Willis J B
Brain Res. 1980 Oct;203(2):171-204. doi: 10.1016/0165-0173(80)90007-7.
(1) The spinal locomotor generator of Miller and Scott may be regarded as a circuit of 4 neural 'elements' two of which are composite (i.e. they comprise two neurones). An analysis of all 4-element circuits with inhibitory interconnections reveals only one suitable arrangement. In that sense Miller and Scott's model is unique. (2) A set of simple but non-linear differential equations is proposed to describe the behaviour of 4 interacting populations of elements. The resulting system exhibits stable oscillatory behaviour under suitable conditions. (3) A set of 4 such oscillators, suitably coupled, is proposed as a model for the spinal control of corresponding joint muscles in each of 4 limbs. (4) The resulting system exhibits 4 types of oscillatory behaviour which correspond to the Trot, Pace, Gallop and Bound gaits of quadruped locomotion. (5) Mechanisms are suggested to account for transitions between gaits.
(1) 米勒和斯科特提出的脊髓运动发生器可被视为一个由4个神经“元件”组成的回路，其中两个是复合元件（即它们由两个神经元组成）。对所有具有抑制性互连的4元件回路进行分析后，仅发现一种合适的排列方式。从这个意义上说，米勒和斯科特的模型是独一无二的。(2) 提出了一组简单但非线性的微分方程来描述4个相互作用的元件群体的行为。在适当条件下，所得系统呈现出稳定的振荡行为。(3) 提出一组4个这样的振荡器，通过适当耦合，作为4个肢体中每个肢体相应关节肌肉的脊髓控制模型。(4) 所得系统呈现出4种振荡行为类型，分别对应四足动物运动的快步、溜蹄、奔驰和跳跃步态。(5) 提出了一些机制来解释步态之间的转换。
