Biomedical subjects

R E Poppele

Publications and source records attributed to R E Poppele.

At least 19 recordsLinked to original sources

PubMed2006

Phase-specific sensory representations in spinocerebellar activity during stepping: evidence for a hybrid kinematic/kinetic framework.

The dorsal spinocerebellar tract (DSCT) provides a major mossy fiber input to the spinocerebellum, which plays a significant role in the control of posture and locomotion. Recent work from our laboratory has provided evidence that DSCT neurons encode a global representation of hindlimb mechanics during passive limb movements. The framework that most successfully accounts for passive DSCT behavior is kinematics-based having the coordinates of the limb axis, limb-axis length and orientation. Here we examined the responses of DSCT neurons in decerebrate cats as they walked on a moving treadmill and compared them with the responses passive step-like movements of the hindlimb produced manually. We found that DSCT responses to active locomotion were quantitatively different from the responses to kinematically similar passive limb movements on the treadmill. The differences could not be simply accounted for by the difference in limb-axis kinematics in the two conditions, nor could they be accounted for by new or different response components. Instead, differences could be attributed to an increased relative prominence of specific response components occurring during the stance phase of active stepping, which may reflect a difference in the behavior of the sensory receptors and/or of the DSCT circuitry during active stepping. We propose from these results that DSCT neurons encode two global aspects of limb mechanics that are also important in controlling locomotion at the spinal level, namely the orientation angle of the limb axis and limb loading. Although limb-axis length seemed to be an independent predictor of DSCT activity during passive limb movements, we argue that it is not independent of limb loading, which is likely to be proportional to limb length under passive conditions.

Action Potentials↗

PubMed2006

Motor patterns in human walking and running.

Despite distinct differences between walking and running, the two types of human locomotion are likely to be controlled by shared pattern-generating networks. However, the differences between their kinematics and kinetics imply that corresponding muscle activations may also be quite different. We examined the differences between walking and running by recording kinematics and electromyographic (EMG) activity in 32 ipsilateral limb and trunk muscles during human locomotion, and compared the effects of speed (3-12 km/h) and gait. We found that the timing of muscle activation was accounted for by five basic temporal activation components during running as we previously found for walking. Each component was loaded on similar sets of leg muscles in both gaits but generally on different sets of upper trunk and shoulder muscles. The major difference between walking and running was that one temporal component, occurring during stance, was shifted to an earlier phase in the step cycle during running. These muscle activation differences between gaits did not simply depend on locomotion speed as shown by recordings during each gait over the same range of speeds (5-9 km/h). The results are consistent with an organization of locomotion motor programs having two parts, one that organizes muscle activation during swing and another during stance and the transition to swing. The timing shift between walking and running reflects therefore the difference in the relative duration of the stance phase in the two gaits.

Adult↗

PubMed2005

Spinal cord maps of spatiotemporal alpha-motoneuron activation in humans walking at different speeds.

Functional MRI (fMRI) imaging of motoneuron activity in the human spinal cord is still in its infancy, and it will remain difficult to apply to walking. Here we present a viable alternative for documenting the spatiotemporal maps of alpha-motorneuron (MN) activity in the human spinal cord during walking, similar to the method recently reported for the cat. We recorded EMG activity from 16 to 32 ipsilateral limb and trunk muscles in 13 healthy subjects walking on a treadmill at different speeds (1-7 km/h) and mapped the recorded patterns onto the spinal cord in approximate rostrocaudal locations of the motoneuron pools. This approach can provide information about pattern generator output during locomotion in terms of segmental control rather than in terms of individual muscle control. A striking feature we found is that nearly every spinal segment undergoes at least two cycles of activation in the step cycle, thus supporting the idea of half-center oscillators controlling MN activation at any segmental level. The resulting spatiotemporal map patterns seem highly stereotyped over the range of walking speeds studied, although there were also some systematic redistributions of MN activity with speed. Bursts of MN activity were either temporally aligned across several spinal segments or switched between different segments. For example, the center of mass of MN activity in the lumbosacral levels generally shifted from rostral to caudal positions in two cycles for each step, revealing four major activation foci: two in the upper lumbar segments and two in the sacral segments. The results are consistent with the presence of at least two and possibly more pattern generators controlling the activation of lumbosacral MNs.

Action Potentials↗

PubMed2005

Kinematic and non-kinematic signals transmitted to the cat cerebellum during passive treadmill stepping.

Previous work from this laboratory has shown that activity in the dorsal spinocerebellar tract (DSCT) relates strongly to global hindlimb kinematics variables during passive displacements of the hindlimb. A linear relationship to limb axis orientation and length variables accounts for most of the response variance for passive limb positioning and movement. Here we extend those observations to more natural movements by examining the information carried by the DSCT during passive stepping movements on a treadmill, and we compare it to information transmitted during passive robot-driven hindlimb movements. Using a principal component analysis approach, we found that a linear relationship between the responses and hindlimb kinematics was comparable across experimental conditions. We also observed systematic non-linearities in this relationship for both types of movement that could be attributed to events corresponding to the touch-down and lift-off phases of the movement. We concluded that proprioceptive information transmitted to the cerebellum by the DSCT during locomotion has at least two major components. One component is associated with limb kinematics (limb orientation) and may be more or less related to the metrics of the step (stride length, for example) or its velocity. The other component is associated with limb length and/or limb loading, and it may signal some aspect of limb stiffness.

Animals↗

PubMed2004

Five basic muscle activation patterns account for muscle activity during human locomotion.

An electromyographic (EMG) activity pattern for individual muscles in the gait cycle exhibits a great deal of intersubject, intermuscle and context-dependent variability. Here we examined the issue of common underlying patterns by applying factor analysis to the set of EMG records obtained at different walking speeds and gravitational loads. To this end healthy subjects were asked to walk on a treadmill at speeds of 1, 2, 3 and 5 kmh(-1) as well as when 35-95% of the body weight was supported using a harness. We recorded from 12-16 ipsilateral leg and trunk muscles using both surface and intramuscular recording and determined the average, normalized EMG of each record for 10-15 consecutive step cycles. We identified five basic underlying factors or component waveforms that can account for about 90% of the total waveform variance across different muscles during normal gait. Furthermore, while activation patterns of individual muscles could vary dramatically with speed and gravitational load, both the limb kinematics and the basic EMG components displayed only limited changes. Thus, we found a systematic phase shift of all five factors with speed in the same direction as the shift in the onset of the swing phase. This tendency for the factors to be timed according to the lift-off event supports the idea that the origin of the gait cycle generation is the propulsion rather than heel strike event. The basic invariance of the factors with walking speed and with body weight unloading implies that a few oscillating circuits drive the active muscles to produce the locomotion kinematics. A flexible and dynamic distribution of these basic components to the muscles may result from various descending and proprioceptive signals that depend on the kinematic and kinetic demands of the movements.

Adult↗

PubMed2003

Dorsal spinocerebellar tract neurons respond to contralateral limb stepping.

Proprioceptive sensory information carried by spinocerebellar tracts provides a major input to the spinocerebellum, which has an important role in coordinating motor output for posture and locomotion. Until recently it was assumed that the information transmitted by the dorsal spinocerebellar tract (DSCT) was organized to represent single muscles or single joints in the ipsilateral hindlimb. Recent studies have shown, however, that DSCT activity represents global kinematic parameters of the hindlimb. We now present evidence that the DSCT neurons are also modulated by passive step-like movements of either hindlimb, implying they receive a bilateral sensory input. About two-thirds of 78 cells studied had significant responses to movements of the contralateral limb alone and about 70% responded differently to bipedal movements than to ipsilateral movement alone. The same basic behavior was observed in anesthetized, paralyzed cats and in unanesthetized, decerebrate cats, although decerebrate cats may have had larger responses on average. The results suggest that many DSCT cells may encode information about interlimb coordination.

Action Potentials↗

PubMed2003

Modulation of dorsal spinocerebellar responses to limb movement. I. Effect of serotonin.

Spinocerebellar neurons (DSCT) receive converging sensory information from various sensory receptors in the hindlimbs and lower trunk. Previous studies have shown that sensory processing by DSCT neurons results in a representation of global hindlimb kinematic parameters such as the length and the orientation of the limb axis. In addition to the sensory input, the DSCT circuitry also receives a descending input from the raphe nuclei in the brain stem. Recent studies have demonstrated that the raphe serotonergic terminals synapse directly on DSCT neurons and exert a differential modulatory influence on their sensory inputs. We examined the role of serotonergic modulation on the DSCT representation of hindlimb kinematic parameters by recording DSCT activity during passive hindlimb movements before and after perturbing serotonergic transmission. We used two types of perturbation: electrical stimulation of the raphe areas in the brain stem to release serotonin in the spinal cord (42 neurons) and intravenous administration of serotonergic agonists or antagonists, mostly the 5HTP2 antagonist ketanserin (30 neurons). We found that movement responses were altered in approximately 70% of the DSCT units studied with each protocol. Changes could include shifts in mean firing rate, increases or decreases in response amplitude, and changes in response waveform. We used a principal component analysis (PCA) to examine waveform components and to determine how they contributed to the response waveform changes caused by serotonin perturbation. Such changes could be explained by new or different response components that might indicate a modification in the data processing or by a different weighting of existing components that might indicate a modification of synaptic weighting. The results were consistent with the second alternative. We found that the same underlying response components could account for both control responses and those altered by serotonin perturbations. The observed changes in waveform could be entirely accounted for by a re-weighting of response components. In particular, the changes observed after raphe stimulation could be accounted for by selective changes in the weighting of the first principal component (PC) with only minor changes of the weighting of the second PC. Because these response components were shown previously to correlate with the limb axis orientation and length trajectories respectively, the finding is consistent with the idea that limb axis length and orientation information are processed separately within the spinal circuitry.

Animals↗

PubMed2003

Modulation of dorsal spinocerebellar responses to limb movement. II. Effect of sensory input.

Dorsal spinocerebellar tract (DSCT) neurons receive converging sensory inputs from muscle, skin, and joint receptors and their cerebellar projection is a product of the spinal sensory processing of movement-related information. We concluded earlier that DSCT activity relates to global rather than to local parameters of hindlimb postures and movement, specifically to a kinematic representation of the limb endpoint. The waveforms of principal components (PCs) derived from an ensemble of DSCT movement responses were found to correlate with either the waveform of the limb axis length or orientation trajectories. It was not clear, however, whether these global representations resulted from neural processing or from biomechanical factors. In this study, we perturbed the limb biomechanical factors by decoupling limb geometry from endpoint position during passively applied limb trajectories patterned after a step cycle. We used two types of perturbations: mechanical constraints that limited joint rotations and electrical stimulation of hindlimb muscles. We found that about half of the 89 cells studied showed statistically different response patterns during the perturbations. We compared the PCs of the altered responses with the PCs of the control responses, and found two basic results. With the joint constraints, >85% of the total variance in both control and changed responses was accounted for by the same five PCs that were also observed in the earlier study. The differences between altered and control responses could be fully accounted for by changes in the PC weighting, suggesting a modulation of global response components rather than an explicit representation of local parameters. With the muscle stimulation, only the first and third PCs were the same for the control and altered responses. The second PC was modified, and additional PCs were also required to account for the altered responses. This suggests that the stimulus parameters were specifically represented in the responses. The changes induced by both types of perturbation affected primarily the weighting or waveform of the second PC, which relates to the limb axis length trajectory. The results are consistent with the suggestion that information about limb orientation and length may be separately modulated.

Animals↗

PubMed2002

A single-camera method for three-dimensional video imaging.

We describe a novel method for recovering the three-dimensional (3D) point geometry of an object from images acquired with a single-camera. Typically, multiple cameras are used to record 3D geometry. Occasionally, however, there is a need to record 3D geometry when the use of multiple cameras is either too costly or impractical. The algorithm described here uses single-camera images and requires in addition that each marker on the object be linked to at least one other marker by a known distance. The linkage distances are used to recover information about the third dimension that would otherwise be lost in single-camera two-dimensional images. The utilities of the method are its low-cost, simplicity, and ease of calibration and implementation. We were able to estimate 3D distances and positions as accurately as with a commercially available multi-camera 3D system. This method may be useful in pilot studies to determine whether 3D imaging systems are required, or, it can serve as a low-cost alternative to multi-camera systems.

Animals↗

PubMed2002

Independent representations of limb axis length and orientation in spinocerebellar response components.

Dorsal spinocerebellar tract (DSCT) neurons transmit sensory signals to the cerebellum that encode global hindlimb parameters, such as the hindlimb end-point position and its direction of movement. Here we use a population analysis approach to examine further the characteristics of DSCT neuronal responses during continuous movements of the hind foot. We used a robot to move the hind paw of anesthetized cats through the trajectories of a step or a figure-8 footpath in a parasagittal plane. Extracellular recordings from 82 cells converted to cycle histograms provided the basis for a principal-component analysis to determine the common features of the DSCT movement responses. Five principal components (PCs) accounted for about 80% of the total variance in the waveforms across units. The first two PCs accounted for about 60% of the variance and they were highly robust across samples. We examined the relationship between the responses and limb kinematic parameters by correlating the PC waveforms with waveforms of the joint angle and limb axis trajectories using multivariate linear regression models. Each PC waveform could be at least partly explained by a linear relationship to joint-angle trajectories, but except for the first PC, they required multiple angles. However, the limb axis parameters more closely related to both the first and second PC waveforms. In fact, linear regression models with limb axis length and orientation trajectories as predictors explained 94% of the variance in both PCs, and each was related to a particular linear combination of position and velocity. The first PC correlated with the limb axis orientation and orientation velocity trajectories, whereas second PC with the length and length velocity trajectories. These combinations were found to correspond to the dynamics of muscle spindle responses. The first two PCs were also most representative of the data set since about half the DSCT responses could be at least 85% accounted for by weighted linear combinations of these two PCs. Higher-order PCs were unrelated to limb axis trajectories and accounted instead for different dynamic components of the responses. The findings imply that an explicit and independent representation of the limb axis length and orientation may be present at the lowest levels of sensory processing in the spinal cord.

Anesthesia↗

PubMed2002

Encoding of hindlimb kinematics by spinocerebellar circuitry.

Earlier work from our laboratory showed that principal component waveforms (PCs) from an ensemble of DSCT movement responses correlated with either the waveform of the limb axis length or orientation trajectories, suggesting that DSCT circuitry might elaborate an explicit representation of limb endpoint kinematics independent from limb geometry. In this study, we tested this idea by decoupling limb geometry from endpoint position with mechanical constraints that blocked the motion of the knee joint during step-like movements applied passively to the hindlimb of anesthetized cats. Only about half of the 50 cells studied showed statistically different response patterns when the limb was constrained compared to the unconstrained condition (control). However, the PC waveforms extracted from responses that showed significant changes with the knee constrained were found to be identical to those extracted from control responses. Instead, the differences between constrained and control responses could be accounted for by changes in the weighting of PCs suggesting a modulation of global response components rather than an explicit representation of local parameters.

Action Potentials↗

PubMed2001

Proprioception from a spinocerebellar perspective.

This review explores how proprioceptive sensory information is organized at spinal cord levels as it relates to a sense of body position and movement. The topic is considered in an historical context and develops a different framework that may be more in tune with current views of sensorimotor processing in other central nervous system structures. The dorsal spinocerebellar tract (DSCT) system is considered in detail as a model system that may be considered as an end point for the processing of proprioceptive sensory information in the spinal cord. An analysis of this system examines sensory processing at the lowest levels of synaptic connectivity with central neurons in the nervous system. The analysis leads to a framework for proprioception that involves a highly flexible network organization based in some way on whole limb kinematics. The functional organization underlying this framework originates with the biomechanical linkages in the limb that establish functional relationships among the limb segments. Afferent information from limb receptors is processed further through a distributed neural network in the spinal cord. The result is a global representation of hindlimb parameters rather than a muscle-by-muscle or joint-by-joint representation.

Animals↗

PubMed2000

Reference frames for spinal proprioception: limb endpoint based or joint-level based?

Many sensorimotor neurons in the CNS encode global parameters of limb movement and posture rather than specific muscle or joint parameters. Our investigations of spinocerebellar activity have demonstrated that these second-order spinal neurons also may encode proprioceptive information in a limb-based rather than joint-based reference frame. However, our finding that each foot position was determined by a unique combination of joint angles in the passive limb made it difficult to distinguish unequivocally between a limb-based and a joint-based representation. In this study, we decoupled foot position from limb geometry by applying mechanical constraints to individual hindlimb joints in anesthetized cats. We quantified the effect of the joint constraints on limb geometry by analyzing joint-angle covariance in the free and constrained conditions. One type of constraint, a rigid constraint of the knee angle, both changed the covariance pattern and significantly reduced the strength of joint-angle covariance. The other type, an elastic constraint of the ankle angle, changed only the covariance pattern and not its overall strength. We studied the effect of these constraints on the activity in 70 dorsal spinocerebellar tract (DSCT) neurons using a multivariate regression model, with limb axis length and orientation as predictors of neuronal activity. This model also included an experimental condition indicator variable that allowed significant intercept or slope changes in the relationships between foot position parameters and neuronal activity to be determined across conditions. The result of this analysis was that the spatial tuning of 37/70 neurons (53%) was unaffected by the constraints, suggesting that they were somehow able to signal foot position independently from the specific joint angles. We also investigated the extent to which cell activity represented individual joint angles by means of a regression model based on a linear combination of joint angles. A backward elimination of the insignificant predictors determined the set of independent joint angles that best described the neuronal activity for each experimental condition. Finally, by comparing the results of these two approaches, we could determine whether a DSCT neuron represented foot position, specific joint angles, or none of these variables consistently. We found that 10/70 neurons (14%) represented one or more specific joint-angles. The activity of another 27 neurons (39%) was significantly affected by limb geometry changes, but 33 neurons (47%) consistently elaborated a foot position representation in the coordinates of the limb axis.

Action Potentials↗

PubMed2000

Reference frames for spinal proprioception: kinematics based or kinetics based?

This second paper of the series deals with another issue regarding sensorimotor representations in the CNS that has received much attention, namely the relative weighting of kinematic and kinetic representations. The question we address here is the contribution of muscle tension afferent information in dorsal spinocerebellar tract (DSCT) sensory representations of foot position. In five anesthetized cats, we activated major hindlimb muscle groups using electrical stimulation of ventral root filaments while passively positioning of the left hind foot throughout its workspace. In general, as the parameters of the joint angle covariance planes indicated, muscle stimulation did not significantly change hindlimb geometry. We analyzed the effects of the muscle stimulation on DSCT neuronal activity within the framework of a kinematic-based representation of foot position. We used a multivariate regression model described in the companion paper, wherein indicators of the experimental condition were added as firing rate predictors along with the limb axis length and orientation to account for possible effects of muscle stimulation. The results indicated that the response gain of 35/59 neurons studied (59%) was not changed by the muscle activations, although most neurons showed some change in their overall firing level with stimulation of one or more muscles. Most of the neurons responded to pseudorandom stimulation of the same muscle groups with complex temporal patterns of activity. For a subpopulation of 42 neurons, we investigated the extent to which their representation of foot position was affected by a rigid constraint of the knee joint and at least one type of muscle stimulation. Although they could be divided into four subgroups based on significance level cutoffs for the constraint or stimulation effect, these effects were in fact quite distributed. However, when we examined the preferred directions of spatial tuning relative to the limb axis position, we found it was unchanged by muscle stimulation for most cells. Even in those cases in which response gain was altered by muscle stimulation, the cell's preferred direction generally was unaltered. The invariance of preferred direction with muscle stimulation lead us to the conclusion that the reference frame for DSCT coding may be based primarily on limb kinematics.

Action Potentials↗

PubMed1999

Low sensitivity of dorsal spinocerebellar neurons to limb movement speed.

This paper reports the effect of limb movement speed on dorsal spinocerebellar tract (DSCT) activity recorded while the cat hindlimb was passively moved through two types of foot trajectories (figure eight and step cycle) at different speeds. While nearly all the DSCT neurons sampled (151/159; 94.5%) were significantly modulated by the direction of foot movement in these trajectories, they were only modestly influenced by movement speed. We quantified the speed effect and also accounted for intrinsic cell variability by computing a variability index (VI) between pairs of responses to trajectories made either at the same or at different speeds. The distribution of same-speed VIs across cells indicated a mean variability of about 10% over a trajectory cycle, whereas the two-speed distributions indicated a mean change of about 25% for a two- to fourfold change in movement speed. We also examined the relative contribution of movement speed to the activity of each DSCT cell by means of a multivariate regression model that also included as predictors the position, movement direction, and interactions between movement and position. We found that 28 of 103 (27.2%) neurons were not sensitive to movement speed. The rest were modulated in varying degrees by changes in speed, and the speed modulation depended on limb position for most of them (54/75). Overall, DSCT speed sensitivity resembles the 0.3-power relationship used to describe the velocity sensitivity of muscle spindles for large muscle stretches. We examined this by recording muscle spindle activity during these passive foot trajectories and found that their speed sensitivity was within the range observed for the DSCT and explained by the 0.3-power law. In total, movement speed accounted for about 15% of the variance in DSCT activity across cells, while the directional component of movement accounted for about 45%. The results suggest a separate processing of sensory information about the two components of movement velocity: namely, its direction and magnitude.

Animals↗

PubMed1998

Spatial organization of proprioception in the cat spinocerebellum. Purkinje cell responses to passive foot rotation.

This study examines the spinocerebellar locations of Purkinje cells that responded to passive foot rotations at the ankle joint in anaesthetized cats. Using a novel approach for mapping the locations of recorded cells from several animals onto an unfolded two-dimensional representation of the cortex, we found that cells distributed throughout the anterior-posterior extent of the spinocerebellar cortex, except in the most medial parts corresponding to zones a and b, were responsive to ankle joint rotation. The cell distributions revealed a clustering according to their response amplitudes, which showed evidence for both parasagittal and transverse banding.

Animals↗

PubMed1997

Representation of multiple kinematic parameters of the cat hindlimb in spinocerebellar activity.

Dorsal spinocerebellar tract (DSCT) neurons have been shown to transmit signals related to hindlimb position and movement direction in the anesthetized cat. Because both parameters may be encoded by single neurons, we examined the extent to which their representations might occur sequentially or simultaneously by recording unit activity while the hindlimb was moved passively in the sagittal plane by a robot arm. A center-out/out-center paradigm moved the foot 2 cm from a given position radially to eight positions located 45 degrees apart, holding each position for 8 s. Another paradigm moved the foot along various paths to 20 positions distributed throughout most of the limb's workspace. With each paradigm, we could assess the activity related to foot position and the direction of movement to each position. Modulation of unit activity evoked by center-out/out-center movements was determined for each 1-s postmovement interval by use of a cosine tuning model that specified modulation amplitude and preferred direction. Of 125 units tested, 82.4% were significantly modulated (P < 0.05) according to this model. We assessed the relative contributions of position and movement by taking advantage of the fact that directional modulation following out-center movements to a common position could only be related to the movement, whereas that following the center-out movements related to both position and movement. The results suggested a simultaneous modulation by these two parameters. Each cell could be characterized by a similar preferred direction for position or movement modulation and the distribution of preferred directions across cells clustered significantly along an axis close to the limb axis. When the limb axis was rotated, the unit preferred directions rotated similarly, on average. Unexpectedly, we found the activity of more than half the cells to be modulated for > or = 8 s after out-center movements, implying a persistent movement-related activity well after a movement is completed. These findings were confirmed and extended with the second paradigm by using a multivariate regression model that included terms for position, movement, and their multiplicative interaction. The activity of 81.3% of the 97 neurons tested fit the model (R2 > 0.4, P < .0001); 31.6% were modulated exclusively by foot position, and 58.2% simultaneously by both position and movement, with significant interaction. We conclude from our results that DSCT neurons may be modulated simultaneously by limb position and movement, and their preferred directions tend to align with the limb axis. The modulation is interactive such that movement modulation amplitude depends on limb position, and many cells also retain a memory trace of recent movements. The results are discussed in terms of a possible role for the DSCT in encoding limb compliance.

Animals↗

PubMed1996

Temporal features of directional tuning by spinocerebellar neurons: relation to limb geometry.

1. We showed previously that neurons in the dorsal spinocerebellar tract (DSCT) may encode whole-limb parameters of movement and posture rather than localized proprioceptive information. Neurons were found to respond to hindlimb movements in the sagittal plane with maximum activity for foot placements in one direction and minimum activity for placements in the opposite direction. In contrast, movement direction is not specifically encoded by response activity when movement are restricted to a single joint. 2. We now describe the spatiotemporal characteristics of DSCT directional sensitivity for the responses of 267 neurons to small amplitude (0.5 cm) perturbations of the cat hindlimb. A small platform attached to the left hind foot was perturbed along four or eight directions in the sagittal plane, eliciting significant responses in 261 (98%) of the cells. The responses typically consisted of a sequence of peaks and troughs in poststimulus spike density lasting 150 ms or more following limb perturbation. 3. Peaks of activity in particular poststimulus intervals were broadly tuned for the direction of the perturbation, as determined by fitting the firing rates recorded in response to each perturbation direction to a cosine model. The parameters of the cosine model, namely the amplitude of modulation, the direction of maximum response, and the goodness of fit to the model, were computed for each 4 ms poststimulus interval. The parameters all showed the same tendency to wax and wane with respect to poststimulus time. For each period during which the cell activity was highly correlated with tuning model, the tuning indicated a different best direction. Thus each cell's directional tuning could be characterized by a set of tuning maxima associated with specific poststimulus times, when the amplitude of the tuning reached a local maximum and the fit to the cosine model was highly significant (R2 > 0.85). 4. Directions of the tuning maxima for the total population of cells were not uniformly distributed within particular poststimulus intervals. There was a statistically significant directional bias for upward directed perturbations in the poststimulus interval between 20 and 40 ms, followed by a period of downward bias from 45 to 55 ms. Between 60 and 85 ms, the distribution of tuning maxima was significantly skewed backward, whereas a very strong bias for the forward direction was present at about 100 ms. 5. Because the tuning was determined from responses to a very small perturbations of the limb in a given posture, it was not clear whether the responses were related to specific joint angles or muscle lengths, or whether they somehow represented the kinematics of the whole limb. To address this point, we examined the responses of 95 cells in two animals that were each tested in two different limb positions. One position was an approximation of the normal standing position. The other position consisted of a shortening of the limb axis (with major changes in all joint angles) in one animal, or a rotation of the limb axis backward (with little change in joint angles) in the other. 6. We compared each cell's responses to the same perturbations applied in the two limb positions and found they could be identical, scaled in time or magnitude, or completely different in the two positions. A greater percentage of cells with different responses was found in the experiment with the limb axis rotated. In the other experiment, in which there were major differences in joint angles in the two positions, the responses were mostly the same or scaled in time in the two positions. We also determined the population directional biases for the two positions in each experiment, and found that phase differences between the vectors representing population biases for the two positions were minimized when they were measured relative to the orientation of the limb axis (limb coordinates) rather than to the extrinsic vertical (lab coordinates). 7.

Animals↗