Effects of torque disturbances on elbow joint movements evoked in unanesthetized cats by microstimulation of the motor cortex.

Flexion and extension movements were evoked in the elbow joint of unanesthetized cats by intracortical microstimulation (ICMS) applied to deep layers of the motor cortex (areas 4 and 6). Pulse trains with duration up to 3-4 s, current intensities of 15-50 microA and rates of approximately 100/s were used. Cortically evoked movements (CEMs) were tested mechanically by applying servo-controlled torque disturbances to the joint. The disturbances consisted of two reciprocating sinusoidal pulses of torque with fixed frequencies (1.2 or 3.2 Hz). A pronounced torque-angle hysteresis with long-lasting after-effects was revealed in the presence of the torque disturbances that opposed the CEMs and/or assisted them. Two parameters were introduced to describe the mechanical testing of the CEMs quantitatively: (1) the resulting stiffness (RS) defined during the forward and reverse phases of the disturbed movement as a ratio between the amplitudes of torque wave and the overall change of angle at these phases; (2) uncertainty index (UI) defined as the subtraction of forward and reverse angle changes, which was normalized by the first of these two values. RS was shown to be dependent on the immediate past movement history of the joint, it increased with changes in the direction of movement, and its magnitude during such changes could be several times higher than when the disturbance was in the same direction as the movement.(ABSTRACT TRUNCATED AT 250 WORDS)