-lasting (many minutes), incorporates precise information about the size and position of the barrier relative to the hind legs, and is updated as the animal steps sequentially across a barrier. Recent findings from electrophysiological and lesion studies have revealed that neuronal systems in the parietal cortex are necessary for establishing the long-lasting feature of the memory and may be involved in representing the current position of the barrier relative to the moving body. We hypothesize that the latter involves the modulation of activity in neuronal systems in the posterior parietal cortex by efference copy signals of motor commands for stepping and by sensory signals from muscle proprioceptors. We propose that motor pattern generation for walking occurs within a framework of a body schema that constantly informs pattern generating networks about the geometry of the body and the location of near objects relative to the body.

Neurons in area 5 of the posterior parietal cortex in the cat contribute to interlimb coordination during visually guided locomotion: a role in working memory.

We tested the hypothesis that area 5 of the posterior parietal cortex (PPC) contributes to interlimb coordination in locomotor tasks requiring visual guidance by recording neuronal activity in this area in three cats in two locomotor paradigms. In the first paradigm, cats were required to step over obstacles attached to a moving treadmill belt. We recorded 47 neurons that discharged in relationship to the hindlimbs. Of these, 31/47 discharged between the passage of the fore- and hindlimbs (FL-HL cells) over the obstacle. The activity of most of these neurons (25/31) was related to the fore- and hindlimb contralateral to the recording site when the contralateral forelimb was the first to pass over the obstacle. In many cells, discharge activity was limb-independent in that it was better related to the ipsilateral limbs when they were the first to step over the obstacle. The other 16/47 neurons discharged only when the hindlimbs stepped over the obstacle with the majority of these (12/16) discharging between the passage of the two hindlimbs over the obstacle. We tested 15/47 cells, including 11/47 FL-HL cells, in a second paradigm in which cats stepped over an obstacle on a walkway. Discharge activity in all of these cells was significantly modulated when the cat stepped over the obstacle and remained modified for periods of ≤ 1 min when forward progress of the cat was delayed with either the fore- and hindlimbs, or the two hindlimbs, straddling the obstacle. We suggest that neurons in area 5 of the PPC contribute to interlimb coordination during locomotion by estimating the spatial and temporal attributes of the obstacle with respect to the body. We further suggest that the discharge observed both during the steps over the obstacle and in the delayed locomotor paradigm is a neuronal correlate of working memory.

Neurobehavioral performance in feline immunodeficiency virus infection: integrated analysis of viral burden, neuroinflammation, and neuronal injury in cortex.

Human immunodeficiency virus (HIV) infection causes motor and neurocognitive abnormalities affecting >50% of children and 20% of adults with HIV/AIDS (acquired immunodeficiency syndrome). The closely related lentivirus, feline immunodeficiency virus (FIV), also causes neurobehavioral deficits. Herein, we investigated the extent to which FIV infection affected specific motor and cognitive tasks in conjunction with viral burden and immune responses within the brain. Neonatal animals were infected with a neurovirulent FIV strain (FIV-Ch) and assessed in terms of systemic immune parameters, viral burden, neurobehavioral performance, and neuropathological features. FIV-infected animals displayed less weight gain and lower blood CD4(+) T-cell levels than mock-infected animals (p < 0.05). Gait analyses disclosed greater gait width with increased variation in FIV-infected animals (p < 0.05). Maze performance showed that FIV-infected animals were slower and made more navigational errors than mock-infected animals (p < 0.05). In the object memory test, the FIV-infected group exhibited fewer successful steps with more trajectory errors compared with the mock-infected group (p < 0.05). Performance on the gait, maze, and object memory tests was inversely correlated with F4/80 and CD3 epsilon expression (p < 0.05) and with viral burden in parietal cortex (p < 0.05). Amino acid analysis in cortex showed that D-serine levels were reduced in FIV-infected animals, which was accompanied by diminished kainate and AMPA receptor subunit expression (p < 0.05). The neurobehavioral findings in FIV-infected animals were associated with increased gliosis and reduced cortical neuronal counts (p < 0.05). The present studies indicated that specific motor and neurocognitive abilities were impaired in FIV infection and that these effects were closely coupled with viral burden, neuroinflammation, and neuronal loss.

Long-lasting working memories of obstacles established by foreleg stepping in walking cats require area 5 of the posterior parietal cortex.

Walking animals rely on working memory to avoid obstacles. One example is the stepping of the hindlegs of quadrupeds over an obstacle. In this case, the obstacle is not visible at the time of hindleg stepping, because of its position between the fore and hindlegs, and working memory must be used to avoid it. We have previously shown that this memory is very precise and surprisingly long-lasting and that it depends on the stepping of the forelegs over the obstacle for its initiation. In this study, we test the hypothesis that area 5 in the posterior parietal cortex of cats is necessary for the maintenance of this long-lasting working memory. We report that small bilateral lesions to area 5 do not affect the amplitude of normal stepping of the hindlegs over obstacles, but they profoundly reduce the long-lasting working memory of obstacles. We propose that inputs to area 5 associated with foreleg stepping initiate long-lasting activity that maintains the memory of obstacle height in another brain region to guide the hindlegs over obstacles.

Spinal 5-HT7 receptors are critical for alternating activity during locomotion: in vitro neonatal and in vivo adult studies using 5-HT7 receptor knockout mice.

5-HT7 receptors have been implicated in the control of locomotion. Here we use 5-HT7 receptor knockout mice to rigorously test whether 5-HT acts at the 5-HT7 receptor to control locomotor-like activity in the neonatal mouse spinal cord in vitro and voluntary locomotion in adult mice. We found that 5-HT applied onto in vitro spinal cords of 5-HT7+/+ mice produced locomotor-like activity that was disrupted and subsequently blocked by the 5-HT7 receptor antagonist SB-269970. In spinal cords isolated from 5-HT7-/- mice, 5-HT produced either uncoordinated rhythmic activity or resulted in synchronous discharges of the ventral roots. SB-269970 had no effect on 5-HT-induced rhythmic activity in the 5-HT7-/- mice. In adult in vivo experiments, SB-269970 applied directly to the spinal cord consistently disrupted locomotion and produced prolonged-extension of the hindlimbs in 5-HT7+/+ but not 5-HT7-/- mice. Disrupted EMG activity produced by SB-269970 in vivo was similar to the uncoordinated rhythmic activity produced by the drug in vitro. Moreover, 5-HT7-/- mice displayed greater maximal extension at the hip and ankle joints than 5-HT7+/+ animals during voluntary locomotion. These results suggest that spinal 5-HT7 receptors are required for the production and coordination of 5-HT-induced locomotor-like activity in the neonatal mouse and are important for the coordination of voluntary locomotion in adult mice. We conclude that spinal 5-HT7 receptors are critical for alternating activity during locomotion.

Object avoidance during locomotion.

Many animals rely on vision for navigating through complex environments and for avoiding specific obstacles during locomotion. Navigation and obstacle avoidance are tasks that depend on gathering information about the environment by vision and using this information at later times to guide limb and body movements. Here we review studies demonstrating the use of short-term visual memory during walking in humans and cats. Our own investigations have demonstrated that cats have the ability to retain a memory of an obstacle they have stepped over with the forelegs for many minutes and to use this memory to guide stepping of the hindlegs to avoid the remembered obstacle. A brain region that may be critically involved in the retention of memories of the location of obstacles is the posterior parietal cortex. Recordings from neurons in area 5 in the posterior parietal cortex in freely walking cats have revealed the existence of neurons whose activity is strongly correlated with the location of an obstacle relative to the body. How these neurons might be used to regulate motor commands remains to be established. We believe that studies on obstacle avoidance in walking cats have the potential to significantly advance our understanding of visuo-motor transformations. Current knowledge about the brain regions and pathways underlying visuo-motor transformations during walking are reviewed.

V3 spinal neurons establish a robust and balanced locomotor rhythm during walking.

A robust and well-organized rhythm is a key feature of many neuronal networks, including those that regulate essential behaviors such as circadian rhythmogenesis, breathing, and locomotion. Here we show that excitatory V3-derived neurons are necessary for a robust and organized locomotor rhythm during walking. When V3-mediated neurotransmission is selectively blocked by the expression of the tetanus toxin light chain subunit (TeNT), the regularity and robustness of the locomotor rhythm is severely perturbed. A similar degeneration in the locomotor rhythm occurs when the excitability of V3-derived neurons is reduced acutely by ligand-induced activation of the allatostatin receptor. The V3-derived neurons additionally function to balance the locomotor output between both halves of the spinal cord, thereby ensuring a symmetrical pattern of locomotor activity during walking. We propose that the V3 neurons establish a regular and balanced motor rhythm by distributing excitatory drive between both halves of the spinal cord.

New technique for drug application to the spinal cord of walking mice.

With the increasing availability of mutant mice that allow the conditional silencing of specific classes of interneurons in the spinal cord by drug application, a method for easily delivering drugs locally on spinal cord segments in adult animals has the potential for providing insights into the functioning of neuronal networks controlling walking. Here we describe a simple technique for this purpose. The drug is applied in high concentrations in a bath created with Vaseline walls around one to three segments of the spinal cord exposed under general anesthetic (isoflurane) combined with a strong, long-lasting analgesic (buprenorphine). After 20min of drug application the Vaseline and the drug is removed and skin closed. We first document that the surgery and analgesic have no obvious influences on the kinematics of hind leg movements after recovery from the anesthetic, and that the analgesic enhanced locomotor activity. We then describe the influence of applying a glycine-receptor antagonist onto the lumbar segments of the spinal cord to demonstrate that the method is effective in modifying the functioning of neuronal systems in the spinal cord. Combining this method with kinematic and electromyographic recording techniques allows the detailed investigation of the effects of drugs on the walking behavior in adult mice.

Descending command systems for the initiation of locomotion in mammals.

Neurons in the brainstem implicated in the initiation of locomotion include glutamatergic, noradrenergic (NA), dopaminergic (DA), and serotonergic (5-HT) neurons giving rise to descending tracts. Glutamate antagonists block mesencephalic locomotor region-induced and spontaneous locomotion, and glutamatergic agonists induce locomotion in spinal animals. NA and 5-HT inputs to the spinal cord originate in the brainstem, while the descending dopaminergic pathway originates in the hypothalamus. Agonists acting at NA, DA or 5-HT receptors facilitate or induce locomotion in spinal animals. 5-HT neurons located in the parapyramidal region (PPR) produce locomotion when stimulated in the isolated neonatal rat brainstem-spinal cord preparation, and they constitute the first anatomically discrete group of spinally-projecting neurons demonstrated to be involved in the initiation of locomotion in mammals. Neurons in the PPR are activated during treadmill locomotion in adult rats. Locomotion evoked from the PPR is mediated by 5-HT(7) and 5-HT(2A) receptors, and 5-HT(7) antagonists block locomotion in cat, rat and mouse preparations, but have little effect in mice lacking 5-HT(7) receptors. 5-HT induced activity in 5-HT(7) knockout mice is rhythmic, but coordination among flexor and extensor motor nuclei and left and right sides of the spinal cord is disrupted. In the adult wild-type mouse, 5-HT(7) receptor antagonists impair locomotion, producing patterns of activity resembling those induced by 5-HT in 5-HT(7) knockout mice. 5-HT(7) receptor antagonists have a reduced effect on locomotion in adult 5-HT(7) receptor knockout mice. We conclude that the PPR is the source of a descending 5-HT command pathway that activates the CPG via 5-HT(7) and 5-HT(2A) receptors. Further experiments are necessary to define the putative glutamatergic, DA, and NA command pathways.

Assessing sensory function in locomotor systems using neuro-mechanical simulations.

Computer simulations are being used increasingly to gain an understanding of the complex interactions between the neuronal, sensory, muscular and mechanical components of locomotor systems. Recent neuro-mechanical simulations of walking in humans, cats and insects, and of swimming in lampreys, have provided new information on the functional role of specific groups of sensory receptors in regulating locomotion. As we discuss in this review, these studies also make it clear that a full understanding of the neural and mechanical mechanisms that underlie locomotion can be achieved only by using simulations in parallel with physiological investigations. The widespread implementation of this approach would be enhanced by the development of freely available and easy-to-use software tools.

Behavioral and electromyographic characterization of mice lacking EphA4 receptors.

EphA4 receptors play an important role in axon guidance during development. Disrupting the expression of these receptors in mice has been shown to modify neuronal connections in the spinal cord and results in the production of a characteristic hopping gait. The EphA4-null mouse has been used in numerous investigations aimed at establishing mechanisms responsible for patterning motor activity during walking. However, there have been no detailed behavioral or electrophysiological studies on adult EphA4-null mice. We used high-speed video recordings to determine the coordination of leg movements during locomotion in adult EphA4-null mice. Our data show that the hopping movements of the hind legs are not always associated with synchronous movements of forelegs. The coupling between the forelegs is weak, resulting in changes in their phase relationship from step to step. The synchronous coordination of the hind legs can switch to an alternating pattern for a short period of time during recovery from isoflurane anesthesia. Comparison of the kinematics of hind leg movements in EphA4-null mice and wild-type animals shows that besides the synchronous coordination in EphA4-null mice, the swing durations and the swing amplitude are shorter. Electromyographic recordings from a knee extensor muscle show double bursting in the EphA4-null animals but single bursts in wild types. This double burst changes to single-burst activity during swimming and when hind legs are stepping in alternation. These observations suggest an influence of sensory feedback in shaping the pattern of muscle activity during locomotion in the mutant animals. Our data give the first detailed description of the locomotor behavior of an adult mouse with genetically manipulated spinal networks.

Computer simulation of stepping in the hind legs of the cat: an examination of mechanisms regulating the stance-to-swing transition.

Physiological studies in walking cats have indicated that two sensory signals are involved in terminating stance in the hind legs: one related to unloading of the leg and the other to hip extension. To study the relative importance of these two signals, we developed a three-dimensional computer simulation of the cat hind legs in which the timing of the swing-to-stance transition was controlled by signals related to the force in ankle extensor muscles, the angle at the hip joint, or a combination of both. Even in the absence of direct coupling between the controllers for each leg, stable stepping was easily obtained using either a combination of ankle force and hip position signals or the ankle force signal alone. Stable walking did not occur when the hip position signal was used alone. Coupling the two controllers by mutual inhibition restored stability, but it did not restore the correct timing of stepping of the two hind legs. Small perturbations applied during the swing phase altered the movement of the contralateral leg in a manner that tended to maintain alternating stepping when the ankle force signal was included but tended to shift coordination away from alternating when the hip position signal was used alone. We conclude that coordination of stepping of the hind legs depends critically on load-sensitive signals from each leg and that mechanical linkages between the legs, mediated by these signals, play a significant role in establishing the alternating gait.

Contribution of sensory feedback to ongoing ankle extensor activity during the stance phase of walking.

Numerous investigations over the past 15 years have demonstrated that sensory feedback plays a critical role in establishing the timing and magnitude of muscle activity during walking. Here we review recent studies reporting that sensory feedback makes a substantial contribution to the activation of extensor motoneurons during the stance phase. Quantitative analysis of the effects of loading and unloading ankle extensor muscles during walking on a horizontal surface has shown that sensory feedback can increase the activity of ankle extensor muscles by up to 60%. There is currently some uncertainty about which sensory receptors are responsible for this enhancement of extensor activity, but likely candidates are the secondary spindle endings in the ankle extensors of humans and the Golgi tendon organs in the ankle extensors of humans and cats. Two important issues arise from the finding that sensory feedback from the leg regulates the magnitude of extensor activity. The first is the extent to which differences in the magnitude of activity in extensor muscles during different locomotor tasks can be directly attributed to changes in the magnitude of sensory signals, and the second is whether the enhancement of extensor activity is determined primarily by feedback from a specific group of receptors or from numerous groups of receptors distributed throughout the leg. Limitations of current experimental strategies prevent a straightforward empirical resolution of these issues. A potentially fruitful approach in the immediate future is to develop models of the known and hypothesized neuronal networks controlling motoneuronal activity, and use these simulations to control forward dynamic models of the musculo-skeletal system. These simulations would help understand how sensory signals are modified with a change in locomotor task and, in conjunction with physiological experiments, establish the extent to which these modifications can account for changes in the magnitude of motoneuronal activity.

Restoring walking after spinal cord injury.

One of the most obvious deficits following a spinal cord injury is the difficulty in walking, forcing many patients to use wheelchairs for locomotion. Over the past decade considerable effort has been directed at promoting the recovery of walking and to find effective treatments for spinal cord injury. Advances in our knowledge of the neuronal control of walking have led to the development of a promising rehabilitative strategy in patients with partial spinal cord injury, namely treadmill training with partial weight support. The current focus is on developing more efficient training protocols and automating the training to reduce the physical demand for the therapists. Mechanisms underlying training-induced improvements in walking have been revealed to some extent in animal studies. Another strategy for improving the walking in spinal cord injured patients is the use of functional electric stimulation of nerves and muscles to assist stepping movements. This field has advanced significantly over the past decade as a result of developments in computer technology and the miniaturization of electronics. Finally, basic research on animals with damaged spinal cords has focused on enhancing walking and other motor functions by promoting growth and regeneration of damaged axons. Numerous important findings have been reported yielding optimism that techniques for repairing the injured spinal cord will be developed in the near future. However, at present no strategy involving direct treatment of the injured spinal cord has been established for routine use in spinal cord injured patients. It now seems likely that any successful protocol in humans will require a combination of a treatment to promote re-establishing functional connections to neuronal networks in the spinal cord and specialized rehabilitation training to shape the motor patterns generated by these networks for specific behavioral tasks.