Central Programming and Reflex Control of Walking in the Cockroach

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Abstract
1. The activity in identified motor units supplying the coxal levator and depressor muscles of the cockroach have been recorded in intact freely walking animals and in preparations after removal of all sensory input from leg receptors. 2. Reciprocal activity in levator and depressor motoneurones can be evoked, or occurs spontaneously, in the partially de-afferented preparations, thus indicating the existence of a central locomotory rhythm generator. 3. The reciprocal activity patterns recorded in the same motoneurones in intact freely moving animals are not identical to those recorded in partially de-afferented preparations. Thus, the production of normal rhythmic leg movements depends to some extent on sensory input from leg receptors, this input probably exerting tonic and phasic effects on the central rhythm generator. 4. An increase in the resistance to leg retraction during normal walking results in an increase in discharge rate of the levator and depressor motoneurones. This observation further demonstrates that rhythmic leg movements are not exclusively centrally controlled. The receptors responsible for this reflex effect are probably the trochanteral campaniform sensilla.