Study of different kinds of locomotor movements in rats

The kinematics and electromyographic activity of the hind limb muscles of intact rats fixed in a special frame were investigated during locomotor movements of different kinds. A change in the external conditions determining the degree of limb loading (the presence or absence of support, and so on) was shown to lead to changes in the pattern and (or) amplitude of the movements. Six types of locomotion were distinguished, and in accordance with the kinematics of the hind limb movements these can be divided into two types: swimming and stepping. The analysis showed marked variability of the parameters (frequency, duration of the swing phase and of the support phase) of the different locomotor movements.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 17, No. 2, pp. 183–189, March–April, 1985.     

Kinematics of different types of locomotor movements in the deafferented rat

The kinematics of rat hindlimb movements were assessed and compared pre- and post-deafferentation during swimming, forelimb treadmill locomotion plus hindlimb swimming motion, and walking using all four limbs. All types of locomotion were characterized by an increase in the frequency of locomotor rhythm and reduced amplitude of motion at the hindlimb joints following deafferentation. The reduced change observed in the angle of the coxofemoral joint, indicative of a horizontal component in locomotor motion, was mainly brought about by less marked extension. This would confirm evidence indicating that increased load on the extremities, with its ensuing naturally-occurring afferent outflow, is accompanied by a reduced locomotor motion rate and a rise in the amplitude of the latter due to intensified extension of the limb. The increased forward carriage of the hind limb seen during the transition to four-legged locomotion persisted after deafferentation; this may be considered a sign of coordination amongst the limbs. Deafferentation led to a reduction in the MEG of muscle activity, which was found to be lowest in swimming and highest during walking. The role of the afferent inflow in shaping different types of locomotor motion is evaluated.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 19, No. 4, pp. 520–525, July–August, 1987.     

Reflex component of the swing phase: A comparative analysis of rat locomotion before and after deafferentation

A comparative analysis was made of the kinematics of movement and EMG activity during different types of locomotion before and after bilateral deafferentation of segments L₁-S₂ of the rat spinal cord. It was found that deafferentation is accompanied by a reduction in the amplitude of locomotor movements and by a delay in both the initiation and increase in duration of flexion in the knee and ankle joints during the swing phase, without producing much effect on the time course of hip joint flexion. An increase in the F period of the swing phase, at its lowest during swimming and highest during stepping, was also discovered, which accordingly rose in step with increasingly deficient afferent inflow. Flexor activity rose especially noticeably during dragging on the limb in the swing phase post-deafferentation. The role of peripheral afferent influence in shaping the F (swing) phase is discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 19, No. 5, pp. 654–659, September–October, 1987.     

Role of afferent activity in the generation of stepping movements

Efferent fibers of the hind limbs were divided and electrical activity of a filament from the ventral root of S1 was recorded in experiments on mesencephalic cats capable of locomotion in response to stimulation of the "locomotor region" of the midbrain. In response to weak stimulation of the locomotor region, when the forelimbs were not performing stepping movements, regular waves of activity appeared in the filament with a period close to the duration of the step during walking (0.5–1.0 sec). This periodic process was largely dependent on the tonic afferent inflow: various extero- and interoceptive stimuli applied to the hind limb could change the period of generation or abolish it. Active stepping movements of the forelimbs as well as passive movements of the hind limbs led to synchronization of activity in the filament with these movements. After division of the afferent fibers to the hind limbs the animals performed one or two steps in response to stimulation of the dorsal root of S1 by a short series of pulses. They could also perform independent stepping movements of the hind limb if 15–30% of the fibers in the dorsal root of L7 remained intact.M. V. Lomonosov Moscow State University. Institute of Problems of Information Transmission, Academy of Sciences of the USSR, Moscow. Translated from Neirofiziologiya, Vol. 4, No. 4, pp. 401–409, 1972.     

Classification of lumbosacral neurons by their discharge pattern during evoked locomotion

Unit activity was recorded in the lumbosacral division of the spinal cord during evoked locomotion in mesencephalic cats with the afferent fibers from their hind limbs intact or divided. If the afferent fibers were intact, all neurons recorded showed modulation of activity during locomotion in the rhythm of stepping movements. In experiments on cats with afferent fibers from the hind limbs divided modulation was absent in 30% of neurons, while in the modulated neurons, the frequencies in the excitation phase were approximately the same as when the limb innervation was intact. Modulation of activity in some neurons occurred in response to stimulation of the locomotor region even before stepping movements began. The tuning of the spinal generator of stepping movements is discussed.M. V. Lomonosov Moscow State University. Institute of Problems in Information Transmission, Academy of Sciences of the USSR, Moscow. Translated from Neirofiziologiya, Vol. 4, No. 4, pp. 410–417, July–August, 1972.     

Phase-dependent changes in dorsal root potential during actual locomotion in rats

Fluctuations in dorsal root potential (DRP) were investigated in trials on white rats during two types of locomotion, differing in the intensity of afferent flow (swimming and walking). Two negative waves of DRP were observed corresponding to the stance (or propulsive) phase and the swing (or transfer) phase within a single locomotor cycle. Whereas DRP had risen primarily during the stroke phase with increased intensity during swimming, it increased during the standing phase in walking. A relationship was revealed between the amplitude of DRP and the intensity of afferent flow apparent during passive displacement of the limb, as well as locomotion. It is concluded that DRP waves are mainly due to influences from peripheral afferents during actual locomotion.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 20, No. 3, pp. 333–340, May–June, 1988.     

Limb movement,intensity of integral afferent impulses from limb receptors,and level of primary afferent terminal polarization during locomotion in cats decerebrated at high level

The relationship between parameters of electrical muscle activity, changes at hindlimb joint angles, intensity of integral afferent flow, and dorsal root potential during real-life locomotion was investigated in cats decerebrated at high level. Characteristics of rear limb movements before and after deafferentation were described. It was found that afferent activity during locomotion motion consists, of two components — a tonic and a periodic phasic stage. Three main waves may be distinguished in the latter, each of which gives rise to associated changes in the level of primary afferent terminal polarization. These changes in turn are summated with the effects produced by the central generator. Correlations, between the parameters of these processes were investigated and the mechanisms underlying afferent control of locomotion generator function discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 20, No. 1, pp. 119–127, January–February, 1988.     

System identification of muscle–joint interactions of the cat hind limb during locomotion

Neurophysiological experiments in walking cats have shown that a number of neural control mechanisms are involved in regulating the movements of the hind legs during locomotion. It is experimentally hard to isolate individual mechanisms without disrupting the natural walking pattern and we therefore introduce a different approach where we use a model to identify what control is necessary to maintain stability in the musculo-skeletal system. We developed a computer simulation model of the cat hind legs in which the movements of each leg are produced by eight limb muscles whose activations follow a centrally generated pattern with no proprioceptive feedback. All linear transfer functions, from each muscle activation to each joint angle, were identified using the response of the joint angle to an impulse in the muscle activation at 65 postures of the leg covering the entire step cycle. We analyzed the sensitivity and stability of each muscle action on the joint angles by studying the gain and pole plots of these transfer functions. We found that the actions of most of the hindlimb muscles display inherent stability during stepping, even without the involvement of any proprioceptive feedback mechanisms, and that those musculo-skeletal systems are acting in a critically damped manner, enabling them to react quickly without unnecessary oscillations. We also found that during the late swing, the activity of the posterior biceps/semitendinosus (PB/ST) muscles causes the joints to be unstable. In addition, vastus lateralis (VL), tibialis anterior (TA) and sartorius (SAT) muscle-joint systems were found to be unstable during the late stance phase, and we conclude that those muscles require neuronal feedback to maintain stable stepping, especially during late swing and late stance phases. Moreover, we could see a clear distinction in the pole distribution (along the step cycle) for the systems related to the ankle joint from that of the other two joints, hip or knee. A similar pattern, i.e., a pattern in which the poles were scattered over the s-plane with no clear clustering according to the phase of the leg position, could be seen in the systems related to soleus (SOL) and TA muscles which would indicate that these muscles depend on neural control mechanisms, which may involve supraspinal structures, over the whole step cycle.     

Locomotion in hatchling leatherback turtles Dermochelys coriacea

Hatchling leatherback turtles can only swim forwards, and employ synchronized beating of the forelimbs whether swimming slowly or quickly. The hind limbs make no contribution to propulsion. Effectively, the hatchlings have two swimming speeds; subsurface and fast (30 cm s^-1) or surfaced and slow (8 cm s^-1). Intermediate velocities are transitory; the hatchlings were never seen to rest without movement, nor did they exhibit gliding of the type seen in green turtles. During fast ('vigorous') swimming, power is developed on both the upstroke and downstroke of the limb cycle. During slow swimming, power is only developed during the upstroke—a consequence of the orientation of the axis of limb beat which is opposite in direction to that of cheloniid sea turtles. Terrestrial locomotion is laboured and features an unstable gait which involves simultaneous movement of all four limbs and forward overbalancing during each limb cycle.     

The role of hind limb flexor muscles during swimming in the toad, Bufo marinus

Most work examining muscle function during anuran locomotion has focused largely on the roles of major hind limb extensors during jumping and swimming. Nevertheless, the recovery phase of anuran locomotion likely plays a critical role in locomotor performance, especially in the aquatic environment, where flexing limbs can increase drag on the swimming animal. In this study, I use kinematic and electromyographic analyses to explore the roles of four anatomical flexor muscles in the hind limb of Bufo marinus during swimming: m. iliacus externus, a hip flexor; mm. iliofibularis and semitendinosus, knee flexors; and m. tibialis anticus longus, an ankle flexor. Two general questions are addressed: (1) What role, if any, do these flexors play during limb extension? and (2) How do limb flexors control limb flexion? Musculus iliacus externus exhibits a large burst of EMG activity early in limb extension and shows low levels of activity during recovery. Both m. iliofibularis and m. semitendinosus are biphasically active, with relatively short but intense bursts during limb extension followed by longer and typically weaker secondary bursts during recovery. Musculus tibialis anticus longus becomes active mid way through recovery and remains active through the start of extension in the next stroke. In conclusion, flexors at all three joints exhibit some activity during limb extension, indicating that they play a role in mediating limb movements during propulsion. Further, recovery is controlled by a complex pattern of flexor activation timing, but muscle intensities are generally lower, suggesting relatively low force requirements during this phase of swimming.     

Central program of hind limb interaction during locomotion in cats

The central program for interaction between the hind limbs, expressed as the time structure of motor discharges in the nerves to the various muscles, was studied in immobilized decerebrate spinal cats during fictitious locomotion. The program of hind limb interaction (alternating or inphase) in the decerebrate cats was shown to be determined by the relations between the flexor hemicenters. The activity of the latter is either antiphased or cophased. The character of activity of the extensor hemicenters is determined secondarily on account of alternating interaction of each of them with the ipsilateral flexor hemicenter. After injection of dopa into the animals the cophased program of hind limb interaction may be determined by the cophased working of the extensor center.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 11, No. 1, pp. 65–73, January–February, 1979.     

Hopping and swimming in the leopard frog,Rana pipiens: I. Step cycles and kinematics

This study presents a model for the step cycle patterns used during both hopping and swimming by the leopard frog, Rana pipiens. The two behaviors are essentially similar in movement pattern and in the ways they are modified from quadrupedal gaits. In hopping, there is marked hind limb extension throughout stance. The swing begins with a suspension equivalent to the leap that occurs in a galloping or bounding quadruped. Following suspension, as the frog descends from the apex of its leap, the hind limbs remain posterior and in line with the spine while they flex. Near the end of flexion, there is a rapid downward rotation of the hindquarters to bring the hind feet underneath the body. This movement utilizes the planted forelimb as a pivot. A similar pattern of movement occurs in swimming; the stance (propulsion) phase involves extension at all hind limb joints. The swing (recovery) phase begins with the hind feet fully extended and includes a protracted gliding phase, equivalent to the suspension in the hop. The hind limb then recovers to its initial position during a flexion phase. Since there is no landing and the hind limbs remain lateral rather than ventral to the pelvis, less flexion occurs in the spine or the limb joints. In both behaviors, the extensor muscles of hip (M. semimembranosus), knee (M. cruralis), and ankle (M. plantaris longus) achieve their longest lengths, when they likely can produce near maximal force, at the beginning of extension. All three muscles shorten during extension, but, because they are multiple-joint muscles, the amount of shortening is relatively small (≈ 15%). Hopping and swimming in frogs are comparable asymmetrical gaits with the same relative contact intervals (25% of stride). The step cycles in both gaits are modified from quadrupedal locomotion in the same ways: by 1) loss of knee and ankle extension toward the ground prior to landing (or end of flexion in swimming), 2) loss of a yield phase on landing (or end of flexion in swimming), and 3) inclusion of extended suspensions in both gaits. © 1996 Wiley-Liss, Inc.     

Stability, limb coordination and substrate type: the ecorelevance of gait sequence pattern in primates

The coordination of limb movements during mammalian locomotion has been well documented in the literature. Most mammals use lateral sequence (LS) gaits, in which a forelimb follows an ipsilateral hind limb during the stride cycle. Primates, however, tend to utilize diagonal sequence (DS) gaits, whereby a contralateral forelimb follows a given hind limb during the stride cycle. A number of scenarios have been offered to explain why primates favor DS gaits, most of them relating to the use of the arboreal habitat and, in particular, the exploitation of a terminal branch niche. Yet to date, there is surprisingly little evidence to support the advantage of DS gaits for negotiating different aspects of the terminal branch environment. Nonetheless, it is apparent that primates possess unique morphologies and a higher than typically recognized degree of flexibility in gait sequence pattern, both of which likely offer advantages for moving upon discontinuous and unstable terminal branches. This paper reviews potential explanations for the use of DS gaits in primates and considers mechanisms by which gait sequence may be altered during different types of arboreal challenges.     

Ontogenetic Scaling of Fore- and Hind Limb Posture in Wild Chacma Baboons (Papio hamadryas ursinus)

Large-scale interspecific studies of mammals ranging between 0.04–280 kg have shown that larger animals walk with more extended limb joints. Within a taxon or clade, however, the relationship between body size and joint posture is less straightforward. Factors that may affect the lack of congruence between broad and narrow phylogenetic analyses of limb kinematics include limited sampling of (1) ranges of body size, and/or (2) numbers of individuals. Unfortunately, both issues are inherent in laboratory-based or zoo locomotion research. In this study, we examined the relationship between body mass and elbow and knee joint angles (our proxies of fore- and hind limb posture, respectively) in a cross-sectional ontogenetic sample of wild chacma baboons (Papio hamadryas ursinus) habituated in the De Hoop Nature Reserve, South Africa. Videos were obtained from 33 individuals of known age (12 to ≥108 months) and body mass (2–29.5 kg) during walking trials. Results show that older, heavier baboons walk with significantly more extended knee joints but not elbow joints. This pattern is consistent when examining only males, but not within the female sample. Heavier, older baboons also display significantly less variation in their hind limb posture compared to lighter, young animals. Thus, within this ontogenetic sample of a single primate species spanning an order of magnitude in body mass, hind limb posture exhibited a postural scaling phenomenon while the forelimbs did not. These findings may further help explain 1) why younger mammals (including baboons) tend to have relatively stronger bones than adults, and 2) why humeri appear relatively weaker than femora (in at least baboons). Finally, this study demonstrates how field-acquired kinematics can help answer fundamental biomechanical questions usually addressed only in animal gait laboratories.     

Modulation of segmental reflex reactions during actual locomotion in rats

High- and low-threshold reflex segmental reflex reactions produced by stimulating the dorsal root at different stages of the locomotor cycle were investigated during locomotor swimming motions in white rats. Findings show respectively considerable inhibition of and a pronounced increase in extensor and flexor lowthreshold reflex reactions during the absence and presence of activity in the associated muscles. Low-threshold stimulation produced no outstanding effect on the shaping of the muscles' own activity and hence failed to affect time course or amplitude parameters of locomotor movements. Changes in reflex reactions to high-threshold stimulation during the locomotor cycle largely resembled changes in these responses to low-threshold stimulation, although development of highthreshold reactions differed from that of low-threshold response in affecting the parameters of locomotor activity in the associated muscle, while likewise altering frequency parameters of the locomotor rhythm. The physiological significance and mechanisms possibly underlying modulations in the efficacy of afferent peripheral influences during locomotion are discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 20, No. 3, pp. 326–333, May–June, 1988.     

The role of skin afferent in regulation of locomotion evoked by electrical epidural stimulation of spinal cord in decerebrated cats

The role of hindpaw skin afferent input in the locomotor pattern formation induced by epidural spinal cord stimulation was investigated in decerebrated cats. Locomotor activity was evoked by continuous 3-5Hz stimulation of dorsal surface of L4-L5 spinal segments. Kinematic and electromyographic activity (EMG) of m. Quadriceps, m. Semitendinosus, m. Tibialis anterior an m. Gastrocnemius lateralis before and after blocking of skin receptors in one hind limb were recorded. In addition, reflex responses in the hind limb muscles to epidural stimulation with frequency 0.5 Hz were analysed. Blocking of skin receptors of the foot with chlorothane paw irrigation or 2 % lidocaine administrated into the hind paw was performed. After blocking of skin receptors of the foot the stepping pattern changed. Stepping with dorsal foot placement and dragging during swing phase was observed. Duration of stance phase significantly decreased. Inhibition of polysynaptic activity of proximal and distal extensor muscles and distal flexor muscles of hind paw during locomotion was found. Monosynaptic responses after blocking of skin receptors of the foot changed insignificantly.     

Swimming Mode Inferred from Skeletal Proportions in the Fossil Pinnipeds Enaliarctos and Allodesmus (Mammalia, Carnivora)

Swimming modes are crucial for understanding evolutionary transitions from land to sea, because locomotion affects many aspects of an animal’s life. The modern pinniped families Otariidae (fur seals and sea lions), Phocidae (true seals), and Odobenidae (walruses) are thought to share a common origin, but each differs in its primary mode of aquatic locomotion. Previous studies of locomotor evolution in pinnipeds suggested: (1) forelimb swimming was ancestral; (2) hind limb swimming evolved once at the base of the clade including Phocidae, Odobenidae, and the extinct Desmatophocidae; and (3) reversal to forelimb swimming occurred in the odobenid subfamily Dusignathinae. The oldest and most basal pinnipedimorph Enaliarctos mealsi has been portrayed as a forelimb swimmer, and the desmatophocid Allodesmus kelloggi has been portrayed as a hind limb swimmer. These interpretations have been questioned by others and are tested here. Principal components analysis of trunk and limb measurements from 58 modern semiaquatic mammals demonstrates that Enaliarctos is most similar in skeletal proportions to hind limb-dominated swimmers, whereas Allodesmus is most similar to forelimb-dominated swimmers. Principal components and discriminant function analyses of trunk and limb measurements from 24 modern pinniped species demonstrate that Enaliarctos is most similar to hind limb-swimming phocids, while Allodesmus is most similar to forelimb-swimming otariids. These interpretations complicate previous portrayals of swimming evolution in pinnipeds and can paint a very different picture of how this behavior evolved when viewed in the context of alternative phylogenetic hypotheses.     

Geckos significantly alter foot orientation to facilitate adhesion during downhill locomotion

Geckos employ their adhesive system when moving up an incline, but the directionality of the system may limit function on downhill surfaces. Here, we use a generalist gecko to test whether limb modulation occurs on downhill slopes to allow geckos to take advantage of their adhesive system. We examined three-dimensional limb kinematics for geckos moving up and down a 45° slope. Remarkably, the hind limbs were rotated posteriorly on declines, resulting in digit III of the pes facing a more posterior direction (opposite to the direction of travel). No significant changes in limb orientation were found in any other condition. This pes rotation leads to a dramatic shift in foot function that facilitates the use of the adhesive system as a brake/stabilizer during downhill locomotion and, although this rotation is not unique to geckos, it is significant for the deployment of adhesion. Adhesion is not just advantageous for uphill locomotion but can be employed to help deal with the effects of gravity during downhill locomotion, highlighting the incredible multi-functionality of this key innovation.     

Primary afferent depolarization induced by cyclically modulated natural hind limb proprioceptor activity in cats

Primary afferent depolarization (PAD), developing during passive movements of the ankle with a frequency of 0.14–5.0 Hz was investigated in decerebrate cats. An increase in the dorsal root potential, the amplitude of which was used to judge the intensity of PAD, was observed during both extension and flexion of the joint. Parallel with waves of the dorsal root potential, changes in amplitude of the N component of the dorsal cord potential in response to stimulation of a cutaneous nerve during different phases of the limb movement cycle were recorded. These changes were periodic in character and opposite in phase to oscillations of dorsal root potential. The mechanisms of the observed changes in the PAD level and also the functional significance of these changes during cyclic motor acts are discussed.A. A. Bogomolets Institute of Physiology, Academy of Sciences of the Ukrainian SSR, Kiev. Translated from Neirofiziologiya, Vol. 17, No. 3, pp. 372–380, May–June, 1985.