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Cerebellar reserve refers to the capacity of the cerebellum to compensate for tissue damage or loss of function resulting from many different etiologies. When the inciting event produces acute focal damage (e.g., stroke, trauma), impaired cerebellar function may be compensated for by other cerebellar areas or by extracerebellar structures (i.e., structural cerebellar reserve). In contrast, when pathological changes compromise cerebellar neuronal integrity gradually leading to cell death (e.g., metabolic and immune-mediated cerebellar ataxias, neurodegenerative ataxias), it is possible that the affected area itself can compensate for the slowly evolving cerebellar lesion (i.e., functional cerebellar reserve). Here, we examine cerebellar reserve from the perspective of the three cornerstones of clinical ataxiology: control of ocular movements, coordination of voluntary axial and appendicular movements, and cognitive functions. Current evidence indicates that cerebellar reserve is potentiated by environmental enrichment through the mechanisms of autophagy and synaptogenesis, suggesting that cerebellar reserve is not rigid or fixed, but exhibits plasticity potentiated by experience. These conclusions have therapeutic implications. During the period when cerebellar reserve is preserved, treatments should be directed at stopping disease progression and/or limiting the pathological process. Simultaneously, cerebellar reserve may be potentiated using multiple approaches. Potentiation of cerebellar reserve may lead to compensation and restoration of function in the setting of cerebellar diseases, and also in disorders primarily of the cerebral hemispheres by enhancing cerebellar mechanisms of action. It therefore appears that cerebellar reserve, and the underlying plasticity of cerebellar microcircuitry that enables it, may be of critical neurobiological importance to a wide range of neurological/neuropsychiatric conditions.

The cerebellar reserve is defined as the capacity of the cerebellum for compensation and restoration following injury. This unique cerebellar ability is attributed to various forms of synaptic plasticity that incorporate multimodal and redundant cerebellar inputs, two major features of the cerebellar circuitry. It is assumed that the cerebellar reserve is acquired from the age of 12 years after the maturation of both the cerebellar adaptative behaviors and cerebellar functional connectivity. However, acquiring the cerebellar reserve is also affected by two other factors: vulnerability and growth potential in the developing cerebellum. First, cerebellar injury during the critical period of neural circuit formation (especially during fetal and neonatal life and infancy) leads to persistent dysfunction of the cerebellum and its targets, resulting in the limitation of the cerebellar reserve. Secondly, growth potential appears to facilitate cerebellar reserve during the stage when the cerebellar reserve is still immature. Based on these findings, the present mini-review proposes a possible developmental trajectory underlying the acquisition of cerebellar reserve. We highlight the importance of studies dedicated to the understanding of the cerebellar resilience to injuries.

We here provide neural evidence that the cerebellar circuit can predict future inputs from present outputs, a hallmark of an internal forward model. Recent computational studies hypothesize that the cerebellum performs state prediction known as a forward model. To test the forward-model hypothesis, we analyzed activities of 94 mossy fibers (inputs to the cerebellar cortex), 83 Purkinje cells (output from the cerebellar cortex to dentate nucleus), and 73 dentate nucleus cells (cerebellar output) in the cerebro-cerebellum, all recorded from a monkey performing step-tracking movements of the right wrist. We found that the firing rates of one population could be reconstructed as a weighted linear sum of those of preceding populations. We then went on to investigate if the current outputs of the cerebellum (dentate cells) could predict the future inputs of the cerebellum (mossy fibers). The firing rates of mossy fibers at time t + t_1 could be well reconstructed from as a weighted sum of firing rates of dentate cells at time t, thereby proving that the dentate activities contained predictive information about the future inputs. The average goodness-of-fit (R^2) decreased moderately from 0.89 to 0.86 when t_1 was increased from 20 to 100 ms, hence indicating that the prediction is able to compensate the latency of sensory feedback. The linear equations derived from the firing rates resembled those of a predictor known as Kalman filter composed of prediction and filtering steps. In summary, our analysis of cerebellar activities supports the forward-model hypothesis of the cerebellum.

The cerebellum is endowed with the capacity for compensation and restoration after pathological injury, a property known as cerebellar reserve. Such capacity is attributed to two unique morphological and physiological features of the cerebellum. First, mossy fibers that convey peripheral and central information run mediolaterally over a wide area of the cerebellum, resulting in the innervation of multiple microzones, commonly known as cerebellar functional units. Thus, a single microzone receives redundant information that can be used in pathological conditions. Secondly, the circuitry is characterized by a co-operative interplay among various forms of synaptic plasticity. Recent progress in understanding the mechanisms of redundant information and synaptic plasticity has allowed outlining therapeutic strategies potentiating these neural substrates to enhance the cerebellar reserve, taking advantage of the unique physiological properties of the cerebellum which appears as a modular and potentially reconfiguring brain structure.

This review surveys the physiological, behavioral, and computational evidence converging to the view of the cerebrocerebellum as a locus for predictive computation. State prediction is a neural mechanism that enables rapid and stable control of the body, even when sensory feedback from the periphery has a temporal delay. This predictive computation is known as an internal forward model and hypothesized to locate in the cerebellar circuit. We revisit the classical work of Marr, Albus, and Ito and argue that the cerebellum operates as a regressor of continuous dynamics rather than a classifier conventionally assumed in the Marr-Albus perceptron model. Specifically, the cerebellar output at one moment is predictive of the cerebellar input in the future, supporting the internal-forward-model hypothesis of the cerebellum. Finally, we speculate on the computation within the cerebellum and in the cerebrocerebellar loop and summarize unresolved questions for future studies.

This chapter brings enigmatic connectivity of the cerebellar dentate nucleus (DN) and the cerebellar forward model hypothesis together to demonstrate the cerebrocerebellum as loci of Kalman filters. We start with a brief history of the cerebellar internal model hypothesis. Next we present two lines of new evidence for the forward model hypothesis. First, we show physiological evidence that the cerebellar outputs from DN are predictive for the inputs to the cerebrocerebellum. Second, we introduce an enigmatic MF collateral to DN and demonstrate it is an essential key to the Kalman filter model. We further discuss how the Kalman filter model for the motor cerebrocerebellum could be generalized to non-motor parts as a unifying principle for the diverse functions of the cerebrocerebellum. We conclude that the Kalman filter model also explains how parallel modules in the cerebrocerebellar communication loops are coordinated in a cascadic manner, providing a partial explanation for unity of mind.

This review surveys physiological, behavioral, and morphological evidence converging to the view of the cerebro-cerebellum as loci of internal forward models. The cerebro-cerebellum, the phylogenetically newest expansion in the cerebellum, receives convergent inputs from cortical, subcortical, and spinal sources, and is thought to perform the predictive computation for both motor control, motor learning, and cognitive functions. This predictive computation is known as an internal forward model. First, we elucidate the theoretical foundations of an internal forward model and its role in motor control and motor learning within the framework of the optimal feedback control model. Then, we discuss a neural mechanism that generates various patterns of outputs from the cerebro-cerebellum. Three lines of supporting evidence for the internal-forward-model hypothesis are presented in detail. First, we provide physiological evidence that the cerebellar outputs (activities of dentate nucleus cells) are predictive for the cerebellar inputs [activities of mossy fibers (MFs)]. Second, we provide behavioral evidence that a component of movement kinematics is predictive for target motion in control subjects but lags behind a target motion in patients with cerebellar ataxia. Third, we provide morphological evidence that the cerebellar cortex and the dentate nucleus receive separate MF projections, a prerequisite for optimal estimation. Finally, we speculate that the predictive computation in the cerebro-cerebellum could be deployed to not only motor control but also to non-motor, cognitive functions. This review concludes that the predictive computation of the internal forward model is the unifying algorithmic principle for understanding diverse functions played by the cerebro-cerebellum.

Electromyogram signal (EMG) measurement frequently experiences uncertainty attributed to issues caused by technical constraints such as cross talk and maximum voluntary contraction. Due to these problems, individual EMGs exhibit uncertainty in representing their corresponding muscle activations. To regulate this uncertainty, we proposed an EMG refinement, which refines EMGs with regulating the contribution redundancy of the signals from EMGs to approximating torques through EMG-driven torque estimation (EDTE) using the muscular skeletal forward dynamic model. To regulate this redundancy, we must consider the synergistic contribution redundancy of muscles, including “unmeasured” muscles, to approximating torques, which primarily causes redundancy of EDTE. To suppress this redundancy, we used the concept of muscle synergy, which is a key concept of analyzing the neurophysiological regulation of contribution redundancy of muscles to exerting torques. Based on this concept, we designed a muscle-synergy-based EDTE as a framework for EMG refinement, which regulates the abovementioned uncertainty of individual EMGs in consideration of unmeasured muscles. In achieving the proposed EMG refinement, the most considerable point is to suppress a large change such as overestimation attributed to enhancement of the contribution of particular muscles to estimating torques. Therefore it is reasonable to refine EMGs by minimizing the change in EMGs. To evaluate this model, we used a Bland-Altman plot, which quantitatively evaluates the proportional bias of refined signals to EMGs. Through this evaluation, we showed that the proposed EDTE minimizes the bias while approximating torques. Therefore this minimization optimally regulates the uncertainty of EMGs and thereby leads to optimal EMG refinement.

Summary Sensory processing is essential for motor control. Climbing fibers from the inferior olive transmit sensory signals to Purkinje cells, but how the signals are represented in the cerebellar cortex remains elusive. To examine the olivocerebellar organization of the mouse brain, we perform quantitative Ca2+ imaging to measure complex spikes (CSs) evoked by climbing fiber inputs over the entire dorsal surface of the cerebellum simultaneously. The surface is divided into approximately 200 segments, each composed of ∼100 Purkinje cells that fire CSs synchronously. Our in vivo imaging reveals that, although stimulation of four limb muscles individually elicits similar global CS responses across nearly all segments, the timing and location of a stimulus are derived by Bayesian inference from coordinated activation and inactivation of multiple segments on a single trial basis. We propose that the cerebellum performs segment-based, distributed-population coding that represents the conditional probability of sensory events.

This paper investigates motor characteristics during circular tracking movements of human wrist. Ten subjects performed a visually guided target tracking task using two degrees-of-freedom wrist movements as a tracer. Based on trajectories of the tracer and the target, three control parameters in polar coordinates were considered: R error as an evaluation of the circular movement performance, theta error of the position-control precision, and omega error of the velocity-control precision. We then examined the influence of three different speeds (0.05, 0.1, and 0.2 Hz) and visibility of the target on the three parameters to observe changes in control strategy. The theta error particularly demonstrated that subjects were more dependent on position control for the lower tracking speed of 0.05 Hz with a visible target, where the highest percentage increase of 210.6% in theta errors from the target visible to the target invisible regions was reported. However, as the target speed increases, the subjects...

Goal-directed movements are predictive and multimodal in nature, especially for moving targets. For instance, during a reaching movement for a moving target, humans need to predict both motion of the target and movement of the limb. Recent computational studies show that the cerebellum predicts current and future states of the body and its environment using internal forward models. Sensory feedback signals from the periphery have delays in reaching the central nervous system, ranging between tens to hundreds of milliseconds. It is well known in engineering that feedback control based on time-delayed inputs can result in oscillatory and often unstable movements. In contrast, the brain predicts a current state from a previous state using forward models. This predictive mechanism most likely underpins stable and dexterous control of reaching movements. Although the cerebro-cerebellum has long been suggested as loci of various forward models, few methods are available to evaluate accuracy of the forward models in patients with cerebellar ataxia. Recently, we developed a non-invasive method to analyze receipt of motor commands in terms of movement kinematics for the wrist joint (Br/Kr ratio). In the present study, we have identified two components (F1 and F2) of the smooth pursuit movement. We found that the two components were in different control modes with different Br/Kr ratios. The major F1 component in a lower frequency range encodes both velocity and position of the moving target (higher Br/Kr ratio) to synchronize movement of the wrist joint with motion of the target in a predictive manner. The minor F2 component in a higher frequency range is biased to position control in order to generate intermittent small step-wise movements. In cerebellar patients, the F1 component shows a selective decrease in the Br/Kr ratio, which is correlated with decrease in accuracy of the pursuit movement. We conclude that the Br/Kr ratio of the F1 component provides a unique parameter to evaluate accuracy of the predictive control. We also discuss the pathophysiological and clinical implications for clinical ataxiology.

It is widely accepted that the cerebellum acquires and maintain internal models for motor control. An internal model simulates mapping between a set of causes and effects. There are two candidates of cerebellar internal models, forward models and inverse models. A forward model transforms a motor command into a prediction of the sensory consequences of a movement. In contrast, an inverse model inverts the information flow of the forward model. Despite the clearly different formulations of the two internal models, it is still controversial whether the cerebro-cerebellum, the phylogenetically newer part of the cerebellum, provides inverse models or forward models for voluntary limb movements or other higher brain functions. In this article, we review physiological and morphological evidence that suggests the existence in the cerebro-cerebellum of a forward model for limb movement. We will also discuss how the characteristic input–output organization of the cerebro-cerebellum may contribute to forward models for non-motor higher brain functions.

Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy–driven motion control robustness in humans.

The visuomotor transformation during a goal-directed movement may involve a coordinate transformation from visual ‘extrinsic’ to muscle-like ‘intrinsic’ coordinate frames, which might be processed via a multilayer network architecture composed of neural basis functions. This theory suggests that the postural change during a goal-directed movement task alters activity patterns of the neurons in the intermediate layer of the visuomotor transformation that recieves both visual and proprioceptive inputs, and thus influence the multi-voxel pattern of the blood oxygenation level dependent signal. Using a recently developed multi-voxel pattern decoding method, we found extrinsic, intrinsic and intermediate coordinate frames along the visuomotor cortical pathways during a visuomotor control task. The presented results support the hypothesis that, in human, the extrinsic coordinate frame was transformed to the muscle-like frame over the dorsal pathway from the posterior parietal cortex and the dorsal premotor cortex to the primary motor cortex.

Background: In order to optimize outcomes of novel therapies for cerebellar ataxias (CAs), it is desirable to start these therapies while declined functions are restorable: i.e. while the so-called cerebellar reserve remains. Objective: In this mini-review, we tried to define and discuss the cerebellar reserve from physiological and morphological points of view. Method: The cerebellar neuron circuitry is designed to generate spatiotemporally organized outputs, regardless of the region. Therefore, the cerebellar reserve may be defined as a mechanism to restore its proper input-output organization of the cerebellar neuron circuitry, when it is damaged. Then, the following four components are essential for recruitment of the cerebellar reserve: operational local neuron circuitry; proper combination of mossy fiber inputs to be integrated; climbing fiber inputs to instruct favorable reorganization of the integration; deep cerebellar nuclei to generate reorganized outputs. Results: We discussed three topics related to these resources, 1) principles of generating organized cerebellar outputs, 2) redundant mossy fiber inputs to the cerebellum, 3) plasticity of the cerebellar neuron circuitry. Conclusion: To make most of the cerebellar reserve, it is desirable to start any intervention as early as possible when the cerebellar cell loss is minimal or even negligible. Therefore, an ideal future therapy for degenerative cerebellar diseases should start before consuming the cerebellar reserve at all. In the meantime, our real challenge is to establish a reliable method to identify the decrease in the cerebellar reserve as early as possible.

Quantitative evaluation of human motor function is a key technology for diagnosing and evaluating movement disorders such as cerebellar ataxia, Parkinson's disease, or stroke. In addition, it is ideal to make the evaluation anywhere, anytime (e.g. at home) for wider clinical applications. Thus, a number of studies have been done to achieve this goal. In our previous study, we developed a novel system for quantitative evaluation of wrist movement using a simple tracking task with a manipulandum. Although the evaluation system was effective, its custom-made input device was expensive. Therefore it was difficult to use it at home to capture daily or weekly changes of patients' conditions repeatedly. To overcome these problems, we have developed a new system for quantitative evaluation of motor function using a Kinect v2 sensor (Microsoft Inc.), which is easily available with low cost. A smooth tracking task employed in our previous system was also used in this study. We examined whether the new system with Kinect v2 sensor had sufficient accuracy and quality of data. We also tested the same analytical methods proposed in our previous study. Preliminary test showed promising performance of the new system for quantitative evaluation of motor function. We are going to connect the system with a cloud database system (e.g., Microsoft Azure) so that the system will be available for patients anywhere, anytime.

Once people have a well-trained motor skill, their performance becomes stabilized and achieving substantial improvement is difficult. Recently, we have shown that even a plateaued hand motor skill can be upgraded with short-period electrical stimulation to the hand prior to the task. Here, we identify the neuronal substrates underlying the improvement of the plateaued skill by examining the enhanced functional connectivity in the sensory-motor regions that are associated with motor learning. We measured brain activity using functional magnetic resonance imaging and performed psychophysiological interaction analysis. We recruited seven right-handed very-well trained participants, whose motor performance of continuously rotating two balls with their right hands became stabilized at higher performance levels. We prepared two experiments, in each of which they repeated an experimental run 16 times. In each run, they performed this cyclic rotation as many times as possible in 16 s. In the thenar-stimulation experiment, we applied 60-s stimulation to the thenar muscle before each of the 5th - 12th runs, and the others were preceded by ineffective sham stimulation. In the control experiment, the sham was always provided. Thenar stimulation enabled the participants to perform the movements at higher cycles. In association with this performance improvement, we found enhanced activity couplings between the primary motor cortex and the sensorimotor territory of the putamen and between the cerebellum and the primary sensorimotor cortices, without any quantitative activity increase. Neither behavioral change nor these increased activity couplings were observed in the control.Thus, in contrast to the stable neuronal states in the cortico-subcortical motor circuits when the well-learned task is repeated at the later stages of motor skill learning, plastic changes in the motor circuits seem to be required when the plateaued skill is upgraded, and the stimulation may entail a state of readiness for the plastic change that allows subsequent performance improvement.

A classic hypothesis for motor control assumes that the predictive controller (PC) and the feedback controller (FBC) work in parallel. Nevertheless, dissociation of outputs from the two controllers has never been possible, preventing evaluation of motor functions in movement disorders. Here we demonstrate a new method to separate outputs from PC and FBC. Subjects performed a tracking movement to pursue a slowly moving target, while we recorded movement with a manipulandum or a Kinect v2 sensor. We identified three components of tracking movement that were separable with FFT and identified in terms of their function. The primary, a lower frequency component ( 3.0 Hz), which showed characteristic increases in patients with Parkinson’s disease or stroke. Each of the three components provides unique parameters to quantify motor function of patients with movement disorders. Our new method provides a new framework to characterize movement disorders.

Holmes proposed not only the term ataxia, but also opposite clinical signs related to muscle recruitment, which have escaped clinical attention; (1) asthenia, representing delay in initiating muscle contraction and slowness in attaining exertion of full power, and (2) adventitiousness, representing adventitious movements. Recent physiological studies have shown that cerebellar outputs are modified by release or facilitation of Purkinje cell-mediated inhibition on dentate neurons. We believe that asthenia and adventitiousness, which correlate with deficits in the control of disinhibition and inhibition, respectively, deserve more attention in clinical examination.

To examine whether mossy fibers (MFs) in the cerebellar hemisphere show delay activity, we recorded MF activity during a wrist movement task with a random instructed delay period in two monkeys. Among 155 task-related MFs, 70 MFs (45%) demonstrated significant delay activity. Those MFs were widely distributed in the cerebellar hemisphere. Some of the activities were evoked by instruction cue presentation, whereas other activity started in anticipation of the upcoming go signal. For most MFs, the delay activities showed directional tuning. These patterns of the activity were in common with those of neurons in the cerebral motor cortices.

Background: Fundamental cytological changes of amyotrophic lateral sclerosis (ALS) were looked for by comparing relatively preserved Onuf’s nucleus (ON) and severely affected neighboring motor neuron groups (dorsolateral alpha motoneurons (DL) and other anterior horn neurons (OAH)). The second sacral segments from 11 ALS patients and 5 controls were initially quadruple-labeled for phosphorylated and non-phosphorylated TAR DNA-binding protein of 43 kDa (TDP43), and p62 with DAPI to identify TDP43-related changes. After digital recording of these fluorescence data encompassing the entire specimen at a high resolution, the same sections were stained with Kluver-Barrera method to obtain their exact bright-field counterparts. This novel approach facilitated exact identification of ON. Furthermore, this cell to cell comparison enabled to correlate quantitative indices of the neuronal cell bodies: perimeter, area and circularity index (CI) i.e. the ratio of (perimeter/2π) divided by the square root of (area/π), which decreases with dendritic retraction, overall number of neurons and inclusions. Results: In addition to known preservation of ON neuron number relative to DL and OAH, size reduction of ON neurons was not significant even in the advanced stage. Significant size reduction in DL was counteracted in the presence of TDP43-positive inclusions. Early increase of neuronal size in OAH was further enhanced by the presence of TDP43-positive inclusions. Even with these heterogeneous cytopathological changes, a decrease in CI was consistent in all groups at an early phase and was correlated with neuronal loss. Conclusions: Among variable cytological changes of ALS, a decrease in CI is a consistent early feature shared between non-atrophic ON neurons and other anterior horn neurons with either decreased (DL) or even increased (OAH) size and profounder neuronal loss. This decrease in CI, representative of dendritic retraction, is fundamental to ALS pathogenesis, not necessarily linked to cell size and pathological inclusions.

The ventral premotor area (PMv) is a major source of input to the primary motor cortex (M1). To examine the potential hierarchical processing between these motor areas, we recorded the activity of PMv neurons in a monkey trained to perform wrist movements in different directions with the wrist in three different postures. The task dissociated three major variables of wrist movement: muscle activity, direction of joint movement and direction of movement in space. Many PMv neurons were directionally tuned. Nearly all of these neurons (61/65, 94%) were 'extrinsic-like'; they seemed to encode the direction of movement in space independent of forearm posture. These results are strikingly different from results from M1 of the same animal, and suggest that intracortical processing between PMv and M1 may contribute to a sensorimotor transformation between extrinsic and intrinsic coordinate frames.

Muscle activity is the final signal for motion control from the brain. Based on this biological characteristic, Electromyogram (EMG) signals have been applied to various systems that interface human with external environments such as external devices. In order to use EMG signals as input control signal for this kind of system, the current EMG driven torque estimation models generally employ the mathematical model that estimates the nonlinear transformation function between the input signal and the output torque. However, these models need to estimate too many parameters and this process cause its estimation versatility in various conditions to be poor. Moreover, as these models are designed to estimate the joint torque, the input EMG signals are tuned out of consideration for the physiological synergetic contributions of multiple muscles for motion control. To overcome these problems of the current models, we proposed a new tuning model based on the synergy control mechanism between multiple muscles in the cortico-spinal tract. With this synergetic tuning model, the estimated contribution of multiple muscles for the motion control is applied to tune the EMG signals. Thus, this cortico-spinal control mechanism-based process improves the precision of torque estimation. This system is basically a forward dynamics model that transforms EMG signals into the joint torque. It should be emphasized that this forward dynamics model uses a musculo-skeletal model as a constraint. The musculo-skeletal model is designed with precise musculo-skeletal data, such as origins and insertions of individual muscles or maximum muscle force. Compared with the mathematical model, the proposed model can be a versatile model for the torque estimation in the various conditions and estimates the torque with improved accuracy. In this paper, we also show some preliminary experimental results for the discussion about the proposed model.

Quantitative evaluation of cerebellar ataxia is crucial for precise evaluation of cerebellar diseases. In particular, it is essential to capture anomaly of the causal motor commands as well as the resultant movement for the ataxia. In this paper, we propose a new method to make a quantitative evaluation of the cerebellar ataxia based on EMG signals. As an experimental task, we asked subjects to perform step-tracking wrist movements with a manipulandum, and recorded wrist joint movements and muscle activities of four wrist prime movers with surface electrodes. The subjects included fourteen patients with cerebellar diseases and thirteen normal controls. We succeeded to extract two parameters from the EMG signals of the four wrist prime movers, which characterize the pathological patterns of muscle activities for the cerebellar ataxia, Total Co-contraction Level (TCL) and Directionality of Muscle Activity (DMA). We found that the two parameters were useful to characterize pathological patterns of muscle activities in cerebellar ataxia. Consequently, it is expected that our proposed method is useful not only in tracking condition of cerebellar patients but also in evaluating the effects of a treatment or neuro-rehabilitation aiming at the normalization of motor commands.

Arborization of single corticocortical (CC) axons projecting from the parietal cortex to the motor cortex (Mx) was analysed using an intraaxonal staining technique in the cat. Stem axons arising from cell bodies in area 5 ramified repeatedly into numerous terminal branches in the Mx, forming 2-6 patches (0.2-0.8 mm in diameter) separated by a terminal-free gap. Axon terminals were distributed mainly in layers II and III and sparsely in layers V, VI and I. This feature is quite similar to that of thalamocortical axons and other corticocortical fibres. Thus the patchy organization may be a basic input structure for afferents of the Mx and play a role in generation of adequate motor output patterns in the Mx.

Morphology of single axons of tectospinal (TS) neurons was investigated by intraaxonal injection of horseradish peroxidase (HRP) at the upper cervical spinal cord of the cat. TS axons were electrophysiologically identified by their direct responses to stimulation of the contralateral superior colliculus (SC). None of these axons responded to thoracic stimulation at Th2. Three-dimensional reconstructions of the axonal trajectories were made from 20 well-stained TS axons at C1-C3. Cell bodies of these axons were located in the intermediate or deep layers of the caudal two-thirds of the SC. Usually, TS axons had multiple axon collaterals, and up to seven collaterals were given off per stem axon [2.7 ± 1.6 (mean ± S.D.); n = 20]. Collaterals had simple structures and ramified a few times mainly in the transverse plane. The number of terminals for each collateral was small. These collaterals terminated in the lateral parts of laminae V–IX, mainly in laminae VI, VII, and VIII. There were usually gaps free from terminal arborizations between adjacent collaterals, because the rostrocaudal spread of each collateral (mean = 700 μm) was narrower than the intercollateral interval (mean = 2,500 μm). Seven of the 19 TS axons had terminals in the lateral parts of laminae V–VIII, with little projection to lamina IX, and the other 12 axons had terminals in lamina IX besides the projection to the lateral parts of laminae V–VIII. Axon terminals in lamina IX did not appear to make contacts with the somata or proximal dendrites of retrogradely labeled motoneurons, but contacts were found with the somata of counterstained interneurons in the lateral parts of laminae V–VIII. Three spinal interneurons (two in lamina VIII and one in lamina V at C1) that received monosynaptic excitation from the SC were stained, and their axonal trajectories were reconstructed. They had multiple axon collaterals at C1-C2 and mainly projected to laminae VIII and IX, with smaller projections to lamina VII. Many axon terminals of the interneurons were found in multiple neck motor nuclei, where some of them made contacts with retrogradely labeled motoneurons. The present finding provides evidence that the direct TS projection to the spinal cord may influence activities of multiple neck muscles, mainly via spinal interneurons, and may play an important role in control of head movement in parallel with the tectoreticulospinal system. © 1996 Wiley-Liss, Inc.

1. In the parietal cortex (Px, areas 5 and 7), the organization and characteristics of cerebellar and cerebral inputs and their effects on efferent neurons were investigated with the use of intracellular and extracellular recording techniques in the anesthetized cat. 2. Evoked field potential analysis revealed that two regions of the Px, the caudal bank of the ansate sulcus (Ans. S.) and the crown of the suprasylvian gyrus (Ssyl. G.), received converging input from the dentate and the interpositus nucleus. The cerebellar input to the caudal bank of the Ans. S. was relayed via the ventrolateral region of the ventroanterior-ventrolateral (VA-VL) complex of the thalamus, whereas the cerebellar input to the crown of the Ssyl. G. was relayed via the dorsomedial region of the VA-VL complex. 3. A total of 176 neurons was recorded intracellularly in the Px to examine inputs from the cerebellum. Of these, 72 neurons were corticocortical neurons projecting to the motor cortex (Mx), and 48 were corticofugal neurons to the pontine nucleus (PN). Intracellular staining with horseradish peroxidase revealed that the former corticocortical neurons were layer III pyramidal neurons and the latter corticofugal neurons were layer V pyramidal neurons. 4. Stimulation of the brachium conjunctivum (BC) produced di- or polysynaptic excitatory postsynaptic potentials (EPSPs) in corticocortical neurons projecting to the Mx and corticofugal neurons to the pontine nucleus in the Px. The characteristics of BC-evoked EPSPs were different between the bank of the Ans. S. and the crown of the Ssyl. G. In the bank of the Ans. S., the slope of the rising phase of the BC-evoked EPSPs was steeper, and their minimum latency was shorter by 0.8 ms than those in the crown of the Ssyl. G. These differences may reflect differences in the terminal distribution and conduction velocity of the thalamocortical fibers relaying cerebellar input to these two parietal areas. 5. Stimulation of the Mx produced mono- or disynaptic EPSPs in both corticocortical neurons projecting to the Mx and corticofugal neurons projecting to the pontine nucleus in the Px. For each neuron, effective sites for inducing EPSPs were distributed very widely and sometimes covered both areas 4 and 6. Extensive corticocortical projection from the Mx to the Px was confirmed by injection of an anterograde tracer into the Mx. 6. These data indicate that neurons in the Px receive inputs from both the cerebellum and the Mx and send outputs to the Mx and the cerebellum.(ABSTRACT TRUNCATED AT 400 WORDS)

We propose a new method to provide a functional interpretation of motor commands (i.e., muscle activities) and their relationship to movement kinematics. We evaluated our method by analyzing the motor commands of normal controls and patients with cerebellar disorders for visually guided tracking movement of the wrist joint. Six control subjects and six patients with cerebellar disorders participated in this study. We asked the subjects to perform visually guided smooth tracking movement of the wrist joint with a manipulandum, and recorded the movements of the wrist joint and activities of the four wrist prime movers with surface electrodes. We found a symmetric relationship between the second-order linear equation of motion for the wrist joint and the linear sum of activities of the four wrist prime movers. The symmetric relationship determined a set of parameters to characterize the muscle activities and their similarity to the components of movement kinematics of the wrist joint. We found that muscle activities of the normal controls encoded both the velocity and the position of the moving target, resulting in precise tracking of the target. In contrast, muscle activities of the cerebellar patients were characterized by a severer impairment for velocity control and more dependence on position control, resulting in poor tracking of the smoothly moving target with many step-like awkward movements. Our results suggest that the cerebellum plays an important role in the generation of motor commands for smooth velocity and position control.

An accurate estimate of elapsed time is essential for anticipating the timing of future events. Here, we show that the ability to estimate elapsed time on a reaction time (RT) task improved with training during which human participants learned to anticipate the onset of a “Go” signal. In each trial, a warning signal preceded the Go signal by a temporal interval (i.e., foreperiod). The duration of the foreperiod was randomly drawn from a rectangular distribution (1–2 s). Participants were required to initiate a response immediately after the Go signal and performed the task for 480 trials/day for 12 days. Anticipation should have been governed by the probability that the Go signal would occur (hazard rate), which increased for longer foreperiods. Indeed, RTs decreased for longer foreperiods and were inversely related to the hazard rate. The pattern of RT decrease was well explained by the subjective hazard rate, which was formalized based on the assumption that the uncertainty of estimates of elapsed time scales with time (Weber’s law). Notably, RTs demonstrated a more linear decrease as a function of foreperiod in LATE compared with EARLY training sessions. This involved a decrease in the Weber fraction used in the subjective hazard rate. The results indicate that the uncertainty associated with estimating elapsed time was reduced as participants learned and used the hazard rate to anticipate the onset of the Go signal. This finding suggests that the ability to estimate elapsed time improves with training on behavioral tasks that implicitly engage timing mechanisms.

In this study, we introduce a new method to analyze the functional significance of motor commands based on the causal relationship between muscle activities and movement kinematics. We asked 4 healthy subjects to perform 2 movement tasks involving movements of the wrist joint with a manipulandum: (1) a step-tracking movement, and (2) a smooth pursuit movement to follow a smoothly moving target with a cursor. We recorded the movements of the wrist joint and the electromyography (EMG) signals from 4 prime movers of the wrist. We then identified the causal relationship between the muscle activities and the movement kinematics in terms of the torque at the wrist joint torque. Correlation coefficients (R) between the muscle activities and the movement kinematics were surprisingly high for both the step-tracking movement (0.88-0.96) and the smooth pursuit movement (0.89-0.98). Nevertheless, the ratio of the viscosity coefficient B and the elastic coefficient K for the of the causal relationship was systematically different for the 2 movement tasks. For the step-tracking movement, the elastic coefficient K was much higher than the viscosity coefficient B (KB, B/K ratio = 0-0.25), suggesting that the muscle activities were correlated mainly with position of the wrist joint. In other words, the central nervous system (CNS) mainly controls the target position during the step-tracking movement. In contrast, for the smooth pursuit movement, the elastic coefficient K and the viscosity coefficient B were similar (B approximately equal to K, B/K ratio = 1.0-2.1), suggesting that the muscle activities were correlated both with the position and velocity of the wrist joint. In other words, the CNS controls the velocity as well as position of the target during the smooth pursuit movement. Overall, the controller for the wrist movement can switch between the position-control mode and the position/velocity-control mode depending on the requirement of the task. Our new method is a unique noninvasive tool for the bedside evaluation of the condition of motor controllers in the CNS. Thus, it is useful for finding evidence of neurorehabilitation.

Spinal commissural neurons (CNs) activated di- or trisynaptically by stimulation of ipsilateral vestibular afferents were stained with intraaxonal injection of horseradish peroxidase in the cat upper cervical spinal cord. Stem axons of CNs in lamina VIII or VII, after crossing the midline, had ascending and/or descending main branches that gave off multiple axon collaterals to laminae IX and VIII over a few cervical segments. Terminal boutons appeared to make contact with proximal dendrites and somata of retrogradely-labelled neck motoneurons. Therefore, these CNs were regarded as mediating vestibular afferent input to contralateral neck motoneurons trisynaptically at the shortest.

In this paper, we propose a new method to make a quantitative evaluation for movement disorders. Based on the EMG signals, we analyzed the movement disorders for cerebellar patients at the motor command level. As an experimental task, we asked subjects to perform step-tracking wrist movements with a manipulandum, and simultaneously recorded wrist joint movements and muscle activities of four wrist prime movers with surface electrodes. In order to quantitatively evaluate the correspondence between the movement kinematics and the activities of the four muscles, we approximated the relationship between the wrist joint torque calculated from the kinematics and the four EMG signals using a dynamics model of wrist joint. Our surprising observation was that there was very high correlation between the wrist joint torque and the EMG signals. In fact, we identified causal abnormality of muscle activities for movement disorders of cerebellar patients, confirming effectiveness of our proposed method for analysis of movement disorders at the level of the motor command.

In this paper, we propose a new method to make a quantitative evaluation of motor commands based on the EMG signals. Especially, we tried to resolve a remaining issue in our previous study: relatively poor estimation of the wrist joint torque from the EMG signals for extreme movements, such as jerky movements of the cerebellar patients. Subjects included eight cerebellar patients and eight normal controls. As an experimental task, we asked the subjects to perform step-tracking wrist movements with a manipulandum, and recorded movements of the wrist joint and activities of the four wrist prime movers with surface electrodes. For improved estimation of the wrist joint torque from the EMG signals, we developed a new approximating method, by considering the moment arms of the four muscles during the movement. As a result, our improved method proved higher correlations between the kinematics torque and the estimated torque with the four EMG signals for both the cerebellar patients and the normal controls than the previous method. In fact, we confirmed the effectiveness of our improved methods, identifying the causal abnormality of muscle activities for the cerebellar ataxia with high accuracy.

Which brain sites represent the final form of motor commands that encode temporal patterns of muscle activities? Here, we show the possible brain sites which have activity equivalent to the motor commands with functional magnetic resonance imaging (fMRI). We hypothesized that short-temporal patterns of movements or stimuli are reflected in blood-oxygenation-level-dependent (BOLD) responses and we searched for regions representing the response. Participants performed two temporal patterns of tapping and/or listened to the same patterns of auditory stimuli in a 3T fMRI. The patterns were designed to have the same number (11) of events and the same duration, but different temporal distribution of events. The 11 events were divided into two parts (10 repetitive taps and one stand-alone tap) and the interval of the two parts was 3 s. The two patterns had reverse order of the two parts. The results revealed that different temporal patterns of auditory stimuli were represented in different temporal features of BOLD responses in the bilateral auditory cortex, whereas different temporal patterns of tapping were reflected in contralateral primary motor cortex and the ipsilateral anterior cerebellum. In bilateral premotor cortex, supplementary motor area, visual cortex, and posterior cerebellum, task-related BOLD responses were exhibited, but their responses did not reflect the temporal patterns of the movement and/or stimuli. One possible explanation is that the neuronal activities were similar for the two patterns in these regions. The sensitivity of the BOLD response to the temporal patterns reflects local differences in functional contributions to the tasks. The present experimental design and analysis may be useful to reveal particular brain regions that participate in multiple functions.

Anterograde labelling following focal injections of Phaseolus vulgaris leucoagglutinin was used to identify the parietal distribution of thalamocortical (TC) fibers from the ventroanterior-ventrolateral (VA-VL) complex of the cat thalamus. In injections in the ventrolateral or the caudal part of the VA-VL complex, labelled TC fibers were distributed in layers I, III and IV of the parietal areas 5a and/or 5b, whereas in injections located more rostrally or dorsomedially, labelled TC fibers were almost confined to layer I.

In this study, we developed a new system for quantitative evaluation of the wrist movement. We designed this system to analyze the causal relationship between movement disorders and abnormal muscle activities. In addition, this system was also designed to be non-invasive and used handily at the bedside. We tested this system for analysis of movement disorders in the cerebellar patients. As an experimental task, we asked subjects to perform step-tracking wrist movements with a manipulandum, and simultaneously recorded wrist joint movements and muscle activities of four wrist prime movers with surface electrodes. The participants included eight patients with cerebellar diseases and eight normal controls. First, we made quantitative analysis of movement kinematics in the cerebellar patients in terms of accuracy and directional deviation of wrist movements. Then we examined how well the wrist movement could be explained with the activities of the four prime movers. Specifically, we compared the wrist joint torque calculated from the movement of the wrist (kinematic torque) and the wrist joint torque estimated from the muscle activities (muscle torque). Then we evaluated match between the two. Our surprising observation was that there were very high correlations between the kinematic torque and the muscle torque for both normal controls and cerebellar patients. Correlation coefficients R for normal controls were 0.85 +/- 0.06 for X-axis component and 0.78 +/- 0.09 for Y-axis component. On the other hand, correlation coefficients R for cerebellar patients were 0.78 +/- 0.11 for X-axis component and 0.78 +/- 0.1 for Y-axis component. These results strongly suggested that there were enough information in the activities of the four muscles to explain the position, speed and acceleration of the wrist joint. In other words, with our system, it is possible to identify causal abnormality of muscle activities for movement disorders. Therefore, it is possible with our system to analyze movement disorders at a motor command level.

Anticipating the timing of behaviorally relevant events is crucial for organizing movement. The time to initiate actions based on events (i.e., reaction time (RT)) is a useful measure to quantify states of anticipation. Few studies have examined how anticipation affects the timing of limb movements. We addressed this question behaviorally with two macaque monkeys performing delayed wrist movement tasks. The interval between target onset and go signal (i.e., foreperiod) varied randomly from 1 to 2 s. The probability that the go signal was about to occur (i.e., hazard rate) increased as the foreperiod increased. The kinematics of wrist movements was not influenced by foreperiod duration. Analyzing RT data with the LATER model indicated that RT distributions swiveled on reciprobit plots as foreperiods increased, suggesting that changes in RT distributions were due to changes in anticipation. RT was inversely related to hazard rate. To better understand the general implications of anticipatory states, we introduced an additional rectangular foreperiod distribution that ranged from 0.9 to 1.5 s. For that distribution, the hazard rate peaks were higher than those of the 1-2 s distribution. Changes in RT were clearly explained by quantitative differences in hazard rate. The decrease in RT in the 0.9-1.5 s foreperiod distribution was greater than that in the 1-2 s foreperiod. Thus, monkeys learned the temporal structure of foreperiod distributions and anticipated the onset of the go signal, based on hazard rates.

Quantitative evaluation of motor functions of patients with cerebellar ataxia is vital for evidence-based treatments and has been a focus in previous investigations of movement kinematics. Due to redundancy of the musculoskeletal system, muscle activities contain more information than the movement kinematics. Therefore, it is preferable to analyze causal anomalies of muscle activities to evaluate motor functions in patients. Here we propose a new method to evaluate the motor functions at the level of muscle activities and movement kinematics. Nineteen patients and 10 control subjects performed two movement tasks of the wrist joint, a step-tracking task and a pursuit task, with a manipulandum. The movements of the wrist joint and activities of the four wrist prime movers were recorded. We developed a linear model for the wrist joint to approximate the causal relationship between muscle activities and movement kinematics in terms of the wrist joint torque. We used a canonical correlation analysis to verify the causality between the muscle activities and the movement kinematics in the model. We found that the activities of the four muscles were related almost entirely to the position and velocity, with negligible correlation with the acceleration of the wrist joint. Moreover, the ratio of the weights for position- and velocity-related torque components characterized the contents of the muscle activities in terms of the movement kinematics. Next, we compared the ratios for the two movement tasks between the controls and patients. In control subjects, the ratios indicated clear task-specific changes that conformed to the functional requirements of the tasks. In contrast, in patients, the task-specific changes diminished highly significantly. The present results indicate that this ability to accommodate motor commands to the task requirements provides a novel quantitative parameter to characterize motor functions in patients with cerebellar ataxia.

In this chapter, we describe our recent work on the divergent properties of single, long descending motor-tract neurons in the spinal cord, using the method of intra-axonal staining with horseradish peroxidase, and serial-section, three-dimensional reconstruction of their axonal trajectories. This work provides evidence that single motor-tract neurons are implicated in the neural implementation of functional synergies for head movements. Our results further show that single medial vestibulospinal tract (MVST) neurons innervate a functional set of multiple neck muscles, and thereby implement a canal-dependent, head-movement synergy. Additionally, both single MVST and reticulospinal axons may have similar innervation patterns for neck muscles, and thereby control the same functional sets of neck muscles. In order to stabilize redundant control systems in which many muscles generate force across several joints, the CNS routinely uses a combination of a control hierarchy and sensory feedback. In addition, in the head-movement system, the elaboration of functional synergies among neck muscles is another strategy, because it helps to decrease the degrees of freedom in this particularly complicated control system.

In this chapter, we describe our recent work on the divergent properties of single, long descending motor-tract neurons in the spinal cord, using the method of intra-axonal staining with horseradish peroxidase, and serial-section, three-dimensional reconstruction of their axonal trajectories. This work provides evidence that single motor-tract neurons are implicated in the neural implementation of functional synergies for head movements. Our results further show that single medial vestibulospinal tract (MVST) neurons innervate a functional set of multiple neck muscles, and thereby implement a canal-dependent, head-movement synergy. Additionally, both single MVST and reticulospinal axons may have similar innervation patterns for neck muscles, and thereby control the same functional sets of neck muscles. In order to stabilize redundant control systems in which many muscles generate force across several joints, the CNS routinely uses a combination of a control hierarchy and sensory feedback. In addition, in the head-movement system, the elaboration of functional synergies among neck muscles is another strategy, because it helps to decrease the degrees of freedom in this particularly complicated control system.

The cerebellum generates its vast amount of output to the cerebral cortex through the dentate nucleus (DN) that is essential for precise limb movements in primates. Nuclear cells in DN generate burst activity prior to limb movement, and inactivation of DN results in cerebellar ataxia. The question is how DN cells become active under intensive inhibitory drive from Purkinje cells (PCs). There are two excitatory inputs to DN, mossy fiber and climbing fiber collaterals, but neither of them appears to have sufficient strength for generation of burst activity in DN. Therefore, we can assume two possible mechanisms: post-inhibitory rebound excitation and disinhibition. If rebound excitation works, phasic excitation of PCs and a concomitant inhibition of DN cells should precede the excitation of DN cells. On the other hand, if disinhibition plays a primary role, phasic suppression of PCs and activation of DN cells should be observed at the same timing. To examine these two hypotheses, we compared the activity patterns of PCs in the cerebrocerebellum and DN cells during step-tracking wrist movements in three Japanese monkeys. As a result, we found that the majority of wrist-movement-related PCs were suppressed prior to movement onset and the majority of wrist-movement-related DN cells showed concurrent burst activity without prior suppression. In a minority of PCs and DN cells, movement-related increases and decreases in activity, respectively, developed later. These activity patterns suggest that the initial burst activity in DN cells is generated by reduced inhibition from PCs, i.e., by disinhibition. Our results indicate that suppression of PCs, which has been considered secondary to facilitation, plays the primary role in generating outputs from DN. Our findings provide a new perspective on the mechanisms used by PCs to influence limb motor control and on the plastic changes that underlie motor learning in the cerebrocerebellum.

We investigated the axonal morphology of single corticothalamic (CT) neurons of the motor cortex (Mx) in the cat thalamus, using a neuronal tracer, biotinylated dextran amine (BDA). After localized injection of BDA into the Mx, labeled CT axons were found ipsilaterally in the thalamic reticular nucleus (TRN), the ventroanterior–ventrolateral complex (VA-VL), the central lateral nucleus (CL), the central medial nucleus, and the centromedian nucleus, but with the primary focus in the VA-VL. The terminals in the VA-VL formed a large laminar cluster, which extended approximately in parallel with the internal medullary lamina. The laminar organization mirrored morphologic features of single CT axons. We reconstructed the trajectories of 25 single CT axons that arose from layer V (16 axons) or layer VI (9 axons) and terminated in the VA-VL. Terminals of single CT axons that originated from both layer V and layer VI were confined within a laminar structure about 700 μm thick, suggesting the existence of laminar input organization in the VA-VL. Otherwise, the two groups of the CT axons showed contrasting features. All of the CT axons derived from layer VI gave rise to a few short collaterals to the TRN and then formed extensive arborization with numerous small, drumstick-like terminals in the VA-VL. On the other hand, the CT axons arising from layer V gave rise to collaterals whose main axons descended into the cerebral peduncle. Each collateral projected to the VA-VL or CL without projection to the TRN and formed a few small clusters of giant terminals. The two groups of CT neurons in the same cortical column had convergent rather than segregated termination in the VA-VL. However, the terminals of layer VI CT neurons were distributed diffusely and widely in the VA-VL, whereas the terminals of layer V CT neurons were much more focused and surrounded by the terminals of the former group. These contrasting features of the two types of CT projections appear to represent their different functional roles in the generation of motor commands and control of movements in the Mx. J. Comp. Neurol. 437:170–185, 2001. © 2001 Wiley-Liss, Inc.

What aspects of movement are represented in the primary motor cortex (M1): relatively low-level parameters like muscle force, or more abstract parameters like handpath? To examine this issue, the activity of neurons in M1 was recorded in a monkey trained to perform a task that dissociates three major variables of wrist movement: muscle activity, direction of movement at the wrist joint, and direction of movement in space. A substantial group of neurons in M1 (28 out of 88) displayed changes in activity that were muscle-like. Unexpectedly, an even larger group of neurons in M1 (44 out of 88) displayed changes in activity that were related to the direction of wrist movement in space independent of the pattern of muscle activity that generated the movement. Thus, both “muscles” and “movements” appear to be strongly represented in M1.

To investigate whether corticothalamic (CT) neurons in the motor cortex (Mx) receive cerebellar input via the ventroanterior–ventrolateral nucleus of the thalamus (VA–VL), we recorded intracellular potentials from neurons in the Mx of anesthetized cats and examined effects of stimulation of the VA–VL and the brachium conjunctivum on them. After this electrophysiological identification, horseradish peroxide (HRP) was injected iontophoretically into the recorded neurons for morphological analysis. We identified 34 neurons as CT neurons by their antidromic response to stimulation of the VA–VL, of which 13 were layer VI CT neurons and 21 were layer V CT neurons. A majority of the CT neurons of both layers VI and V received monosynaptic excitatory postsynaptic potentials (EPSPs) from the VA–VL and di- or polysynaptic EPSPs from the cerebellum. The laminar distribution and morphological characteristics of single CT neurons receiving cerebellar input were analyzed on 19 HRP-labeled CT neurons. Eight layer V and six layer VI CT neurons were reconstructed from serial sections. All the reconstructed layer VI CT neurons were modified pyramidal neurons whose apical dendrites ended in layer III or V, and all the stained layer V CT neurons were typical pyramidal neurons, although the laminar and tangential distribution of recurrent collaterals of these neurons varied from neuron to neuron.