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

An essential prerequisite for the survival of an organism is the ability to detect and respond to aversive stimuli. Current belief is that noxious stimuli directly activate nociceptive sensory nerve endings in the skin. We discovered a specialized cutaneous glial cell type with extensive processes forming a mesh-like network in the subepidermal border of the skin that conveys noxious thermal and mechanical sensitivity. We demonstrate a direct excitatory functional connection to sensory neurons and provide evidence of a previously unknown organ that has an essential physiological role in sensing noxious stimuli. Thus, these glial cells, which are intimately associated with unmyelinated nociceptive nerves, are inherently mechanosensitive and transmit nociceptive information to the nerve.

Primary afferent depolarizations (PADs) are associated with presynaptic inhibition in both vertebrates and invertebrates. In the present study, we have used both anatomical and electrophysiological techniques to analyze the relative importance of shunting mechanisms versus sodium channel inactivation in mediating the decrease of action potential amplitude, and thereby presynaptic inhibition. Experiments were performed in sensory afferents of a stretch receptor in an in vitro preparation of the crayfish. Lucifer yellow intracellular labeling of sensory axons combined with GABA immunohistochemistry revealed close appositions between GABA-immunoreactive (ir) fibers and sensory axons. Most contacts were located on the main axon at the entry zone of the ganglion, close to the first branching point within the ganglion. By comparison, the output synapses of sensory afferents to target neurons were located on distal branches. The location of synaptic inputs mediating spontaneous PADs was also determined electrophysiologically by making dual intracellular recordings from single sensory axons. Inputs generating PADs appear to occur around the first axonal branching point, in agreement with the anatomical data. In this region, small PADs (3-15 mV) produced a marked reduction of action potential amplitude, whereas depolarization of the membrane potential by current injection up to 15 mV had no effect. These results suggest that the decrease of the amplitude of action potentials by single PADs results from a shunting mechanism but does not seem to involve inactivation of sodium channels. Our results also suggest that GABAergic presynaptic inhibition may act as a global control mechanism to block transmission through certain reflex pathways.

Locomotion is a complex motor task generated by spinal circuits driving motoneurons in a precise sequence to control the timing and vigor of movements, but the underlying circuit logic remains to be understood. Here we reveal, in adult zebrafish, how the diversity and selective distribution of two V2a interneuron types within the locomotor network transform commands into an appropriate, task-dependent circuit organization. Bursting-type V2a interneurons with unidirectional axons predominantly target distal dendrites of slow motoneurons to provide potent, non-linear excitation involving NMDA-dependent potentiation. A second type, non-bursting V2a interneurons with bidirectional axons, predominantly target somata of fast motoneurons, providing weaker, non-potentiating excitation. Together, this ensures the rapid, first-order recruitment of the slow circuit, while reserving the fast circuit for highly salient stimuli involving synchronous inputs. Our results thus identify how interneuron diversity is captured and transformed into a parsimonious task-specific circuit design controlling the vigor of locomotion.

Locomotion is common to all animals and is essential for survival. Neural circuits located in the spinal cord have been shown to be necessary and sufficient for the generation and control of the basic locomotor rhythm by activating muscles on either side of the body in a specific sequence. Activity in these neural circuits determines the speed, gait pattern, and direction of movement, so the specific locomotor pattern generated relies on the diversity of the neurons within spinal locomotor circuits. Here, we review findings demonstrating that developmental genetics can be used to identify populations of neurons that comprise these circuits and focus on recent work indicating that many of these populations can be further subdivided into distinct subtypes, with each likely to play complementary functions during locomotion. Finally, we discuss data describing the manner in which these populations interact with each other to produce efficient, task-dependent locomotion.