Modulation of motoneuronal firing behavior after spinal cord injury using intraspinal microstimulation current pulses: a modeling study.

We simulated the effects of delivering focal electrical stimuli to the central nervous system to modulate the firing rate of neurons and alleviate motor disorders. Application of these stimuli to the spinal cord to reduce the increased excitability of motoneurons and resulting spasticity after spinal cord injury (SCI) was examined by means of a morphologically detailed computer model of a spinal motoneuron. High-frequency sinusoidal and rectangular pulses as well as biphasic charge-balanced and charge-imbalanced pulses were examined. Our results suggest that suprathreshold high-frequency sinusoidal or rectangular current pulses could inactivate the Na+ channels in the soma and initial segment, and block action potentials from propagating through the axon. Subthreshold biphasic charge-imbalanced pulses reduced the motoneuronal firing rate significantly (up to approximately 25% reduction). The reduction in firing rate was achieved through stimulation-induced hyperpolarization generated in the first node of Ranvier. Because of their low net DC current, these pulses could be tolerated safely by the tissue. To deliver charge-imbalanced pulses with the lowest net DC current and induce the largest reduction in motoneuronal firing rate, we studied the effect of various charge-imbalanced pulse parameters. Short pulse durations were found to induce the largest reduction in firing rate for the same net DC level. Subthreshold high-frequency sinusoidal and rectangular current pulses and low-frequency biphasic charge-balanced pulses, on the other hand, were ineffective in reducing the motoneuronal firing rate. In conclusion, the proposed electrical stimulation paradigms could provide potential rehabilitation interventions for suppressing the excitability of neurons to reduce the severity of motor disorders after injury to the central nervous system.     

A comparison of central aspects of fatigue in submaximal and maximal voluntary contractions.

Magnetic and electrical stimulation at different levels of the neuraxis show that supraspinal and spinal factors limit force production in maximal isometric efforts ("central fatigue"). In sustained maximal contractions, motoneurons become less responsive to synaptic input and descending drive becomes suboptimal. Exercise-induced activity in group III and IV muscle afferents acts supraspinally to limit motor cortical output but does not alter motor cortical responses to transcranial magnetic stimulation. "Central" and "peripheral" fatigue develop more slowly during submaximal exercise. In sustained submaximal contractions, central fatigue occurs in brief maximal efforts even with a weak ongoing contraction (<15% maximum). The presence of central fatigue when much of the available motor pathway is not engaged suggests that afferent inputs contribute to reduce voluntary activation. Small-diameter muscle afferents are likely to be activated by local activity even in sustained weak contractions. During such contractions, it is difficult to measure central fatigue, which is best demonstrated in maximal efforts. To show central fatigue in submaximal contractions, changes in motor unit firing and force output need to be characterized simultaneously. Increasing central drive recruits new motor units, but the way this occurs is likely to depend on properties of the motoneurons and the inputs they receive in the task. It is unclear whether such factors impair force production for a set level of descending drive and thus represent central fatigue. The best indication that central fatigue is important during submaximal tasks is the disproportionate increase in subjects' perceived effort when maintaining a low target force.     

Testing excitability in human firing motoneurons during the interspike interval

Monosynaptic testing of excitability in firing triceps surae muscle motoneurons activated during volitional contraction was performed using a technique for recording potentials from single motor units and by producing H-reflex. Motoneuronal excitability was assessed according to level of firing index. Motoneuronal firing index decreased during transition from a low background rhythmic firing rate of less than 6 spikes/sec to one of 6–8 spikes/sec. It hardly changed with a further rise in rate to 12 spikes/sec. The dependence between firing index and spike rate are put down to changes occurring in motoneuronal excitability during the interspike interval. Findings indicate that in the low frequency range of motoneuronal firing characteristic of natural muscle contraction, discharge rate may be considered one of the factors determining excitability in the motoneuron and hence its transmission qualities.Institute of Problems in Information Transmission, Academy of Sciences of the USSR. Translated from Neirofiziologiya, Vol. 19, No. 2, pp. 210–216, March–April, 1987.     

Firing rates of motor units in human vastus lateralis muscle during fatiguing isometric contractions.

We investigated the firing rate of motor units in the vastus lateralis muscle in five healthy young men (mean = 21.4 yr, SD = 0.9) during a sequence of isometric constant-torque contractions repeated to exhaustion. The contractions were sustained at 20% of the maximal voluntary level, measured at the beginning of the test sequence. Electromyographic (EMG) signals were recorded via quadrifilar fine-wire electrodes and subsequently decomposed into their constituent motor unit action potentials to obtain the motor unit firing times. In addition, we measured the whole muscle mechanical properties during the fatigue task using electrical stimulation. The firing rate of motor units first decreased within the first 10-20% of the endurance time of the contractions and then increased. The firing rate increase was accompanied by recruitment of additional motor units as the force output remained constant. The elicited twitch and tetanic torque responses first increased and then decreased. The two processes modulated in a complementary fashion at the same time. Our data suggest that, when the vastus lateralis muscle is activated to maintain a constant torque output, its motoneuron pool receives a net excitatory drive that first decreases to compensate for the short-lived potentiation of the muscle force twitch and then increases to compensate for the diminution of the force twitch. The underlying inverse relationship between the firing rate and the recruitment threshold that has been reported for nonfatigued contractions is maintained. We, therefore, conclude that the central nervous system control of vastus lateralis motor units remains invariant during fatigue in submaximal isometric isotonic contractions.     

Suppressing the excitability of spinal motoneurons by extracellularly applied electrical fields: insights from computer simulations.

The effect of extracellularly applied electrical fields on neuronal excitability and firing behavior is attributed to the interaction between neuronal morphology and the spatial distribution and level of differential polarization induced by the applied field in different elements of the neuron. The presence of voltage-gated ion channels that mediate persistent inward currents (PICs) on the dendrites of spinal motoneurons enhances the influence of electrical fields on the motoneuronal firing behavior. The goal of the present study was to investigate, with a realistic motoneuron computer model, the effects of extracellularly applied electrical fields on the excitability of spinal motoneurons with the aim of reducing the increased motoneuronal excitability after spinal cord injury (SCI). Our results suggest that electrical fields could suppress the excitability of motoneurons and reduce their firing rate significantly by modulating the magnitude of their dendritic PIC. This effect was achieved at different field directions, intensities, and polarities. The reduction in motoneuronal firing rate resulted from the reduction in the magnitude of the dendritic PIC reaching the soma by the effect of the applied electrical field. This reduction in PIC was attributed to the dendritic field-induced differential polarization and the nonlinear current-voltage relationship of the dendritic PIC-mediating channels. Because of the location of the motoneuronal somata and initial segment with respect to the dendrites, these structures were minimally polarized by the applied field compared with the extended dendrites. In conclusion, electrical fields could be used for suppressing the hyperexcitability of spinal motoneurons after SCI and reducing the level of spasticity.     

Relationship between the discharge rate of a firing motoneuron and the effectiveness of excitatory la afferent volleys in man

The H-reflex was evoked after producing regular unit firing in the flexor carpi ulnaris set up by moderate voluntary isometric muscular contraction. The firing index was used to quantify the effectiveness of the monosynaptic afferent signal traveling to the firing motoneuron. An analysis was made of the 3.3–16.0 spikes/sec firing range characteristic of naturally occurring muscular contraction. Effectiveness of afferent signals for motor units in the "fast" muscles under study were found to depend on motoneuronal background firing rate; the former declined as the latter rose, as previously discovered during research into "slow" soleus muscle units [2]. Afferent signals were most effective for motoneurons belonging to the "fast" muscles over the entire range of firing rates. It was found from analyzing afferent signal efficacy in relation to its point of occurrence within the interspike interval that variations in motoneuronal excitability within this interval are the reason for this relationship.Institute for Research into Information Transmission, Academy of Sciences of the USSR, Moscow. Translated from Neirofiziologiya, Vol. 19, No. 5, pp. 595–600, September–October, 1987.     

Analysis of the effects of firing rate and synchronization on spike-triggered averaging of multidirectional motor unit torque

Spike-triggered averaging (STA) of muscle force transients has often been used to estimate motor unit contractile properties, using the discharge of a motor unit within the muscle as the triggering events. For motor units that exert torque about multiple degrees-of-freedom, STA has also been used to estimate motor unit pulling direction. It is well known that motor unit firing rate and weak synchronization of motor unit discharges with other motor units in the muscle can distort STA estimates of contractile properties, but the distortion of STA estimates of motor unit pulling direction has not been thoroughly evaluated. Here, we derive exact equations that predict that STA decouples firing rate and synchronization distortion when used to estimate motor unit pulling direction. We derive a framework for analyzing synchronization, consider whether the distortion due to synchronization can be removed from STA estimates of pulling direction, and show that there are distributions of motor unit pulling directions for which STA is insensitive to synchronization. We conclude that STA may give insight into how motoneuronal synchronization is organized with respect to motor unit pulling direction. Action Editor: David Terman     

The role of motor unit rate modulation versus recruitment in repeated submaximal voluntary contractions performed by control and spinal cord injured subjects.

The relative roles of motor unit firing rate modulation and recruitment were evaluated when individuals with cervical spinal cord injury (SCI) and able-bodied controls performed a brief (6 s), 50% maximal voluntary contraction (50% MVC; target contraction) of triceps brachii every 10 s until it required maximal effort to achieve the target force. Mean (+/-SD) endurance times for SCI and control subjects were 34+/-26 and 15+/-5 min, respectively, at which point significant reductions in maximal triceps force had occurred. Twitch occlusion analysis in controls indicated that force declines resulted largely from peripheral contractile failure. In SCI subjects, triceps surface EMG and motor unit potential amplitude declined in parallel suggesting failure at axon branch points and/or alterations in muscle membrane properties. The force of low threshold units, measured by spike-triggered averaging, declined in SCI but not control subjects, suggesting that higher threshold units fatigued in controls. Central fatigue was also obvious after SCI. Mean (+/-SD) MVC motor unit firing rates declined significantly with fatigue for control (24.6+/-7.1 to 17.3+/-5.1Hz), but not SCI subjects (25.9+/-12.7 to 20.1+/-9.7Hz). Unit firing rates were unchanged during target contractions for each subject group, but with the MVC rate decreases, units of SCI and control subjects were activated intensely at endurance time (88% and 99% MVC rates, respectively). New unit recruitment also maintained the target contractions although it was limited after SCI because many descending inputs to triceps motoneurons were disrupted. This resulted in sparse EMG, even during MVCs, but allowed the same unit to be recorded throughout. These EMG data showed that both unit recruitment and rate modulation were important for maintaining force during repeated submaximal intermittent contractions of triceps brachii muscles performed by SCI subjects. Similar results were found for control subjects. Muscles weakened by SCI may therefore provide a useful model in which to directly study motor unit rate modulation and recruitment during weak or strong voluntary contractions.     

The influence of temperature on contractile properties of motor units in rat medial gastrocnemius

The effects of hypothermia and hyperthermia on mammalian skeletal muscle function have previously been reported. However, their effects on the contractile properties of different motor unit (MU) types were not described. This study aimed to explore the effect of temperature on contractile properties of MUs in rat medial gastrocnemius kept at 25 °C (hypothermia), 37 °C (normothermia), and 41 °C (hyperthermia). Hypothermia prolonged the twitch time parameters of all MU types, shifting the steep part of the force-frequency curve towards lower frequencies and increasing its steepness. In addition, it reduced the rate of force development but not the twitch and tetanus forces of slow-twitch (S) MUs. Moreover, it reduced the tetanic force of fast-twitch fatigable (FF) MUs and increased the twitch force of fast-twitch fatigue-resistant (FR) MUs. In contrast, hyperthermia had opposite effects on twitch time properties and the force-frequency relationship. The twitch-to-tetanus ratio decreased for FF and FR MUs, and the steep part of the force-frequency curve shifted towards higher frequencies and decreased in steepness. Our findings indicate that FF MUs are the most sensitive and S MUs are the least sensitive to temperature. Furthermore, force control processes involving changes in motoneuronal firing frequency were radically modified for fast MUs, especially FF MUs.     

Measurement and nature of firing rate adaptation in turtle spinal neurons

There is sparse literature on the profile of action potential firing rate (spike-frequency) adaptation of vertebrate spinal motoneurons, with most of the work undertaken on cells of the adult cat and young rat. Here, we provide such information on adult turtle motoneurons and spinal ventral-horn interneurons. We compared adaptation in response to intracellular injection of 30-s, constant-current stimuli into high-threshold versus low-threshold motoneurons and spontaneously firing versus non-spontaneously-firing interneurons. The latter were shown to possess some adaptive properties that differed from those of motoneurons, including a delayed initial adaptation and more predominant reversal of adaptation attributable to plateau potentials. Issues were raised concerning the interpretation of changes in the action potentials afterhyperpolarization shape parameters throughout spike-frequency adaptation. No important differences were demonstrated in the adaptation of the two motoneuron and two interneuron groups. Each of these groups, however, was modeled by its own unique combination of action potential shape parameters for the simulation of its 30-s duration of spike-frequency adaptation. Also, for a small sample of the very highest-threshold versus lowest-threshold motoneurons, the former group had significantly more adaptation than the latter. This finding was like that shown previously for cat motoneurons supplying fast- versus slow twitch motor units.     

Reproducible measurement of voluntary activation of human elbow flexors with motor cortical stimulation.

Voluntary activation of muscle is commonly quantified by comparison of the extra force added by motor nerve stimulation during a contraction [superimposed twitch (SIT)] with that produced at rest by the same stimulus (resting twitch). An inability to achieve 100% voluntary activation implies that failure to produce maximal force output from the muscle must have occurred at a site at or above the level of the motoneurons. We have used cortical stimulation to quantify voluntary activation. Here, incomplete activation implies a failure at or above the level of motor cortical output. With cortical stimulation, it is inappropriate to compare extra force evoked during a contraction with the twitch evoked in resting muscle because motor cortical and spinal cord excitability both increase with activity. However, an appropriate "resting twitch" can be estimated. We previously estimated its amplitude by extrapolation of the linear relation between SIT amplitude and voluntary torque calculated from 35 contractions of >50% maximum (Todd G, Taylor JL, and Gandevia SC. J Physiol 551: 661-671, 2003). In this study, we improved the utility of this method to enable evaluation of voluntary activation when it may be changing over time, such as during the development of fatigue, or in patients who may be unable to perform large numbers of contractions. We have reduced the number of contractions required to only three. Estimation of the resting twitch from three contractions was reliable over time with low variability. Furthermore, its reliability and variability were similar to the resting twitch estimated from 30 contractions and to that evoked by conventional motor nerve stimulation.     

A Simulation Study to Examine the Effect of Common Motoneuron Inputs on Correlated Patterns of Motor Unit Discharge

The influence of common oscillatory inputs to the motoneuron pool on correlated patterns of motor unit discharge was examined using model simulations. Motor unit synchronization, in-phase fluctuations in mean firing rates known as ‘common drive’, and the coefficient of variation of the muscle force were examined as the frequency and amplitude of common oscillatory inputs to the motoneuron pool were varied. The amount of synchronization, the peak correlation between mean firing rates and the coefficient of variation of the force varied with both the frequency and amplitude of the common input signal. Values for ‘common drive’ and the force coefficient of variation were highest for oscillatory inputs at frequencies less than 5 Hz, while synchronization reached a maximum when the frequency of the common input was close to the average motor unit firing rate. The frequency of the common input signal for which the highest levels of synchronization were observed increased as motoneuron firing rates increased in response to higher target force levels. The simulation results suggest that common low-frequency oscillations in motor unit firing rates and short-term synchronization result from oscillatory activity in different bands of the frequency spectrum of shared motoneuron inputs. The results also indicate that the amount of synchronization between motor unit discharges depends not only on the amplitude of the shared input signal, but also on its frequency in relation to the present firing rates of the individual motor units.     

Anatomic and physiological characteristics of the ferret lateral rectus muscle and abducens nucleus.

The ferret has become a popular model for physiological and neurodevelopmental research in the visual system. We believed it important, therefore, to study extraocular whole muscle as well as single motor unit physiology in the ferret. Using extracellular stimulation, 62 individual motor units in the ferret abducens nucleus were evaluated for their contractile characteristics. Of these motor units, 56 innervated the lateral rectus (LR) muscle alone, while 6 were split between the LR and retractor bulbi (RB) muscle slips. In addition to individual motor units, the whole LR muscle was evaluated for twitch, tetanic peak force, and fatigue. The abducens nucleus motor units showed a twitch contraction time of 15.4 ms, a mean twitch tension of 30.2 mg, and an average fusion frequency of 154 Hz. Single-unit fatigue index averaged 0.634. Whole muscle twitch contraction time was 16.7 ms with a mean twitch tension of 3.32 g. The average fatigue index of whole muscle was 0.408. The abducens nucleus was examined with horseradish peroxidase conjugated with the subunit B of cholera toxin histochemistry and found to contain an average of 183 motoneurons. Samples of LR were found to contain an average of 4,687 fibers, indicating an LR innervation ratio of 25.6:1. Compared with cat and squirrel monkeys, the ferret LR motor units contract more slowly yet more powerfully. The functional visual requirements of the ferret may explain these fundamental differences.     

Simultaneous Intracellular Recording of a Lumbar Motoneuron and the Force Produced by its Motor Unit in the Adult Mouse In vivo

The spinal motoneuron has long been a good model system for studying neural function because it is a neuron of the central nervous system with the unique properties of (1) having readily identifiable targets (the muscle fibers) and therefore having a very well-known function (to control muscle contraction); (2) being the convergent target of many spinal and descending networks, hence the name of "final common pathway"; and (3) having a large soma which makes it possible to penetrate them with sharp intracellular electrodes. Furthermore, when studied in vivo, it is possible to record simultaneously the electrical activity of the motoneurons and the force developed by their muscle targets. Performing intracellular recordings of motoneurons in vivo therefore put the experimentalist in the unique position of being able to study, at the same time, all the compartments of the "motor unit" (the name given to the motoneuron, its axon, and the muscle fibers it innervates¹): the inputs impinging on the motoneuron, the electrophysiological properties of the motoneuron, and the impact of these properties on the physiological function of the motoneurons, i.e. the force produced by its motor unit. However, this approach is very challenging because the preparation cannot be paralyzed and thus the mechanical stability for the intracellular recording is reduced. Thus, this kind of experiments has only been achieved in cats and in rats. However, the study of spinal motor systems could make a formidable leap if it was possible to perform similar experiments in normal and genetically modified mice.For technical reasons, the study of the spinal networks in mice has mostly been limited to neonatal in vitro preparations, where the motoneurons and the spinal networks are immature, the motoneurons are separated from their targets, and when studied in slices, the motoneurons are separated from most of their inputs. Until recently, only a few groups had managed to perform intracellular recordings of motoneurons in vivo^2-4 , including our team who published a new preparation which allowed us to obtain very stable recordings of motoneurons in vivo in adult mice^5,6. However, these recordings were obtained in paralyzed animals, i.e. without the possibility to record the force output of these motoneurons. Here we present an extension of this original preparation in which we were able to obtain simultaneous recordings of the electrophysiological properties of the motoneurons and of the force developed by their motor unit. This is an important achievement, as it allows us to identify the different types of motoneurons based on their force profile, and thereby revealing their function. Coupled with genetic models disturbing spinal segmental circuitry^7-9, or reproducting human disease^10,11, we expect this technique to be an essential tool for the study of spinal motor system.     

Neural computations underlying the exertion of force: a model

We have developed a model that simulates possible mechanisms by which supraspinal neuronal signals coding forces could converge in the spinal cord and provide an ongoing integrated signal to the motoneuronal pools whose activation results in the exertion of force. The model consists of a three-layered neural network connected to a two-joint-six-muscle model of the arm. The network layers represent supraspinal populations, spinal cord interneurons, and motoneuronal pools. We propose an approach to train the network so that, after the synaptic connections between the layers are adjusted, the performance of the model is consistent with experimental data obtained on different organisms using different experimental paradigms: the stiffness characteristics of human arm; the structure of force fields generated by the stimulation of the frog's spinal cord; and a correlation between motor cortical activity and force exerted by monkey against an immovable object. The model predicts a specific pattern of connections between supraspinal populations coding forces and spinal cord interneurons: the weight of connection should be correlated with directional preference of interconnected units. Finally, our simulations demonstrate that the force generated by the sum of neural signals can be nearly equal to the vector sum of forces generated by each signal independently, in spite of the complex nonlinearities intervening between supraspinal commands and forces exerted by the arm in response to these commands.     

Reduction in maximal firing rate of motoneurons after 1-week immobilization of finger muscle in human subjects.

We investigated the effects of immobilization on the maximal motoneuronal firing rate recorded from the first dorsal interosseous (FDI) during voluntary isometric contraction. In five human subjects, the middle finger, index finger, and thumb were immobilized for 1 week in a fiber-glass cast, which kept FDI in a shortened position. During a maximal voluntary contraction, single muscle-fiber action potentials were recorded using a tungsten microelectrode, and mean firing rate was calculated for each action-potential train. Three recording sessions were held: before immobilization (pre), after immobilization (post), and after a 1-week recovery period (recovery). The mean firing rate of FDI motoneurons during maximal voluntary contraction was decreased immediately after the 1-week immobilization (pre: 39.0+/-3.2 Hz, number of detected spike trains (n)=353; post: 33.1+/-1.5 Hz, n=285; p<0.05), and there was a return to control after the recovery period (40.2+/-3.4 Hz, n=236). This suggests that the maximal motoneuronal firing rate achieved during maximal voluntary contraction is reduced after short-term immobilization. The functional implications and the contribution of this phenomenon to the immobilization-induced reduction in maximal voluntary force are discussed.     

Ia-afferent input to motoneurons during shortening and lengthening muscle contractions in humans.

The central nervous system employs different strategies to execute specific motor tasks. Because afferent feedback during shortening and lengthening muscle contractions differs, the neural strategy underlying these tasks may be quite distinct. Cortical drive may be adjusted or afferent input regulated. The exact mechanisms are not clear. Here, we examine the control of synaptic transmission across the Ia synapse during shortening and lengthening muscle contractions. Subjects were instructed to maintain isolated activity in a single tibialis anterior (TA) motor unit while muscle length was varied from flexion to extension and back. At a fixed interval after a firing of the active motor unit, a single electrical stimulus was applied to the common peroneal nerve to activate Ia afferents from the TA muscle. We investigated the stimulus-induced change in firing probability of 19 individual low-threshold TA motor units during shortening and lengthening contractions. Any change in firing probability depends on both pre- and postsynaptic mechanisms. In this experiment, motoneuron firing rate was similar during both contraction types. There was no difference in the firing probability between shortening and lengthening contractions (0.23 +/- 0.03 and 0.20 +/- 0.02, respectively). We suggest that there is no contraction type-specific control of Ia input to the motoneurons during shortening and lengthening muscle contractions. Cortical adjustments may have occurred.     

Stochastic properties of motoneuron activity and the effect of muscular length

The activity of single motor units contributing to small tonic isometric contractions in human muscle at different muscular lengths was analyzed. The form of motor unit firing patterns shows that the interspike intervals compose independent sequences with about a 10% coefficient of variation and have a gamma distribution. The variability and the distribution shape curves show that as the mean interval decreases the variance also decreases and the interval density function becomes more symmetric. More significant is the fact that the form of the firing pattern remains unchanged when a motor unit has the same mean interval but with the muscle at different lengths. Comparison of these facts with experimental data from neuron models and cat motoneurons indicates that in the human the only relevant input-output relationship in motoneurons is that the net excitation adjusts the firing rate.     

The entrainment of rhythmically discharging reticulospinal neurons of the eel by sensory nerve stimulation

Recordings made from decerebrated, paralyzed eels (Anguilla anguilla) producing rhythmical spinal motoneuronal activity showed that around 65% of identified reticulospinal units, belonging to the inferior reticular division, discharged rhythmically. The reticulospinal bursts, lasting from 300 up to 3000 ms, were in time with spinal motoneuronal bursting activity. In different fish the modal cycle period varied between 2 to 4 s and burst duration and firing frequency of each neuron showed large changes from cycle to cycle. Burst responses similar in form to those occurring spontaneously were evoked from reticular neurons when the ophthalmic nerve was stimulated regularly (intervals of 1 to 10 s) but the cycle period, firing frequency and burst duration were now more predictable. For stimulation intervals between 2 and 5 s, each ophthalmic nerve stimulus was normally followed by a burst from the reticulospinal neuron. The cycle period of the reticular rhythm then became equal to the interstimulus interval and the reticulospinal unit was entrained by the stimulus. Beyond this range of interstimulus intervals, complete entrainment was lost. We suggest that regular sensory input provides a powerful stabilising influence to rhythmically active motor systems in the brainstem and spinal cord.     

Multiplexing of motor information in the discharge of a collision detecting neuron during escape behaviors

Locusts possess an identified neuron, the descending contralateral movement detector (DCMD), conveying visual information about impending collision from the brain to thoracic motor centers. We built a telemetry system to simultaneously record, in freely behaving animals, the activity of the DCMD and of motoneurons involved in jump execution. Cocontraction of antagonistic leg muscles, a required preparatory phase, was triggered after the DCMD firing rate crossed a threshold. Thereafter, the number of DCMD spikes predicted precisely motoneuron activity and jump occurrence. Additionally, the time of DCMD peak firing rate predicted that of jump. Ablation experiments suggest that the DCMD, together with a nearly identical ipsilateral descending neuron, is responsible for the timely execution of the escape. Thus, three distinct features that are multiplexed in a single neuron's sensory response to impending collision-firing rate threshold, peak firing time, and spike count-probably control three distinct motor aspects of escape behaviors.