POSTER PRESENTATION Open Access A neuromechanical computational model of spinal control of locomotion

We developed a neuromechanical computational model of cat locomotion that simulated the locomotor move-ments of cat hindlimbs controlled by spinal locomotor central pattern generators (CPGs, one per limb). In the closed-loop model, CPG operation was adjusted by afferent feedback from the hindlimbs. The CPG model was based on the previous two-level model [4] and included a half-center rhythm generator (RG), producing alternating flexor and extensor activities, and a pattern formation (PF) network operating under control of RG and controlling the synergetic activities of different hin-dlimb motoneuron pools. This basic model [4] was extended by incorporating additional neural circuits at the PF level allowing the CPG to generate the complex activity patterns of motoneurons controlling two-join