Activity of cat premotor cortex neurons during visually guided stepping.

Visual control of steps is critical in everyday life. Several motor centers are implicated in visual control of steps on a complex surface, however, participation of a large cortical motor area, the premotor cortex, in visual guidance of steps during overground locomotion has not been examined. Here, we analyzed the activity of neurons in feline premotor cortex areas 6aα and 6aγ as cats walked on the flat surface where visual guidance of steps is not needed and stepped on crosspieces of a horizontally placed ladder or over barriers where visual control of steps is required. The comparison of neuronal firing between vision-dependent and vision-independent stepping revealed components of the activity related to visual guidance of steps. We found that the firing activity of 59% of neurons was modulated with the rhythm of strides on the flat surface, and the activity of 83-86% of the population changed upon transition to locomotion on the ladder or with barriers. The firing rate and the depth of the stride-related activity modulation of 33-44% of neurons changed, and the stride phases where neurons preferred to fire changed for 58-73% of neurons. These results indicate that a substantial proportion of areas 6aα and 6aγ neurons is involved in visual guidance of steps. Compared with the primary motor cortex, the proportion of cells, the firing activity of which changed upon transition from vision-independent to vision-dependent stepping, was lower and the preferred phases of the firing activity changed more often between the tasks.NEW & NOTEWORTHY Visual control of steps is critical for daily living, however, how it is achieved is not well understood. Here, we analyzed how neurons in the premotor cortex respond to the demand for visual control of steps on a complex surface. We conclude that premotor cortex neurons participate in the cortical network supporting visual control of steps by modifying the phase, intensity, and salience of their firing activity.

Signals from posterior parietal area 5 to motor cortex during locomotion.

Area 5 of the parietal cortex is part of the "dorsal stream" cortical pathway which processes visual information for action. The signals that area 5 ultimately conveys to motor cortex, the main area providing output to the spinal cord, are unknown. We analyzed area 5 neuronal activity during vision-independent locomotion on a flat surface and vision-dependent locomotion on a horizontal ladder in cats focusing on corticocortical neurons (CCs) projecting to motor cortex from the upper and deeper cortical layers and compared it to that of neighboring unidentified neurons (noIDs). We found that upon transition from vision-independent to vision-dependent locomotion, the low discharge of CCs in layer V doubled and the proportion of cells with 2 bursts per stride tended to increase. In layer V, the group of 2-bursters developed 2 activity peaks that coincided with peaks of gaze shifts along the surface away from the animal, described previously. One-bursters and either subpopulation in supragranular layers did not transmit any clear unified stride-related signal to the motor cortex. Most CC group activities did not mirror those of their noID counterparts. CCs with receptive fields on the shoulder, elbow, or wrist/paw discharged in opposite phases with the respective groups of pyramidal tract neurons of motor cortex, the cortico-spinal cells.

Contribution of the ventrolateral thalamus to the locomotion-related activity of motor cortex.

The activity of motor cortex is necessary for accurate stepping on a complex terrain. How this activity is generated remains unclear. The goal of this study was to clarify the contribution of signals from the ventrolateral thalamus (VL) to formation of locomotion-related activity of motor cortex during vision-independent and vision-dependent locomotion. In two cats, we recorded the activity of neurons in layer V of motor cortex as cats walked on a flat surface and a horizontal ladder. We reversibly inactivated ~10% of the VL unilaterally with the glutamatergic transmission antagonist 6-cyano-7-nitroquinoxaline-2,3-dione (CNQX) and analyzed how this affected the activity of motor cortex neurons. We examined neuronal subpopulations with somatosensory receptive fields on different segments of the forelimb and pyramidal tract projecting neurons (PTNs). We found that the VL contribution to the locomotion-related activity of motor cortex is very powerful and has both excitatory and inhibitory components. The magnitudes of both the excitatory and inhibitory contributions fluctuate over the step cycle and depend on locomotion task. On a flat surface, the VL contributes more excitation to the shoulder- and elbow-related neurons than the wrist/paw-related cells. The VL excites the shoulder-related group the most during the transition from stance to swing phase, while most intensively exciting the elbow-related group during the transition from swing to stance. The VL contributes more excitation for the fast- than slow-conducting PTNs. Upon transition to vision-dependent locomotion on the ladder, the VL contribution increases more for the wrist/paw-related neurons and slow-conducting PTNs.NEW & NOTEWORTHY How the activity of motor cortex is generated and the roles that different inputs to motor cortex play in formation of response properties of motor cortex neurons during movements remain unclear. This is the first study to characterize the contribution of the input from the ventrolateral thalamus (VL), the main subcortical input to motor cortex, to the activity of motor cortex neurons during vision-independent and vision-dependent locomotion.

Low intensity vibration of ankle muscles improves balance in elderly persons at high risk of falling.

In our study we examined postural performance of young healthy persons (HY), elderly healthy persons (HE), and elderly persons at high risk of falling (FR). Anterio-posterior (AP) and medio-lateral (ML) ankle and hip angular deviations, as well as linear displacements of the center of mass (COM) were assessed in persons standing with eyes either open or closed, while none, and 40 and 30 Hz vibrations were applied bilaterally to the ankle muscle gastrocnemius. During quiet standing with eyes open, balance parameters in FR group differed from those in healthy groups. ML ankle and hip angular deviations, as well as COM linear displacements were noticeably larger in FR group. During quiet standing with eyes closed, all balance parameters in participants of all groups had a clear trend to increase. During standing with eyes open, 40 Hz vibration increased all but one balance parameter within HY group, ankle angular deviations in HE group, but none in FR group. In response to 30 Hz vibration, only ankle angular deviations and COM linear displacements increased in HY group. There were no changes in both elderly groups. During standing with eyes closed, 40 and 30 Hz vibrations did not produce consistent changes in balance parameters in HY and HE groups. In FR persons, 40 Hz vibration did not change balance parameters. However, in FR groups, 30 Hz vibration decreased ankle and hip angular deviations, and COM linear displacements. The major result of the study is a finding that low intensity vibration of ankle muscles makes balance better in elderly persons at high risk of falling. This result is clinically relevant because it suggests that applying mild vibration to ankle muscles while standing and walking might benefit elderly persons, improving their postural performance and reducing a risk of unexpected falls.

The influence of mechanical vibration on local and central balance control.

Fall prevention has an indispensable role in enhancing life expectancy and quality of life among older adults. The first step to prevent falls is to devise reliable methods to identify individuals at high fall risk. The purpose of the current study was to assess alterations in local postural muscle and central sensory balance control mechanisms due to low-frequency externally applied vibration among elders at high fall risk, in comparison with healthy controls, as a potential tool for assessing fall risk. Three groups of participants were recruited: healthy young (n = 10; age = 23 ±â€¯2 years), healthy elders (n = 10; age = 73 ±â€¯3 years), and elders at high fall risk (n = 10; age = 84 ±â€¯9 years). Eyes-open and eyes-closed upright standing balance performance was measured with no vibration, 30 Hz, and 40 Hz vibration of Gastrocnemius muscles. When vibratory stimulation was applied, changes in local-control performance manifested significant differences among the groups (p < 0.01). On average between conditions, we observed 97% and 92% less change among high fall risk participants when compared to healthy young and older adults, respectively. On the other hand, vibration-induced changes in the central-control performance were not significant between groups (p ≥ 0.19). Results suggest that local-control deficits are responsible for balance behavior alterations among elders at high fall risk and healthy individuals. This observation may be attributable to deterioration of short-latency reflexive loop in elders at high fall risk. On the other hand, we could not ascribe the balance alterations to problems related to central nervous system performance or long-latency responses.

Strategies for obstacle avoidance during walking in the cat.

Avoiding obstacles is essential for successful navigation through complex environments. This study aimed to clarify what strategies are used by a typical quadruped, the cat, to avoid obstacles during walking. Four cats walked along a corridor 2.5 m long and 25 or 15 cm wide. Obstacles, small round objects 2.5 cm in diameter and 1 cm in height, were placed on the floor in various locations. Movements of the paw were recorded with a motion capture and analysis system (Visualeyez, PTI). During walking in the wide corridor, cats' preferred strategy for avoiding a single obstacle was circumvention, during which the stride direction changed while stride duration and swing-to-stride duration ratio were preserved. Another strategy, stepping over the obstacle, was used during walking in the narrow corridor, when lateral deviations of walking trajectory were restricted. Stepping over the obstacle involved changes in two consecutive strides. The stride preceding the obstacle was shortened, and swing-to-stride ratio was reduced. The obstacle was negotiated in the next stride of increased height and normal duration and swing-to-stride ratio. During walking on a surface with multiple obstacles, both strategies were used. To avoid contact with the obstacle, cats placed the paw away from the object at a distance roughly equal to the diameter of the paw. During obstacle avoidance cats prefer to alter muscle activities without altering the locomotor rhythm. We hypothesize that a choice of the strategy for obstacle avoidance is determined by minimizing the complexity of neuro-motor processes required to achieve the behavioral goal.NEW & NOTEWORTHY In a study of feline locomotor behavior we found that the preferred strategy to avoid a small obstacle is circumvention. During circumvention, stride direction changes but length and temporal structure are preserved. Another strategy, stepping over the obstacle, is used in narrow walkways. During overstepping, two strides adjust. A stride preceding the obstacle decreases in length and duration. The following stride negotiating the obstacle increases in height while retaining normal temporal structure and nearly normal length.

Head movement during walking in the cat.

Knowledge of how the head moves during locomotion is essential for understanding how locomotion is controlled by sensory systems of the head. We have analyzed head movements of the cat walking along a straight flat pathway in the darkness and light. We found that cats' head left-right translations, and roll and yaw rotations oscillated once per stride, while fore-aft and vertical translations, and pitch rotations oscillated twice. The head reached its highest vertical positions during second half of each forelimb swing, following maxima of the shoulder/trunk by 20-90°. Nose-up rotation followed head upward translation by another 40-90° delay. The peak-to-peak amplitude of vertical translation was ∼1.5cm and amplitude of pitch rotation was ∼3°. Amplitudes of lateral translation and roll rotation were ∼1cm and 1.5-3°, respectively. Overall, cats' heads were neutral in roll and 10-30° nose-down, maintaining horizontal semicircular canals and utriculi within 10° of the earth horizontal. The head longitudinal velocity was 0.5-1m/s, maximal upward and downward linear velocities were ∼0.05 and ∼0.1m/s, respectively, and maximal lateral velocity was ∼0.05m/s. Maximal velocities of head pitch rotation were 20-50°/s. During walking in light, cats stood 0.3-0.5cm taller and held their head 0.5-2cm higher than in darkness. Forward acceleration was 25-100% higher and peak-to-peak amplitude of head pitch oscillations was ∼20°/s larger. We concluded that, during walking, the head of the cat is held actively. Reflexes appear to play only a partial role in determining head movement, and vision might further diminish their role.

Burst firing of neurons in the thalamic reticular nucleus during locomotion.

This study examined the burst firing of neurons in the motor sector of the thalamic reticular nucleus (RE) of the cat. These neurons are inhibitory cells that project to the motor thalamus. The firing activity of RE neurons was studied during four behaviors: sleep, standing, walking on a flat surface, and accurate stepping on crosspieces of a horizontal ladder. Extracellularly recorded firing activity was analyzed in 58 neurons that were identified according to their receptive fields on the contralateral forelimb. All neurons generated bursts of spikes during sleep, half generated bursts of spikes during standing, and one-third generated bursts of spikes during walking. The majority of bursts were sequences of spikes with an exponential buildup of the firing rate followed by exponential decay with time constants in the range of 10-30 ms. We termed them "full-scale" bursts. All neurons also generated "atypical" bursts, in which the buildup of the firing rate deviated from the characteristic order. Burst firing was most likely to occur in neurons with receptive fields on the distal forelimb and least likely in neurons related to the proximal limb. Full-scale bursts were more frequent than atypical bursts during unconstrained walking on the flat surface. Bursts of both types occurred with similar probability during accurate stepping on the horizontal ladder, a task that requires forebrain control of locomotion. We suggest that transformations of the temporal pattern of bursts in the inhibitory RE neurons facilitate the tuning of thalamo-cortical signals to the complexity of ongoing locomotor tasks.

Differential gating of thalamocortical signals by reticular nucleus of thalamus during locomotion.

The thalamic reticular nucleus (RE) provides inhibition to the dorsal thalamus, and forms a crucial interface between thalamocortical and corticothalamic signals. Whereas there has been significant interest in the role of the RE in organizing thalamocortical signaling, information on the activity of the RE in the awake animal is scant. Here we investigated the activity of neurons within the "motor" compartment of the RE in the awake, unrestrained cat during simple locomotion on a flat surface and complex locomotion along a horizontal ladder that required visual control of stepping. The activity of 88% of neurons in this region was modulated during locomotion. Neurons with receptive fields on the shoulder were located dorsally in the nucleus and had regular discharges; during locomotion they had relatively low activity and modest magnitudes of stride-related modulation, and their group activity was distributed over the stride. In contrast, neurons with receptive fields on the wrist/paw were located more ventrally, often discharged sleep-type bursts during locomotion, were very active and profoundly modulated, and their group activity was concentrated in the swing and end of stance. Seventy-five percent of RE neurons had different activity during the two locomotion tasks. We conclude that during locomotion the RE differentially gates thalamocortical signals transmitted during different phases of the stride, in relation to different parts of the limb, and the type of locomotion task.

Signals from the ventrolateral thalamus to the motor cortex during locomotion.

The activity of the motor cortex during locomotion is profoundly modulated in the rhythm of strides. The source of modulation is not known. In this study we examined the activity of one of the major sources of afferent input to the motor cortex, the ventrolateral thalamus (VL). Experiments were conducted in chronically implanted cats with an extracellular single-neuron recording technique. VL neurons projecting to the motor cortex were identified by antidromic responses. During locomotion, the activity of 92% of neurons was modulated in the rhythm of strides; 67% of cells discharged one activity burst per stride, a pattern typical for the motor cortex. The characteristics of these discharges in most VL neurons appeared to be well suited to contribute to the locomotion-related activity of the motor cortex. In addition to simple locomotion, we examined VL activity during walking on a horizontal ladder, a task that requires vision for correct foot placement. Upon transition from simple to ladder locomotion, the activity of most VL neurons exhibited the same changes that have been reported for the motor cortex, i.e., an increase in the strength of stride-related modulation and shortening of the discharge duration. Five modes of integration of simple and ladder locomotion-related information were recognized in the VL. We suggest that, in addition to contributing to the locomotion-related activity in the motor cortex during simple locomotion, the VL integrates and transmits signals needed for correct foot placement on a complex terrain to the motor cortex.

Self-motion signals in vestibular nuclei neurons projecting to the thalamus in the alert squirrel monkey.

Sixty vestibular nuclei neurons antidromically activated by electrical stimulation of the ventroposterior thalamus were recorded in two alert squirrel monkeys. The majority of these neurons were monosynaptically activated by vestibular nerve electrical stimulation. Forty-seven neurons responded to animal rotations around the earth-vertical axis; 16 of them also responded to translations in the horizontal plane. The mean sensitivity to 0.5-Hz rotations of 80 degrees /s velocity was 0.40 +/- 0.31 spikes.s(-1).deg(-1).s(-1). Rotational responses were in phase with stimulus velocity. Sensitivities to 0.5-Hz translations of 0.1 g acceleration varied from 92.2 to 359 spikes.s(-1).g(-1) and response phases varied from 10.1 degrees lead to -98 degrees lag. The firing behavior in 28 neurons was studied during rotation of the whole animal, of the trunk, and voluntary and involuntary rotations of the head. Two classes of vestibulothalamic neurons were distinguished. One class of neurons generated signals related to movement of the head that were similar either when the head and trunk move together or when the head moves on the stationary trunk. A fraction of these neurons fired during involuntary head movements only. A second class of neurons generated signals related to movement of the trunk. They responded when the trunk moved alone or simultaneously with the head, but did not respond to head rotations while the trunk was stationary.

Coding of self-motion signals in ventro-posterior thalamus neurons in the alert squirrel monkey.

The firing behavior of 47 ventro-posterior thalamus neurons was studied in two alert squirrel monkeys during rotations of whole body, head and trunk. A total of 27 of these neurons (57%) were sensitive to spatial motion of the head irrespective of the mode of motion. These neurons responded similarly when the head moved simultaneously with the trunk, and when the head voluntarily or involuntarily moved on the stationary trunk. These neurons did not respond to rotation of the trunk when the spatial position of the head was fixed. Five neurons (11%) responded only to involuntary movement of the head produced by external force, but were insensitive to voluntary spatial head movement. They also did not respond to spatial motion of the trunk. Totally 15 neurons (32%) were sensitive to spatial motion, which included rotation of the trunk. These neurons responded when the trunk moved alone, and when the trunk moved simultaneously with the head, but were not responsive to spatial movement of the head while the trunk was stationary. We suggest that the vestibulo-thalamo-cortical pathway comprises two distinct functional channels. In one of these channels, cephalokinetic, spatial motion of the head is coded. In the other channel, somatokinetic, motion of the body in space is coded. Each of these channels further consists of two divisions. In the principal division the motion signal is conveyed continuously, irrespective of the behavioral context of motion. In the other auxiliary division the signal only codes movement caused by externally applied force.

Activity of ventroposterior thalamus neurons during rotation and translation in the horizontal plane in the alert squirrel monkey.

The firing behavior of 107 vestibular-sensitive neurons in the ventroposterior thalamus was studied in two alert squirrel monkeys during whole body rotation and translation in the horizontal plane. Vestibular-sensitive neurons were distributed primarily along the anterior and posterior borders of ventroposterior nuclei; three clusters of these neurons could be distinguished based on their location and inputs. Eighty-four neurons responded to rotation; 66 (78%) of them responded to rotation only and 18 (22%) to both rotation and translation. Forty-one neurons were sensitive to linear translation; 23 (56%) of them responded to translation only. The population rotational response to 0.5-Hz sinusoids with a peak velocity of 40 degrees /s showed a gain of 0.23 +/- 0.15 spike.s(-1).deg(-1).s(-1) and phase lagging behind the angular velocity by -9.3 +/- 34.1 degrees . Although rotational response amplitude increased with the stimulus velocity across the range 4-100 degrees /s, the rotational sensitivity decreased with and was inversely proportional to the stimulus velocity. The rotational response amplitude and sensitivity increased with the stimulus frequency across the range 0.2-4.0 Hz. The population response to sinusoidal translation at 0.5 Hz and 0.1 g amplitude had a gain of 111.3 +/- 53.7 spikes.s(-1).g(-1) and lagged behind stimulus acceleration by -71.9 +/- 42.6 degrees . Translational sensitivity decreased as acceleration increased and this was inversely proportional to the square root of the acceleration. Results of this study imply that changes in the discharge rate of vestibular-sensitive thalamic neurons can be approximated using power functions of the angular and linear velocity of spatial motion.

Efferent-mediated fluctuations in vestibular nerve discharge: a novel, positive-feedback mechanism of efferent control.

We compared the background discharge of vestibular nerve afferents in barbiturate-anesthetized and unanesthetized, decerebrate chinchillas. Based on their interspike-interval statistics, units were categorized as regular, intermediate, or irregular. Background discharge rates were higher in irregular units from decerebrates compared to anesthetized preparations; no such difference was observed for regular or intermediate units. Large fluctuations in discharge rate were confined to intermediate and irregular units in decerebrates, but were not seen at all in anesthetized animals. The most prominent examples of fluctuations consisted of oscillations with periods exceeding 500 s and peak-to-peak amplitudes as large as 300 spikes/s. Several observations show that the fluctuations are mediated by the efferent vestibular system (EVS): (1) they are abolished when the vestibular nerve is cut proximal to the recording electrode; (2) their amplitude is correlated with the size of efferent-mediated rotational responses in individual units; and (3) they occur even when vital signs are stable. Previous studies had provided evidence that the EVS involves positive feedback: vestibular nerve afferents and EVS neurons excite one another. To study how oscillations could be produced, we developed a nonlinear model of positive feedback in which afferent feed-forward discharge was nonlinearly related to its inputs from hair cells and the EVS, while these inputs declined (adapted) as discharge was prolonged. Provided that the gain of the efferent feedback loop was sufficiently large, the model showed oscillations similar to those observed experimentally. Although large fluctuations in afferent discharge are unlikely to occur under physiological circumstances, positive feedback may be a normal feature that can amplify the influence of the EVS.

Efferent actions in the chinchilla vestibular labyrinth.

Efferent fibers were electrically stimulated in the brain stem, while afferent activity was recorded from the superior vestibular nerve in barbiturate-anesthetized chinchillas. We concentrated on canal afferents, but otolith afferents were also studied. Among canal fibers, calyx afferents were recognized by their irregular discharge and low rotational gains. In separate experiments, stimulating electrodes were placed in the efferent cell groups ipsilateral or contralateral to the recording electrode or in the midline. While single shocks were ineffective, repetitive shock trains invariably led to increases in afferent discharge rate. Such excitatory responses consisted of fast and slow components. Fast components were large only at high shock frequencies (200-333/s), built up with exponential time constants <0.1 s, and showed response declines or adaptation during shock trains >1 s in duration. Slow responses were obtained even at shock rates of 50/s, built up and decayed with time constants of 15-30 s, and could show little adaptation. The more regular the discharge, the larger was the efferent response of an afferent fiber. Response magnitude was proportional to cv*b, a normalized coefficient of interspike-interval variation (cv*) raised to the power b = 0.7. The value of the exponent b did not depend on unit type (calyx vs. bouton plus dimorphic, canal vs. otolith) or on stimulation site (ipsilateral, contralateral, or midline). Responses were slightly smaller with contralateral or midline stimulation than with ipsilateral stimulation, and they were smaller for otolith, as compared to canal, fibers. An anatomical study had suggested that responses to contralateral afferent stimulation should be small or nonexistent in irregular canal fibers. The suggestion was not confirmed in this study. Contralateral responses, including the large responses typically seen in irregular fibers, were abolished by shallow midline incisions that should have severed crossing efferent axons.

Reflections of efferent activity in rotational responses of chinchilla vestibular afferents.

To study presumed efferent-mediated responses, we determined if afferents responded to head rotations that stimulated semicircular canals other than the organ being innervated. To minimize stimulation of an afferent's own canal, its plane was placed nearly orthogonal to the rotation plane. Otolith units were tested in a horizontal head position with the ear placed near the rotation axis to minimize linear forces. Under these circumstances, angular-velocity trapezoids (2-s ramps, 2-s plateau) evoked excitatory responses for both rotation directions. These type III responses were considerably larger in decerebrate than in anesthetized preparations. In addition to their being exclusively excitatory, the responses resembled those obtained with electrical stimulation of efferent pathways in including per-stimulus and more prolonged post-stimulus components and in being larger in irregularly discharging than in regularly discharging units. Responses, which were not seen for rotations <80 degrees/s, grew as velocity increased between 80 and 500 degrees/s but were seldom larger than 20 spikes/s. Complete section of the VIIIth nerve abolished type III responses, leaving conventional afferent responses intact. To study the separate contributions of canals on the two sides, responses were compared when the labyrinths were intact and when the ipsilateral or contralateral horizontal canal was mechanically inactivated. Both sides contributed to the efferent-mediated responses. That afferents could be influenced from the contralateral labyrinth was confirmed with the use of unilateral galvanic currents. Following inactivation, excitatory responses were produced by rotations exciting or inhibiting the intact horizontal canal with the responses resulting from excitatory rotations being much larger. Such a response asymmetry is consistent with a semicircular-canal origin for the type III responses. A similar asymmetry was seen in the post-stimulus responses to contralateral cathodal (excitatory) and anodal (inhibitory) galvanic currents. We conclude that the efferent system receives a sufficiently powerful vestibular input from both the ipsilateral and contralateral labyrinths to affect afferent discharge.