Vibration signals from the FT joint can induce phase transitions in both directions in motoneuron pools of the stick insect walking system

The influence of vibratory signals from the femoral chordotonal organ fCO on the activities of muscles and motoneurons in the three main leg joints of the stick insect leg, i.e., the thoraco-coxal (TC) joint, the coxa-trochanteral (CT) joint, and the femur-tibia (FT) joint, was investigated when the animal was in the active behavioral state. Vibration stimuli induced a switch in motor activity (phase transition), for example, in the FT joint motor activity switched from flexor tibiae to extensor tibiae or vice versa. Similarly, fCO vibration induced phase transitions in both directions between the motoneuron pools of the TC joint and the CT joint. There was no correlation between the directions of phase transition in different joints. Vibration stimuli presented during simultaneous fCO elongation terminated the reflex reversal motor pattern in the FT joint prematurely by activating extensor and inactivating flexor tibiae motoneurons. In legs with freely moving tibia, fCO vibration promoted phase transitions in tibial movement. Furthermore, ground vibration promoted stance-swing transitions as long as the leg was not close to its anterior extreme position during stepping. Our results provide evidence that, in the active behavioral state of the stick insect, vibration signals can access the rhythm generating or bistable networks of the three main leg joints and can promote phase transitions in motor activity in both directions. The results substantiate earlier findings on the modular structure of the single-leg walking pattern generator and indicate a new mechanism of how sensory influence can contribute to the synchronization of phase transitions in adjacent leg joints independent of the walking direction.     

Role of presynaptic inputs to proprioceptive afferents in tuning sensorimotor pathways of an insect joint control network

The femur-tibia (FT) joint of insects is governed by a neuronal network that controls activity in tibial motoneurons by processing sensory information about tibial position and movement provided by afferents of the femoral chordotonal organ (fCO). We show that central arborizations of fCO afferents receive presynaptic depolarizing synaptic inputs. With an average resting potential of −71.9 ± 3.72 mV (n = 10), the reversal potential of these potentials is on average −62.8 ± 2.3 mV (n = 5). These synaptic potentials occur either spontaneously or are related to movements at the fCO. They are thus induced by signals from other fCO afferents. Therefore, the synaptic inputs to fCO afferents are specific and depend on the sensitivity of the individual afferent affected. These potentials reduce the amplitude of concurrent afferent action potentials. Bath application of picrotoxin, a noncompetitive blocker of chloride ion channels, blocks these potentials, which indicates that they are mediated by chloride ions. From these results, it is concluded that these are inhibitory synaptic potentials generated in the central terminals of fCO afferents. Pharmacologic removal of these potentials affects the tuning of the complete FT control system. Following removal, the dependence of the FT control loop on the tibia position increases relative to the dependency on the velocity of tibia movements. This is due to changes in the relative weighting of the position and velocity signals in the parallel interneuronal pathways from the fCO onto tibial motoneurons. Consequently, the FT joint is no longer able to perform twig mimesis (i.e., catalepsy), which is known to rely on a low position compared to the high-velocity dependency of the FT control system. © 1997 John Wiley & Sons, Inc. J Neurobiol 32: 359–376, 1997.     

Octopamine effects mimick state-dependent changes in a proprioceptive feedback system

The modulatory actions of the biogenic amine octopamine on the femur tibia (FT) control loop in the stick insect Carausius morosus were examined. The response properties of the FT control loop were determined under open loop conditions. Mechanical stimulation of the femoral chordotonal organ (fCO) was the input and tibial movement and motoneuronal activity were measured as the output of the system. Following octopamine injection into the hemolymph of intact, inactive animals, two consecutive phases occurred at the behavioral level. Octopamine caused initially an activation of the animal. During this first phase (3.5–12 min duration) the response properties of the FT control loop were similar to those found in animals that were activated by tactile stimuli under normal conditions. Afterward, animals became inactive. During this second phase (15–20 min duration), the gain of the control loop was zero and no resistance reflex in the FT joint was generated in response to fCO stimulation. However, active movements of the tibia could still be elicited. As we could show in restrained animals, where dl-octopamine was applied topically onto the undesheated mesothoracic ganglion, the complete suppression of the resistance reflex on the motoneuronal level was dose dependent starting at concentrations of 5 ± 10^?3 M octopamine. We could show that octopamine specifically suppressed the pathways involved in the resistance reflex, while feedback loop responses to fCO stimuli typical for active animals could still be elicited. Our results indicate that an increase in the octopamine concentration mimicks activation of the animal: Properties being characteristic for the control of the FT joint in the inactive animal are inhibited by octopamine, while properties of the FT control loop typical for the active animal appear to be facilitated following octopamine injection. The results clearly demonstrate that different pathways in the neuronal network underlying the FT control loop are involved in the responses of the control loop to fCO stimuli in the inactive and active behavioral states of the stick insect. © 1993 John Wiley & Sons, Inc.     

Intersegmental transfer of sensory signals in the stick insect leg muscle control system

Intersegmental coordination during locomotion in legged animals arises from mechanical couplings and the exchange of neuronal information between legs. Here, the information flow from a single leg sense organ of the stick insect Cuniculina impigra onto motoneurons and interneurons of other legs was investigated. The femoral chordotonal organ (fCO) of the right middle leg, which measures posture and movement of the femur-tibia joint, was stimulated, and the responses of the tibial motoneuron pools of the other legs were recorded. In resting animals, fCO signals did not affect motoneuronal activity in neighboring legs. When the locomotor system was activated and antagonistic motoneurons were bursting in alternation, fCO stimuli facilitated transitions from flexor to extensor activity and vice versa in the contralateral leg. Following pharmacological treatment with picrotoxin, a blocker of GABA-ergic inhibition, the tibial motoneurons of all legs showed specific responses to signals from the middle leg fCO. For the contralateral middle leg we show that fCO signals encoding velocity and position of the tibia were processed by those identified local premotor nonspiking interneurons known to contribute to posture and movement control during standing and voluntary leg movements. Interneurons received both excitatory and inhibitory inputs, so that the response of some interneurons supported the motoneuronal output, while others opposed it. Our results demonstrate that sensory information from the fCO specifically affects the motoneuronal activity of other legs and that the layer of premotor nonspiking interneurons is a site of interaction between local proprioceptive sensory signals and proprioceptive signals from other legs.     

Identified nonspiking interneurons in leg reflexes and during walking in the stick insect

In the stick insect Carausius morosus identified nonspiking interneurons (type E4) were investigated in the mesothoracic ganglion during intraand intersegmental reflexes and during searching and walking.In the standing and in the actively moving animal interneurons of type E4 drive the excitatory extensor tibiae motoneurons, up to four excitatory protractor coxae motoneurons, and the common inhibitor 1 motoneuron (Figs. 1–4).In the standing animal a depolarization of this type of interneuron is induced by tactile stimuli to the tarsi of the ipsilateral front, middle and hind legs (Fig. 5). This response precedes and accompanies the observed activation of the affected middle leg motoneurons. The same is true when compensatory leg placement reflexes are elicited by tactile stimuli given to the tarsi of the legs (Fig. 6).During forward walking the membrane potential of interneurons of type E4 is strongly modulated in the step-cycle (Figs.8–10). The peak depolarization occurs at the transition from stance to swing. The oscillations in membrane potential are correlated with the activity profile of the extensor motoneurons and the common inhibitor 1 (Fig. 9).The described properties of interneuron type E4 in the actively behaving animal show that these interneurons are involved in the organization and coordination of the motor output of the proximal leg joints during reflex movements and during walking.Abbreviations CLP reflex, compensatory leg placement reflex - CI1 common inhibitor I motoneuron - fCO femoral chordotonal organ - FETi fast extensor tibiae motoneuron - FT femur-tibia - SETi slow extensor tibiae motoneuron     

Octopaminergic modulation of the femoral chordotonal organ in the stick insect

The modulatory action of DL-octopamine on the multicellular femoral chordotonal organ (fCO) of the stick insect Cuniculina impigra was examined using extracellular recordings from the fCO nerve and intracellular recordings from single sensory neurons. To determine the octopaminergic effect on position, velocity and/or acceleration sensitivity of mechanoreceptors direct mechanical stimulations with defined parameters were applied to the fCO apodeme. The spontaneous activity in the fCO nerve was enhanced in a dose-dependent manner by octopamine (threshold at 5 × 10^?7 M). This was based on enhanced activity of position sensitive neurons as the fCO activity for all position stimuli was shifted to higher values. Intracellular recordings of single sensory cells showed that velocity-sensitivity of single sensory cells was not altered by octopamine. Similarly, the response of fCO afferents to ramp-and-hold stimuli revealed that acceleration sensitivity was unaffected by octopamine. The observed alterations in the fCO activity indicate that responses to static stimuli are enhanced while responses to motion stimuli are not affected by octopamine. These findings suggest that the octopaminergic modulation of the fCO may affect the animals' posture and those leg movements that rely on position information.     

Distributed processing on the basis of parallel and antagonistic pathways simulation of the femur-tibia control system in the stick insect

In inactive stick insects, sensory information from the femoral chordotonal organ (fCO) about position and movement of the femur-tibia joint is transferred via local nonspiking interneurons onto extensor and flexor tibiae motoneurons. Information is processed by the interaction of antagonistic parallel pathways at two levels: (1) at the input side of the nonspiking interneurons and (2) at the input side of the motoneurons. We tested by a combination of physiological experiments and computer simulation whether the known network topology and the properties of its elements are sufficient to explain the generation of the motor output in response to passive joint movements, that is resistance reflexes. In reinvestigating the quantitative characteristics of interneuronal pathways we identified 10 distinct types of nonspiking interneurons. Synaptic inputs from fCO afferents onto these interneurons are direct excitatory and indirect inhibitory. These connections were investigated with respect to position and velocity signals from the fCO. The results were introduced in the network simulation. The motor output of the simulation has the same characteristics as the real system, even when particular types of interneurons were removed in the simulation and the real system.     

Physiological changes in central neuronal pathways contributing to the generation of a reflex reversal

1. In the stick insect Carausius morosus the properties of the neuronal network governing the femur-tibia joint depend on the behavioral state of the animal. In the inactive animal flexion of the femur-tibia joint results in the generation of a resistance reflex, while in the active animal the same stimulus induces the so-called active reaction, the first part of which is a reflex reversal.
2. Recordings from motoneurons innervating the extensor tibiae muscle indicated that their time course of activity during the active reaction is due to inputs from intercalated pathways. We therefore investigated the role of identified nonspiking interneurons that transmit sensory information from the chordotonal organ onto the extensor motoneurons in the inactive animal. We can show that (i) the nonspiking interneurons received altered inputs whereas (ii) they provided qualitatively the same synaptic drive onto leg motoneurons.
3. From our results it is clear that (i) neuronal pathways contributing to the generation of the resistance reflex are also involved in the generation of the reflex reversal in the same control loop, (ii) thereby adopting the same principle of information processing (parliamentary principle), because both, supporting and opposing pathways contribute to the generation of the motor output.

     

Dominance of local sensory signals over inter-segmental effects in a motor system: experiments

Legged locomotion requires that information local to one leg, and inter-segmental signals coming from the other legs are processed appropriately to establish a coordinated walking pattern. However, very little is known about the relative importance of local and inter-segmental signals when they converge upon the central pattern generators (CPGs) of different leg joints. We investigated this question on the CPG of the middle leg coxa?Ctrochanter (CTr)-joint of the stick insect which is responsible for lifting and lowering the leg. We used a semi-intact preparation with an intact front leg stepping on a treadmill, and simultaneously stimulated load sensors of the middle leg. We found that middle leg load signals induce bursts in the middle leg depressor motoneurons (MNs). The same local load signals could also elicit rhythmic activity in the CPG of the middle leg CTr-joint when the stimulation of middle leg load sensors coincided with front leg stepping. However, the influence of front leg stepping was generally weak such that front leg stepping alone was only rarely accompanied by switching between middle leg levator and depressor MN activity. We therefore conclude that the impact of the local sensory signals on the levator?Cdepressor motor system is stronger than the inter-segmental influence through front leg stepping.     

Encoding of force increases and decreases by tibial campaniform sensilla in the stick insect, <Emphasis Type="Italic">Carausius morosus</Emphasis>

Detection of force increases and decreases is important in motor control. Experiments were performed to characterize the structure and responses of tibial campaniform sensilla, receptors that encode forces through cuticular strains, in the middle leg of the stick insect (Carausius morosus). The sensilla consist of distinct subgroups. Group 6A sensilla are located 0.3 mm distal to the femoro-tibial joint and have oval shaped cuticular caps. Group 6B receptors are 1 mm distal to the joint and have round caps. All sensilla show directional, phasico-tonic responses to forces applied to the tibia in the plane of joint movement. Group 6B sensilla respond to force increases in the direction of joint extension while Group 6A receptors discharge when those forces decrease. Forces applied in the direction of joint flexion produce the reverse pattern of sensory discharge. All receptors accurately encode the rate of change of force increments and decrements. Contractions of tibial muscles also produce selective, directional sensory discharges. The subgroups differ in their reflex effects: Group 6B receptors excite and Group 6A sensilla inhibit tibial extensor and trochanteral depressor motoneurons. The tibial campaniform sensilla can, therefore, encode force increases or decreases and aid in adapting motor outputs to changes in load.     

Dominance of local sensory signals over inter-segmental effects in a motor system: modeling studies

Recent experiments, reported in the accompanying paper, have supplied key data on the impact afferent excitation has on the activity of the levator?Cdepressor motor system of an extremity in the stick insect. The main finding was that, stimulation of the campaniform sensillae of the partially amputated middle leg in an animal where all other but one front leg had been removed, had a dominating effect over that of the stepping ipsilateral front leg. In fact, the latter effect was minute compared to the former. In this article, we propose a local network that involves the neuronal part of the levator?Cdepressor motor system and use it to elucidate the mechanisms that underlie the generation of neuronal activity in the experiments. In particular, we show that by appropriately modulating the activity in the neurons of the central pattern generator of the levator?Cdepressor motor system, we obtain activity patterns of the motoneurons in the model that closely resemble those found in extracellular recordings in the stick insect. In addition, our model predicts specific properties of these records which depend on the stimuli applied to the stick insect leg. We also discuss our results on the segmental mechanisms in the context of inter-segmental coordination.     

Synaptic connections between sensory afferents and the common inhibitory motoneuron in crayfish

The sensory inputs to the common inhibitory motoneuron that innervates every leg muscle of the crayfish Procambarus clarkii (Girard) were analyzed by performing intracellular recordings from its neurite within the neuropil of the 5th thoracic ganglion. Two types of sensory inputs involved in locomotion were studied, those from a movement coding proprioceptor (the coxobasal chordotonal organ) and those from sensory neu rons coding contact forces exerted at the tip of the leg on the substrate (the dactyl sensory afferents). Sinusoidal movements applied to the chordotonal organ strand induced a stable biphasic response in the common inhibitory motoneuron that consisted of bursts of spikes during release and stretch of the strand, corresponding to raising and lowering of the leg, respectively. Using ramp movements imposed on the chordotonal strand, we demonstrated that only movement-coding chordotonal afferents produce excitatory post-synaptic potentials in the common inhibitory motoneuron; these connections are monosynaptic. Mechanical or electrical stimulation of the dactyl sensory afferents resulted in an increase in the tonic discharge of the common inhibitory motoneuron through polysynaptic excitatory pathways. These two types of sensory cues reinforce the central command of the common inhibitory motoneuron and contribute to enhancing its activity during leg movements, and thus facilitate the relaxation of tonic muscle fibres during locomotion.Abbreviations ADR anterior distal root - A Lev anterior levator nerve - CB coxo-basipodite joint - CBCO coxo-basal chordotonal organ - CI common inhibitory motoneuron - Dep depressor nerve - DSA dactyl sensory afferents - EPSP excitatory post-synaptic potential - IN interneuron - MN motoneuron - PDR posterior distal root - P Lev posterior levator nerve - Pro promotor nerve - Rem remotor nerve     

The antennal motor system of the stick insect Carausius morosus: anatomy and antennal movement pattern during walking

The stick insect Carausius morosus continuously moves its antennae during locomotion. Active antennal movements may reflect employment of antennae as tactile probes. Therefore, this study treats two basic aspects of the antennal motor system: First, the anatomy of antennal joints, muscles, nerves and motoneurons is described and discussed in comparison with other species. Second, the typical movement pattern of the antennae is analysed, and its spatio-temporal coordination with leg movements described. Each antenna is moved by two single-axis hinge joints. The proximal head-scape joint is controlled by two levator muscles and a three-partite depressor muscle. The distal scape-pedicel joint is controlled by an antagonistic abductor/ adductor pair. Three nerves innervate the antennal musculature, containing axons of 14-17 motoneurons, including one common inhibitor. During walking, the pattern of antennal movement is rhythmic and spatiotemporally coupled with leg movements. The antennal abduction/adduction cycle leads the protraction/retraction cycle of the ipsilateral front leg with a stable phase shift. During one abduction/adduction cycle there are typically two levation/depression cycles, however, with less strict temporal coupling than the horizontal component. Predictions of antennal contacts with square obstacles to occur before leg contacts match behavioural performance, indicating a potential role of active antennal movements in obstacle detection.     

Monosynaptic connections mediate resistance reflex in crayfish (Procambarus clarkii) walking legs

Summary In crustacean walking legs, the coxo-basipodite chordotonal organ (CB) composed of about 50 sensory cells, evokes a resistance reflex in the levator (Lev) and depressor (Dep) muscles responsible for the movements of the coxo-basipodite joint where it is located. Mechanical stimulation of the CB strand and electrical stimulation of its sensory nerve have been performed along with systematic intracellular recordings from CB terminals (CB T) and levator (Lev) or depressor (Dep) motoneurons (MNs) in order to study their connections. Measurements of conduction times in the CB nerve demonstrated different pools of sensory fibres, the fastest of which reach the ganglion in 2.5 ms. During imposed movements to the CB strand, intracellularly recorded Lev or Dep MN display EPSPs that are correlated to spikes in the CB nerve, their delays are incompatible with a polysynaptic pathway. Systematic stimulation of the CB nerve demonstrates that about 4 to 8 CB fibres are connected with each Lev or Dep MN. Classical tests for monosynaptic connections indicate that EPSPs occurring between 3 ms and 6 ms correspond mainly to monosynaptic connections with CB T, whereas IPSPs (the latencies of which are above 12 ms) are polysynaptic. In spite of the high selectivity of the CB T onto MNs, eight simultaneous intracellular recordings of coupled CB T and MN (out of more than 300 MNs penetrated) have allowed a direct measurement of synaptic delays (less than 1 ms). The functional significance of these results is discussed in relation to the proprioceptive control of locomotor movements.Abbreviations CB Coxo-basipodite chordotonal organ - CB n CB sensory nerve - CB T CB sensory terminal - Dep depressor - Lev levator - MN motoneuron     

Thoracic leg motoneurons in the isolated CNS of adult Manduca produce patterned activity in response to pilocarpine,which is distinct from that produced in larvae

In the hawkmoth, Manduca sexta, thoracic leg motoneurons survive the degeneration of the larval leg muscles to innervate new muscles of the adult legs. The same motoneurons, therefore, participate in the very different modes of terrestrial locomotion that are used by larvae (crawling) and adults (walking). Consequently, changes in locomotor behavior may reflect changes in both the CNS and periphery. The present study was undertaken to determine whether motor patterns produced by the isolated CNS of adult Manduca, in the absence of sensory feedback, would resemble adult specific patterns of coordination. Pilocarpine, which evokes a fictive crawling motor pattern from the isolated larval CNS, also evoked robust patterned activity from leg motoneurons in the isolated adult CNS. As in the larva, levator and depressor motoneurons innervating the same leg were active in antiphase. Unlike fictive crawling, however, bursts of activity in levator or depressor motoneurons of one leg alternated with bursts in the homologous motoneurons innervating the opposite leg of the same segment and the leg on the same side in the adjacent segment. The most common mode of intersegmental activity generated by the isolated adult CNS resembled an alternating tripod gait, which is displayed, albeit infrequently, during walking in intact adult Manduca. A detailed analysis revealed specific differences between the patterned motor activity that is evoked from the isolated adult CNS and activity patterns observed during walking in intact animals, perhaps indicating an important role for sensory feedback. Nevertheless, the basic similarity to adult walking and clear distinctions from the larval fictive crawling pattern suggest that changes within the CNS contribute to alterations in locomotor activity during metamorphosis. Electronic Publication     

Motor patterns during kicking movements in the locust

Locusts (Schistocerca gregaria) use a distinctive motor pattern to extend the tibia of a hind leg rapidly in a kick. The necessary force is generated by an almost isometric contraction of the extensor tibiae muscle restrained by the co-contraction of the flexor tibiae (co-contraction phase) and aided by the mechanics of the femoro-tibial joint. The stored energy is delivered suddenly when the flexor muscle is inhibited. This paper analyses the activity of motor neurons to the major hind leg muscles during kicking, and relates it to tibial movements and the resultant forces.During the co-contraction phase flexor tibiae motor neurons are driven by apparently common sources of synaptic inputs to depolarized plateaus at which they spike. The two excitatory extensor motor neurons are also depolarized by similar patterns of synaptic inputs, but with the slow producing more spikes at higher frequencies than the fast. Trochanteral depressors spike at high frequency, the single levator tarsi at low frequency, and common inhibitors 2 and 3 spike sporadically. Trochanteral levators, depressor tarsi, and a retractor unguis motor neuron are hyperpolarized.Before the tibia extends all flexor motor neurons are hyperpolarized simultaneously, two common inhibitors, and the levator trochanter and depressor tarsi motor neurons are depolarized. Later, but still before the tibial movement starts, the extensor tibiae and levator tarsi motor neurons are hyperpolarized. After the movement has started, the extensor motor neurons are hyperpolarized further and the depressor trochanteris motor neurons are also hyperpolarized, indicating a contribution of both central and sensory feedback pathways.Variations in the duration of the co-contraction of almost twenty-fold, and in the number of spikes in the fast extensor tibiae motor neuron from 2–50 produce a spectrum of tibial extensions ranging from slow and weak, to rapid and powerful. Flexibility in the networks producing the motor pattern therefore results in a range of movements suited to the fluctuating requirements of the animal.     

Convergence of load and movement information onto leg motoneurons in insects

The interaction of two feedback loops was investigated: one regulating cuticular stress in the stick insect's leg and the other controlling leg posture. Exclusive stimulation of either of the two relevant sense organs, the load-sensitive trochantero-femoral campaniform sensilla (CS) or the position-/movement-sensitive ventral coxal hairplate (cxHPv), elicits resistance reflex responses in the retractor and the protractor coxae motoneuron pools. Concurrent application of both stimulus modalities reveals that the strength of the postural feedback response is dependent on sign and amplitude of the load feedback response and vice versa. This superposition of the two reflex responses appears to be non-linear. The results indicate that the CS information is underlying a force control function in this six-legged animal. It is hypothesized that the force control of each single leg could help to optimize the force distribution of the six-legged system, even - due to the mechanical coupling - without explicit neuronal pathways. On the level of the single leg control it was studied whether the different information provided by the two feedback transducers converge on the level of retractor coxae motoneurons or whether this information is fully preprocessed at the level of premotor interneurons. It is shown here that the hairplate afferents make direct, excitatory connections with the retractor motoneurons. Studies of the motoneurons' membrane conductances during exclusive CS stimulation reveal that both, excitatory as well as inhibitory synaptic drive is delivered onto the retractor motoneurons. Thus, the motoneuronal membrane is shown to be an important stage for the sensor fusion of the two modalities.     

Coactivation of leg reflexes in the stick insect

Each leg of a standing stick insect acts as a height controller. The leg contains several joints. Most of these joints are known to be controlled by feedback loops which are the basis of resistance reflexes (review Bässler 1983). This leads to the question of whether the resistance reflex of the whole leg can be understood as a simple, vectorial sum of the individual reflexes provided by the different joints, or whether additional properties emerge by simultaneous stimulation of several joints. Force measurements were performed while passively moving the middle leg tarsus of a fixed stick insect (Carausius morosus) stepwise to different positions. From the dynamic and static forces the torques developed by each joint were calculated. They were compared with the torques developed when only a single joint was moved by the same amount. The comparison shows that for a large range of positions there are no differences between both situations. Differences occur in two cases. First, the muscle system controlling the coxa-trochanter joint seems to be more strongly excited when the entire leg is moved than when only the one joint is moved. This change increases the linearity of the whole system for small deviations from the zero position. Second, the torque developed by the extensor tibiae system for negative steps (corresponding to increased body height), and the levator of coxa and trochanter for positive steps, decreases rather than increases when the whole leg is moved to extreme positions. This contributes to a decrease in the slope of the force-height characteristic and thus to a more non-linear behaviour of the whole system for the extreme positions. It is well known that the amplification factors of resistance reflexes in the leg show a large variation (Bässler 1972a; Kittmann 1991). Our results indicate that any change of the amplification factor influences the reflexes in all leg joints in the same way.     

Information processing in the femur-tibia control loop of stick insects

The complicated response characteristics of the identified nonspiking interneuron type E4 upon elongation stimuli to the femoral chordotonal organ (fCO) can be obtained by a computer simulation using the neuronal network simulator BioSim, if the following assumptions were introduced: (1) The interneurons receive direct excitatory input from position- and velocity-sensitive fCO afferents but also, in parallel delayed inhibition from the same velocity-sensitive afferents. (2) Position-sensitive afferents in part show adaptation with a rather long time-constant. A subsequent experimental analysis demonstrated that all these assumptions fit the reality: (1) Interneurons of type E4 receive direct excitatory input from fCO afferents. (2) Interneurons of type E4 are affected by velocity dependent delayed inhibitory inputs from the fCO. (3) The fCO does contain adapting position-sensitive sensory neurons, which have not been described before. The described principle of the information processing is also able to generate the response in interneurons of type E6 with less steep amplitude-velocity characteristic due to a different weighting of the direct excitation and delayed inhibition.Abbreviations EPSP excitatory postsynaptic potential - FETi fast extensor tibiae motor neuron - fCO femoral chordotonal organ - FT-control loop femur-tibia control loop - IPSP inhibitory postsynaptic potential - SETi slow extensor tibiae motor neuron     

Direct excitation of nonspiking local interneurones by exteroceptors underlies tactile reflexes in the locust

Summary Tactile stimulation of a leg of the locustSchistocerca gregaria can lead to specific reflex movements of that leg. At the same time nonspiking interneurones that are presynaptic to the participating motor neurones are excited or inhibited, suggesting that they are directly involved in these reflexes. The afferent pathways mediating these effects have been examined by recording from individual afferents and nonspiking interneurones.Afferent spikes fromtrichoid orcampaniform sensilla on specific regions of a leg evoke chemically-mediated EPSPs with a constant central latency of about 1.5 ms in certain nonspiking interneurones. The branches of an interneurone and the afferents from which it receives inputs overlap in the neuropil of the ganglion.No afferents have been found to evoke IPSPs directly in the nonspiking interneurones. Instead the inhibition is caused by a population of spiking local interneurones that are themselves excited directly by the afferents, and whose spikes evoke IPSPs in certain nonspiking interneurones.The tactile reflexes can involve movements about one or more joints of the leg, and these coordinated responses are explained by the participation of specific nonspiking interneurones that distribute the sensory inputs to the appropriate sets of motor neurones. For example, when hairs on the dorsal surface of a tarsus are touched, the tarsus is levated. This reflex involves nonspiking local interneurones which are excited directly by these hair afferents and which make direct excitatory connections with the single levator tarsi motor neurone.