Emergence of coherent traveling waves controlling quadruped gaits in a two-dimensional spinal cord model

Kaske, Alexander; Winberg, Gösta; Cöster, Joakim

doi:10.1007/s00422-002-0335-0

Cited by 13 publications

(22 citation statements)

References 63 publications

(79 reference statements)

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“…As an example, neurons within populations 1, 3, and extensor motoneurons of CPG1 in Figure 5A, and the equivalent ones in the other CPG units, have a value of ϭ 0.015, which leads to an extensor phase of ϳ70 ms, whereas neurons within populations 2, 4, and flexor motoneurons, and the equivalent ones in the other CPG units, have a slightly larger value of ϭ 0.017 for which the flexor phase lasts ϳ140 ms. The constructed network generates an alternating rhythm that propagates in the rostrocaudal direction, illustrated in Figure 5B, as observed experimentally (Cuellar et al, 2009; see also Bonnot et al, 2002;Yakovenko et al, 2002;Kaske et al, 2003;Ivanenko et al, 2006;Falgairolle and Cazalets, 2007).…”

Section: Model and Numerical Resultssupporting

confidence: 67%

An Intersegmental Neuronal Architecture for Spinal Wave Propagation under Deletions

Pérez¹,

Tapia²,

Mirasso³

et al. 2009

J. Neurosci.

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Recent studies have established and characterized the propagation of traveling electrical waves along the cat spinal cord during scratching, but the neuronal architecture that allows for the persistence of such waves even during periods of absence of bursts of motoneuron activity (deletions) is still unclear. Here we address this problem both theoretically and experimentally. Specifically, we monitored during long lasting periods of time the global electrical activity of spinal neurons during scratching. We found clear deletions of unaltered cycle in extensor activity without associated deletions of the traveling spinal wave. Furthermore, we also found deletions with a perturbed cycle associated with a concomitant absence of the traveling spinal wave. Numerical simulations of an asymmetric two-layer model of a central-pattern generator distributed longitudinally along the spinal cord qualitatively reproduce the sinusoidal traveling waves, and are able to replicate both classes of deletions. We believe these findings shed light into the longitudinal organization of the central-pattern generator networks in the spinal cord.

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Section: Model and Numerical Resultssupporting

confidence: 67%

An Intersegmental Neuronal Architecture for Spinal Wave Propagation under Deletions

Pérez¹,

Tapia²,

Mirasso³

et al. 2009

J. Neurosci.

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“…The general topology of the network was very similar to that of a previous study (Kaske et al 2003) and 208 based on anatomical and physiological studies (Buchanan 1982;Buchanan et al 1989;Wallen et al 1993;Puskar and Antal 1997). Special emphasis was given to the quantitative anatomical data available in the tadpole (Roberts et al 1998).…”

Section: General Featuressupporting

confidence: 54%

“…Based on the somatotopic organisation of the spinal cord, Kaske et al (2003) proposed a model of two-dimensional travelling waves in the spinal cord that could account for the various quadruped gaits (Fig. 1).…”

Section: Introductionmentioning

confidence: 99%

Travelling wave patterns in a model of the spinal pattern generator using spiking neurons

Kaske

Bertschinger

2005

Biol Cybern

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The aim of this study is to produce travelling waves in a planar net of artificial spiking neurons. Provided that the parameters of the waves--frequency, wavelength and orientation--can be sufficiently controlled, such a network can serve as a model of the spinal pattern generator for swimming and terrestrial quadruped locomotion. A previous implementation using non-spiking, sigmoid neurons lacked the physiological plausibility that can only be attained using more realistic spiking neurons. Simulations were conducted using three types of spiking neuronal models. First, leaky integrate-and-fire neurons were used. Second, we introduced a phenomenological bursting neuron. And third, a canonical model neuron was implemented which could reproduce the full dynamics of the Hodgkin-Huxley neuron. The conditions necessary to produce appropriate travelling waves corresponded largely to the known anatomy and physiology of the spinal cord. Especially important features for the generation of travelling waves were the topology of the local connections--so-called off-centre connectivity--the availability of dynamic synapses and, to some extent, the availability of bursting cell types. The latter were necessary to produce stable waves at the low frequencies observed in quadruped locomotion. In general, the phenomenon of travelling waves was very robust and largely independent of the network parameters and emulated cell types.

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“…The idea that the CPG architecture is rostrocaudally distributed is supported by many theoretical (Wadden et al, 1997;Kotaleski et al, 1999;Bem et al, 2003;Kaske et al, 2003;Kaske and Bertschinger, 2005) and experimental studies of motoneuron or electromyographic (EMG) activity mainly performed on fish (Grillner et al, 1976), lampreys (Wallén and Williams, 1984;Grillner, 1990, 1992;Grillner et al, 1995), tadpoles (Roberts et al, 1998), cats (Yakovenko et al, 2002), mouse (Bonnot et al, 2002), and humans (Ivanenko et al, 2006). Furthermore, in cats (Yakovenko et al, 2002) and humans (Ivanenko et al, 2006), a dynamic model based on anatomical data of motoneuron locations and EMG recordings suggests that, during the locomotor cycle, there is a rostrocaudal activation of lumbosacral motoneurons.…”

Section: Evidence Suggesting a Rostrocaudal Activation Of Spinal Neurmentioning

confidence: 99%

“…We hypothesized that, during this motor task, there is a sequential rostrocaudal activation of interneurons, in the form of an electrical sinusoidal wave. We assumed that this wave travels with a defined trajectory and velocity, as was predicted by experimental and theoretical studies of the CPG for locomotion in lampreys, turtles, mice, rats, cats, and humans (Grillner et al, 1976(Grillner et al, , 1995Wallén and Williams, 1984;Grillner, 1990, 1992;Roberts et al, 1998;Kotaleski et al, 1999;Bonnot et al, 2002;Yakovenko et al, 2002;Bem et al, 2003;Kaske et al, 2003;Kaske and Bertschinger, 2005;Stein, 2005;Ivanenko et al, 2006;Falgairolle and Cazalets, 2007). The second aim was to provide experimental evidence that the sinusoidal traveling wave can be generated by the electrical activity of a system of interneurons located in the deep dorsal horn and the intermediate nucleus, even in absence of motoneuronal activity.…”

Section: Introductionmentioning

confidence: 99%

Propagation of Sinusoidal Electrical Waves along the Spinal Cord during a Fictive Motor Task

Cuellar¹,

Tapia²,

Juarez³

et al. 2009

J. Neurosci.

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We present for the first time direct electrophysiological evidence of the phenomenon of traveling electrical waves produced by populations of interneurons within the spinal cord. We show that, during a fictive rhythmic motor task, scratching, an electrical field potential of spinal interneurons takes the shape of a sinuous wave, "sweeping" the lumbosacral spinal cord rostrocaudally with a mean speed of ϳ0.3 m/s. We observed that traveling waves and scratching have the same cycle duration and that duration of the flexor phase, but not of the extensor phase, is highly correlated with the cycle duration of the traveling waves. Furthermore, we found that the interneurons from the deep dorsal horn and the intermediate nucleus can generate the spinal traveling waves, even in the absence of motoneuronal activity. These findings show that the sinusoidal field potentials generated during fictive scratching could be a powerful tool to disclose the organization of central pattern generator networks.

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Emergence of coherent traveling waves controlling quadruped gaits in a two-dimensional spinal cord model

Cited by 13 publications

References 63 publications

An Intersegmental Neuronal Architecture for Spinal Wave Propagation under Deletions

An Intersegmental Neuronal Architecture for Spinal Wave Propagation under Deletions

Travelling wave patterns in a model of the spinal pattern generator using spiking neurons

Propagation of Sinusoidal Electrical Waves along the Spinal Cord during a Fictive Motor Task

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