Schoener, G. | bioRxiv Science

bioRxiv2024

Estimating descending activation patterns from EMG in fast and slow movements using a model of the stretch reflex

Due to spinal reflex loops, descending activation from the brain is not the only source of muscle activation that ultimately generates movement. This study directly estimates descending activation patterns from measured patterns of muscle activation (EMG) during human arm movements. A simple model of the spinal stretch reflex is calibrated in a postural unloading task and then used to estimate descending activation patterns from muscle EMG patterns and kinematics during voluntary arm motion performed at different speeds. We observed three key features of the estimated descending activation patterns: (1) Within about the first 15% of movement duration, descending and muscle activations are temporally aligned. Thereafter, they diverge and develop qualitatively different temporal profiles. (2) The time course of descending activation is monotonic for slow movements, non-monotonic for fast movements. (3) Varying model parameters like the spinal reflex gain or the level of co-contraction does not qualitatively change the temporal pattern of estimated descending activation. Our findings highlight the substantial contribution of spinal reflex loops to movement generation, while at the same time providing evidence that the brain must generate qualitatively different descending activation patterns for movements that vary in their mechanical dynamics. New & NoteworthyWe propose a new method that directly estimates descending activation from measured EMG signals and arm kinematics by inverting a model of the spinal stretch reflex, without the need for muscle models or for an arm dynamics model. This approach identifies key features of the time structure of descending activation as movement speed is varied, while also revealing the significant contribution of the spinal stretch reflex to movement generation.

neuroscience↗

bioRxiv2021

A Neuromuscular Model of Human Locomotion Combines Spinal Reflex Circuits with Voluntary Movements

Existing models of human walking use low-level reflexes or neural oscillators to generate movement. While appropriate to generate the stable, rhythmic movement patterns of steady-state walking, these models lack the ability to change their movement patterns or spontaneously generate new movements in the specific, goal-directed way characteristic of voluntary movements. Here we present a neuromuscular model of human locomotion that bridges this gap and combines the ability to execute goal directed movements with the generation of stable, rhythmic movement patterns that are required for robust locomotion. The model represents goals for voluntary movements of the swing leg on the task level of swing leg joint kinematics. Smooth movements plans towards the goal configuration are generated on the task level and transformed into descending motor commands that execute the planned movements, using internal models. The movement goals and plans are updated in real time based on sensory feedback and task constraints. On the spinal level, the descending commands during the swing phase are integrated with a generic stretch reflex for each muscle. Stance leg control solely relies on dedicated spinal reflex pathways. Spinal reflexes stimulate Hill-type muscles that actuate a biomechanical model with eight internal joints and six free-body degrees of freedom. The model is able to generate voluntary, goal-directed reaching movements with the swing leg and combine multiple movements in a rhythmic sequence. During walking, the swing leg is moved in a goal-directed manner to a target that is updated in real-time based on sensory feedback to maintain upright balance, while the stance leg is stabilized by low-level reflexes and a behavioral organization switching between swing and stance control for each leg. With this combination of reflex-based stance leg and voluntary, goal-directed control of the swing leg, the model controller generates rhythmic, stable walking patterns in which the swing leg movement can be flexibly updated in real-time to step over or around obstacles.

neuroscience↗