Modeling neural control of locomotion: Integration of reflex circuits with CPG

Abstract

A model of the spinal cord neural circuitry for control of cat hindlimb movements during locomotion was developed. The neural circuitry in the spinal cord was modeled as a network of interacting neuronal modules (NMs). All neurons were modeled in Hodgkin-Huxley style. Each NM included an α-motoneuron, Renshaw, Ia and Ib interneurons, and two interneurons associated with the central pattern generator (CPG). The CPG was integrated with reflex circuits. Each three-joint hindlimb was actuated by nine one- and two-joint muscles. Our simulation allowed us to find (and hence to suggest) an architecture of network connections within and between the NMs and a schematic of feedback connections to the spinal cord neural circuitry from muscles (Ia and Ib types) and touch sensors that provided a stable locomotion with different gaits, realistic patterns of muscle activation, and kinematics of limb movements. © Springer-Verlag Berlin Heidelberg 2002.