HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 JNERJOURNAL OF NEUROENGINEERING http://www.jneuroengrehab.com/content/10/1/5 AND REHABILITATION REVIEW Open Access The physiological basis of neurorehabilitation - locomotor training after spinal cord injury Michèle Hubli* and Volker Dietz Abstract Advances in our understanding of thephysiological basis of locomotion enable us to optimize the neurorehabilitationof patients with lesions to the central nervous system, such as stroke or spinal cord injury (SCI). It is generally accepted, based onwork inanimal models, that spinal neuronal machinery can produce a stepping-like output. Inboth incomplete and complete SCI subjects spinal locomotor circuitries can be activated by functional training which providesappropriate afferent feedback. In motor complete SCI subjects, however, motor functions caudal to the spinal cord lesion are nolonger used resulting in neuronal dysfunction. In contrast, in subjects with anincompleteSCI such training paradigms can lead to improved locomotor ability. Appropriate functional training involves the facilitation and assistance ofstepping-like movements withthe subjects’ legs and body weight support as far as is required. Inseverely affected subjects standardized assisted locomotor training is provided by body weight supported treadmill training with leg movements either manually assisted or moved by a driven gait orthosis. Load- and hip-joint related afferent input is of crucial importanceduring locomotor training as it leads to appropriate leg muscle activation and thus increases the efficacy of therehabilitative training. Successful recovery of locomotion after SCI relies on theability of spinal locomotor circuitriesto utilize specific multisensory information to generate a locomotor pattern. It seems that a critical combination ofsensory cues is required to generate and improve locomotor patternsafter SCI. Inaddition to functional locomotor training thereare numbers ofother promising experimentalapproaches,such as tonic epidural electrical or magnetic stimulation of thespinal cord, which both promote locomotor permissive states that lead to a coordinatedlocomotor output. Therefore, a combination of functional training and activationof spinal locomotor circuitries, for example by epidural/flexor reflexelectrical stimulation or drug application (e.g. noradrenergic agonists), might constitute aneffective strategy to promote neuroplasticity after SCI in thefuture. Keywords: Locomotion, Neurorehabilitation, Neuronal plasticity, Spinal cord injury Introduction accepted that the central nervous system is able to re- A spinal cordinjury(SCI) isadevastatingeventthat,de- cover locomotor function following incomplete SCI with pending on the level and severity, impacts sensorimotor functional training on a treadmill combined with partial and autonomous function. In affected subjects the goal body weight support [3-5]. However, the physiological of rehabilitative interventions is the regaining of inde- requirements for training effects remain vague. A cen- pendence and thus a good quality of life. From the tury of research into the organization of the neuronal patientsperspectivethisisprobablybestachievedbytar- processes underlying the control of locomotion in mam- geting restoration of bladder and bowel function, and in mals has demonstrated that the basic neuronal circuit- tetraplegic subjects upper limb function [1]. However, ries responsible for generating efficient stepping patterns recovery of locomotor ability is also of high priority by are embedded within the lumbosacral spinal cord [6,7]. SCI subjects independently from the severity, time after These spinal locomotor circuitries appear to play a cru- injury and age at the time of injury [2]. It is now widely cial role in stepping ability in animal models and in human SCI. Thisreview covers the physiological basis of effective locomotor training after SCI. Several studies *Correspondence:[email protected] SpinalCordInjuryCenter,BalgristUniversityHospital,UniversityofZurich, in animal models, especially in rats and cats, have Forchstrasse340,8008,Zurich,Switzerland ©2013HubliandDietz;licenseeBioMedCentralLtd.ThisisanOpenAccessarticledistributedunderthetermsofthe CreativeCommonsAttributionLicense(http://creativecommons.org/licenses/by/2.0),whichpermitsunrestricteduse, distribution,andreproductioninanymedium,providedtheoriginalworkisproperlycited. HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page2of8 http://www.jneuroengrehab.com/content/10/1/5 unraveled the neuronal principles underlying neuroreh- control, especially during swing phase of stepping in abilitation of locomotion after SCI. The role of neuronal humans[16]andthecat[17]. plasticity will be discussed in this review. After SCI neu- Quadrupedal locomotion is characterized by the coord- roplasticity in the cortex, brainstem and spinal cord can ination of forelimb and hindlimb rhythmic activities gen- be exploited by rehabilitative approaches. This review erated by common spinal neuronal control mechanisms, will mainly focus on studies of neuroplastic changes at i.e., long propriospinal neurons coupling the cervical and the spinal level as the knowledge gained from these lumbar segments [18,19]. This neuronal coupling and co- studies is used to create novel translatory neurorehabil- ordination of upper and lower limbs that is present in itative approaches with the aim to restore and improve quadrupedal locomotion is preserved inbipedal gait.Uni- locomotorability afterhumanSCI. lateraltibial nervestimulationduringlocomotion,butnot during sitting or standing, leads to reflex responses in leg musclesandintheproximalmusclesofbotharms[20,21]. Neuronalbasisofhumanlocomotion Suchtask-dependentcouplingofthoraco-lumbarandcer- Thequestion,howdoesthecentralnervoussystemcoord- vical locomotor centers is flexible and allows humans to inate limb movements during locomotion in a seemingly usetheupperlimbforfine,skilledmovements,oralterna- “simple”andautomaticmannerchallengesneuroscientists tively for locomotor tasks, such as swimming or crawling, for morethanacentury. Atthebeginningofthelastcen- or for the control of body equilibrium during stepping, tury (1911) Graham-Brown postulated his “half-center” e.g.,armswingasaresidualfunctionofquadrupedalloco- hypothesis which demonstrated the intrinsic capacity of motion[22]. the mammalian spinal cord to generate rhythmic motor It is important that the neuronal mechanisms under- patterns without descending or sensory input [8]. Subse- lying human locomotor control in the normal and quently Grillner called these spinal neuronal circuitries pathophysiologicalconditionareunderstood,asitisonly central pattern generators (CPGs). CPGs are embedded then that it is possible to maximize the recovery of loco- withinthelumbosacralspinalsegmentsandarecapableof motion in patients following central nervous system generating stepping-like activation patterns [6]. However, damage. a CPG alone does not appear to be sufficient for over- ground walking. Locomotion represents the interaction Focusingonneuronalplasticitybroughtaboutby betweentheinnatepatternandanappropriatemodulation locomotortraining of leg muscle activation which has to continuously adapt Modern neurorehabilitation no longer aims to simply tothe present requirements, e.g., tothe over-ground con- compensate for disabilities inSCI subjects, rather it aims ditions. Feedback from a variety of sources, e.g., visual, to functionally regain locomotor ability by exploiting vestibular and proprioceptive systems, is interpreted by neural plasticity and/or neural repair. A first question to and then integrated into the activity of the CPG [9]. The ask is, “What is neuronal plasticity?” An example of CPGcanopenandclosereflexpathwaysinacontext-and neuronal plasticity is the spontaneous reorganization task-dependent manner. The sensory feedback and the that is observed after SCI at the cortical level which can context-specificrequirementsofthemotortaskdetermine occur over one year [23]. Next to spontaneously occur- the mode of organization of muscle synergies [10]. Add- ring neuronal plasticity, it can also be induced by loco- itionally,supraspinalcontrolisneededtoprovideboththe motor training at cortical level [24]. Plastic changes in drive for locomotion as well as the coordination to inter- sensorimotorcortexactivityarerelatedtofunctionalloco- act with a complex environment. Corticospinal access to motorrecoveryafteranSCI[25].Besidescorticalplasticity locomotion control in humans is phase-dependent [11]. it seems that other supraspinal centers, such as the cere- Brain centers can initiate CPG activity butthe fundamen- bellumandbrainstemarealsoimportantsitesofneuronal tal rhythmicity is hard-wired. For example, in the cat, it plasticity in humans receiving locomotor training after wasshownthatapplicationofclonidine,asubstancemim- SCI[24].Inhumans,itisassumedthat supraspinalplasti- icking the action of long descending pathways, results in cityisassociatedwithplasticityofspinalneuronalcircuits, distinct and consistent alternating bursts of electromyo- but the evidence for this is predominantly from animal graphic (EMG) activity which induce spinal stepping [12]. modelsofSCI[26]. In humans, neuroimaging methods have revealed that Spinal neuronal circuits below the level of lesion can distinct cortical areas, e.g., both the medial primary be activated by an appropriate afferent input, and this is sensory-motor cortices and the supplementary motor consideredimportant tosustain functionalrecoveryafter areas, become activated during locomotion [13,14] and an SCI [9]. In contrast, typical movement disorders after the size of the activated areas is related to the subjects’ SCI, e.g., spastic movement disorder, are due to the de- walking speed [15]. In addition, more demanding tasks, fective utilization of afferent input in combination with such as walking over obstacles, require more cortical secondary compensatory mechanisms [27]. It has been HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page3of8 http://www.jneuroengrehab.com/content/10/1/5 shownthatneuronalnetworksunderlyingthe generation than on the completeness of the injury [43]. Conse- of locomotor patterns of cats [28] and humans [29,30] quently, the better the stepping ability of SCI subjects, have an impressively high level of flexibility after SCI. the less the neuronal dysfunction. The functional state Rehabilitative interventions after SCI should therefore of spinal locomotor circuitries is not fixed after an SCI focus on exploiting the plasticity of neuronal circuits, and neuronal dysfunction can be improved by intensive i.e., at supraspinal and/or spinal level, rather than focus- locomotor training over one month, but only in incom- ing on improving isolated clinical signs, such as muscle plete SCIsubjects[43]. toneorreflexexcitability. The plasticity of spinal neuronal circuits is task- Locomotorcapacityafterspinalcordinjury specific and use-dependent as shown in several earlier Locomotorpatterngeneration:fromanimaltohuman experiments in cats with complete SCI. For example, Cats with a complete spinal cord transection at thoracic after several months of daily step training, spinal cats segments gradually improve hindlimb locomotion on a regained full weight-bearing locomotion on a treadmill treadmill following 2–3 weeks of daily locomotor train- [31,32]. If a spinal cat is intensively trained to stand it ing [31,33]. The spinal cat can relearn walking with al- developstheabilitytosupportitsbodyweightforuptoan ternating steps in the hindlimbs, body weight support hour, but stepping ability on the treadmill remains poor and plantar foot placement. Under such circumstances [33]. These findings suggest that spinal neuronal circuits the EMG activity of the hindlimbs was remarkably simi- learn the sensorimotor task that is specifically practiced larbeforeandafterthespinalcordtransection.However, and trained [34]. The repetitive activation of particular the EMG amplitudes of leg extensors were smaller, sensorimotor pathways by task-specific training can whilst the timing between flexor muscles, such as hip reinforce circuits and synapses used to successfully per- and knee joint flexors, was changed and lead to foot form the practiced movement [35,36]. Therefore, the out- dragging early in the swing phase [44]. With ongoing come of a neurorehabilitative approach strongly depends training it has been shown that the body support can be uponthetype,therepetitionandthequalityofthetrained decreased and this is associated with improved loco- motorfunction. motor capacity until a complete support of body weight Neuronal plasticity is not always positive, anatomical and well-coordinated hindlimb stepping movements are and neurophysiological observations in animals suggest possible [45]. Experiments in cats as well as non-human that after SCI severed axons degenerate and create free primates with complete spinal cord lesions have shown synaptic territories which could become re-occupied by that the isolated spinal cord has the capacity to produce sprouting of intraspinal fibres [37]. The new neuronal steppingpatterns [46]. circuits may be aberrant and can lead to inappropriate There are several indications for the existence of spinal movement patterns or pain in rats [38] and humans [39]. neuronal circuitries for locomotion generation in humans. This can largely be prevented by a combination of loco- For example, step-like leg movements are present at birth motor training, electrical and pharmacological stimula- andcanbeinitiatedspontaneouslyorbyperipheralstimuli tions of the region of the spinal cord that is deprived of [47].ItislikelythattheEMGactivityunderlyingthisnew- supraspinal input which leads to a weight-bearing loco- bornsteppingisproduced atthespinallevel,ascorticosp- motor capacity in spinal rats [38]. For human SCI, it will inal projections are not fully grown and myelinated in beimportanttomakesurethatfutureneurorehabilitatitive newborns. In addition, rhythmic: coordinated leg move- approaches direct the spontaneous and/or experimentally mentshavebeenobservedinmotorcompleteSCIsubjects, induced (e.g., stem cells or Nogo-A antibodies) neuronal duringsleep[48]andafterspinalcordstimulation[49,50]. plasticitytowardsfunctionalsynapticconnectionsthatare associatedwithanimprovedlocomotorperformance. EffectoflocomotortrainingafterSCI The decline in supraspinal and peripheral input in In motor complete and incomplete SCI subjects a coor- humans after a severe SCI is suggested to be responsible dinated leg muscle activation pattern in both legs can be for the development of a neuronal dysfunction below induced following partial unloading standing on a mov- the level of lesion [40,41]. Characteristic changes in ing treadmill (Figure 1) [4,51]. In complete SCI subjects neuronal behavior occur up to approximately one year with no voluntary motor control below the level of le- after SCI. At one year post-injury complete and severe sion leg movements have to be assisted manually or by a but incomplete SCIs are characterized by an exhaustion robotic device during the whole training period. These of leg muscle activity during assisted locomotion which subjects cannot relearn the ability to perform unsup- is associated with changes in polysynaptic spinal reflexes ported stepping movements on solid ground, but follow- [42]. Neuronal dysfunction after SCI is assumed to be ing such training they experience positive effects on dependent more on the subjects’ loss of mobility, i.e., cardiovascular and musculo-skeletal systems, such as a decreased appropriate afferent information to the CPG, reductionofmusclespasms. HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page4of8 http://www.jneuroengrehab.com/content/10/1/5 anterior activation decreases [53]. This leads to an im- provement inweightbearing functionduringstancephase and thus allows a decrease of body unloading during assisted treadmill locomotion. The successive reloading of theSCIsubjectsmightbeanimportantstimulusforexten- sorloadreceptorswhichareessentialforlegextensoracti- vationduringlocomotionincats[54]andhumans[55,56]. Thegeneral rehabilitation strategy to regain locomotor ability after SCI or stroke is based on the principles of motor learning, such as task-specificity, task-variability, feedbackinformationandthe intensity of training. So far training paradigms for robotic assisted treadmill training in human SCI rely on suggestions by experts and single observational studies. However, no study has so far determined the essential components required for a locomotor training setup in individuals with SCI or in animal models of SCI. Several questions remain to be answered,forexample,howearlyshouldthetrainingther- apy start, how intensiveshould itbe, e.g.,30min ormore than 1 hour and how many times a week? It is not yet clear whether a longer duration of training results in an improved outcome or if certain endpoints, in terms of walking capacity, can be achieved within shorter periods of time. This question has so far only been addressed in strokesubjectswherealongerdurationofearlyonsetaug- mented locomotor training, i.e., 16 hours within the first 6monthsafterinsult,wascorrelatedwithimprovedwalk- Figure1Twoexamplesoflocomotoractivityduringassisted ing performance (positive dose–response relationship) walkinginthedrivengaitorthosisLokomatin(A)anacute (3monthsafterSCI)and(B)achronic(41monthsafterSCI) [57]. Whether this relationship is also applicable to the paraplegicsubject.BothSCIsubjectssufferedamotorcomplete SCIcommunitywillbeinvestigatedbyacontrolledrando- spinalcordlesionandlegmuscleactivitywasassessedinrectus mizedmulticenterstudy[58].Inaddition,itremainstobe femoris(RF),bicepsfemoris(BF),tibialisanterior(TA)and determinedwhichtrainingparadigmsfitthebesttowhich gastrocnemiusmedialis(GM)(modifiedfrom[42]). SCIsubjectsandhowthistrainingcouldbeadaptedindif- ficulty, e.g., by the amount of body weight support, guid- ance force, treadmill speed. In stroke subjects higher In the early phase of rehabilitation after a severeincom- treadmill speeds lead to better locomotor recovery than plete SCI, the main limitations for overground ambulation lowertreadmillspeeds[59].Itisassumedthatthesetrain- areusuallyreducedcoordination,legparesis,andimpaired ing principles which were applied in stroke subjects are balance. Therefore, at the beginning of the training pro- also reasonable for successful training in SCI subjects. In gram locomotor training has to be assisted either by phy- general, locomotor training should always be challenging siotherapists or a robotic device (e.g. Lokomat). During forpatientswithonlyminimalsupportprovidedbythera- assisted locomotion in incomplete SCI subjects the pistsorroboticdevices. induced leg muscle EMG activity is modulated over the step cycles in a similar way to as observed in healthy sub- Appropriatesensorycues jects.However,theamplitudeoflegmuscleactivityiscon- AfteranincompleteSCI,sparedcorticospinaland/orpro- siderably smaller and corresponds to the degree of paresis priospinalpathwayscanplayanactiveroleintherecovery probablyduetoadiminishednoradrenergicinputtospinal of locomotion. However, under these circumstances the locomotor circuitries [45]. Providing full body unloading intrinsic capacity of spinal locomotor circuitries and the duringroboticassistedwalkingincompleteparaplegicsub- sensoryfeedbackinformationstillremainsasthebasisfor jectsdoesnotleadtosignificantlegmuscleactivation[52], generatingalocomotorpattern.Thespinallocomotorcir- i.e., ground contact is essential for leg muscle activation. cuitries interact dynamically with specific afferent inputs During the course of an assisted locomotor training pro- from receptors located in muscles, joints, and skin, and gram, the EMG amplitudes of gastrocnemius activity in- this interaction shapes the locomotor output (for review crease during the stance phase, while inappropriate tibialis see [9]). The sensory input most relevant for locomotion HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page5of8 http://www.jneuroengrehab.com/content/10/1/5 comesprimarilyfromstretch-andload-sensitivemechan- duringthe stancephase inhibitsthe flexor activity.This is oreceptorslocatedinthemusclesandskin.Afferentinfor- functionallymeaningfulbecauseloadingofthestancelimb mationfromhipflexorsandankleextensorsisparticularly has to decrease before swing can be initiated and leg ex- important for the stance to swing transition phase in cats tensor activity is reinforced during the stance phase by [60].Furthermore,sensoryinputfromtheskinmechanor- positive feedback [68]. In addition, the role of hip joint eceptors of the paw are involved in positioning the paws afferents is assumed to control phase transition and and, therefore, become increasingly important during reinforce ongoingactivity as it has been shown indecere- complexlocomotortasks in whichprecisepaw placement bratedcats[65].Theobservationsthatinmotorcomplete isrequired,e.g.,ladderwalkinginthecat[61].Skinrecep- paraplegic subjects assisted stepping movements within a torson the dorsal foot play a role during the swingphase driven gait orthosis and restricted movements of the hips of walking over obstacles in both cats [62] and humans (blocked knees) induces a patterned leg muscle EMG ac- [63] and cutaneous input from the plantar surface of the tivity, highlights the significance of hip joint receptors in pawreinforcesextensoractivityindecerebratedcatswalk- the generation of locomotor activity [52]. Such that ing on a treadmill [64]. Group II hip flexor afferents, assisted stepping movements restricted to imposed ankle group I ankle extensor afferents, and low-threshold cuta- joints were followed by no, or only focal reflex responses neousafferentsfromthecatpawareassumedtohavedir- inthestretchedmuscles[52]. ect access to spinal locomotor circuitries with the ability toresetorentrainfictivelocomotioninadultdecerebrated Modulationofspinalneuronalexcitability cats[65]. The importance of appropriate afferent information from Afferentinputsfromloadandhipjointreceptorsarees- peripheralreceptorsasasourceofcontrollinglocomotion sentialfortheactivationoflegmuscleactivityduringloco- became obvious from experiments, during the last dec- motioninparaplegicsubjectsinacorrespondingwaytoin ades, in completely transected animals. The inability to cats,[52,66].Loadinformationisprovidedforpropriocep- producelocomotorpatternsafterasevereSCIis,toalarge tive input from leg extensor muscles, namely Ib afferent extent, due to the depressed functional state of spinal signals fromGolgitendonorgans, and probably alsofrom locomotor circuitries [69]. It is believed that reduced sen- mechanoreceptorsinthefootsole(seeFigure2)[67].This sory feedback after SCI has a negative impact on loco- information is thought to be integrated into polysynaptic motor recovery. Therefore, there is a need to develop spinal reflex pathways that adapt the autonomous loco- tools to artificially activate spinal cord pattern generators. motor pattern to the actual ground condition and it is Besides the essential sensory cues provided during loco- assumed that the Ib afferent input from leg extensors motor training, i.e., from body loading and hip joint Figure2InfluenceofbodyloadingonlegmuscleEMGactivity.Loading/unloadingeffectsontheEMGactivityofthelefttibialisanterior(TA, ankleflexor)andgastrocnemiusmedialis(GM,ankleextensor).EMGsaretheaveragesfromsevenhealthysubjects.Threewalkingconditionsare shown:normalbodyloading(NBL),30%bodyloading(BL),and60%bodyunloading(BU).Inallsubjects,therewasastrongreductionofGM EMGactivityduringBUcomparedwithNBLand30%BLwalking(modifiedfrom[67]). HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page6of8 http://www.jneuroengrehab.com/content/10/1/5 afferents,therehasbeenmucheffort spentindeveloping (between 35 and 40 cm2) these stimulation parameters re- additional strategies to increase the excitability of spinal sult in a total delivered charge of 0.056 and 0.064 C/cm2 neuronal circuitries in order to tune the physiological respectively [81-83,86,87]. The dispersion and density of state of these circuitries to a level that leads to a facili- the current is, however, hard to predict due to the large tation of the locomotor patterns in humans. These volume of the conductor surrounding the target tissue. So approachesincludecontinuousvibrationofthequadriceps far tsDCS has only been applied in healthy subjects as a and hamstring muscle groups [70], continuous electrical tool to modulate trans-synaptic efficacy in monosynaptic stimulation of the peroneal or sural nerve [71], and mag- [82,86] and polysynaptic reflex pathways [83], dorsal col- netic stimulation of the spinal cord [72]. The latter ap- umn function [81] or pain thresholds [87]. The effect on proach of repetitive electromagnetic stimulation shows theexcitabilityofspinallocomotorcircuitries,especiallyin positive effects on spastic muscle tone in patients with di- SCIsubject,needstobeaddressedinthefuture. verse neurological diseases [73-75]. So far only one study investigated the effect of repetitive magnetic stimulation Conclusion applied at the thoracolumbar vertebral level on spinal lo- Designing effective neurorehabilitation after SCI depends comotor circuitries in healthy subjects [72]. The most on having knowledge about the neuronal mechanisms favourable stimulation parameters to induce stepping-like involved in normal and pathological movement condi- activityinthelegsplacedinagravity-neutralpositionwere tions, such as the interactions between central programs observedtobe3Hz,1.3-1.82teslaattheT11-12vertebrae and afferentfeedback as well as the quadrupedal coordin- [72].However,thereisnoproofthatthiskindofmagnetic ationof humanlocomotion.Task-specificrehabilitationto stimulationisabletoevokesufficientlegmuscleactivation improve locomotor function after SCI is well established toleadtoload-bearinglocomotioninSCIsubjects. [51,88]. In addition, there is growing evidence that the Incontrasttothelowfrequency(3Hz)forthoracolum- enhanced application of afferent input to the spinal cord, barlevels,higherfrequencies(20–30Hz)arenecessaryfor forexamplebyelectricalepiduralstimulationofthespinal peripheral nerve stimulation to decrease spastic muscle cord, can lead to a facilitation of standing and stepping- tone [74] and also for electrical epidural stimulation like activity during assisted leg movements in human SCI (~40Hz)atthelumbarspinal cordincompleteSCIsub- [77]. Consequently, it is argued that specific multi- jectstoinducestepping-likeactivity[49,76,77].Inaddition pronged neurorehabilitative approaches will pave the way to electrical or magnetic stimulation approaches, diverse for more efficient therapeutic strategies to improve loco- pharmacologicalagents,suchasserotonergicandnoradre- motor functionin severely affected SCI subjects [89].The nergicagonists,canactivatespinallocomotorcircuitriesin aim of new neurorehabilitative approaches should be to rats,catsandmice[38,78,79].However,sofarthereisonly optimize the use of task-specific sensory cues in order to limited evidence about whether pharmacological agents facilitate locomotor pattern generation involving arm facilitatelocomotorrecoveryfollowinghumanSCI(forre- movementsandtheprovisionofapproachesfavouringthe view see [80]). Recently, two new noninvasive methods, recruitment of both spinal circuitries and spared suprasp- namely transcutaneous spinal direct current stimulation inalconnectionsduringrehabilitation. (tsDCS) [81-83] and paired spinal associative stimulations of H-reflexes and transcranial magnetic stimulation [84], Competinginterests have been applied to modulate spinal excitability and Theauthorsdeclarethattheyhavenocompetinginterests. might be a promising tool for the modulation of sensori- motorpathwaysunderlyingfunctionalmovements. Authors’contributions MHstructuredthecontentofthereviewandwrotethedraftofthe TsDCS is a method derived from transcranial direct manuscript.VDmadetherevisionsofthewholearticle.Bothauthorsread current stimulation and it influences neuronal excitability andapprovedthefinalversionofthemanuscript. byanodalorcathodalpolarization.Anodalstimulationtyp- ically increases neuronal firing rates in stimulated cortical Acknowledgements areas, whereas cathodal stimulation evokes the opposite ThisreviewhasbeencarriedoutwithfinancialsupportfromtheWingsfor Lifefoundation.AspecialthankgoestoMichelleStarkeyforhereditorial effect, i.e., inhibition. Depending on the duration and help. strengthofpolarization,thesechangescanpersistformore than one hour after stimulation [85]. For the spinal ap- Received:27March2012Accepted:7January2013 Published:21January2013 proach the electrode positions are changed from the scalp to one electrode at T11 vertebral level and the other elec- References trode on a shoulder region [81-83,86,88]. The polarization 1. AndersonKD:Targetingrecovery:prioritiesofthespinalcord-injured of the stimulation (anodal or cathodal) refers to the spinal population.JNeurotrauma2004,21(10):1371–1383. 2. DitunnoPL,PatrickM,StinemanM,DitunnoJF:Whowantstowalk? electrode. TsDCS is applied for 15 min with a stimulation PreferencesforrecoveryafterSCI:alongitudinalandcross-sectional intensity of 2.5 mA. Depending on the electrode size study.SpinalCord2008,46(7):500–506. HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page7of8 http://www.jneuroengrehab.com/content/10/1/5 3. BarbeauH,McCreaDA,O'DonovanMJ,RossignolS,GrillWM,LemayMA: 29. DietzV:Proprioceptionandlocomotordisorders.NatRevNeurosci2002, Tappingintospinalcircuitstorestoremotorfunction.BrainResRev1999, 3(10):781–790. 30(1):27–51. 30. EdgertonVR,TillakaratneNJ,BigbeeAJ,deLeonRD,RoyRR:Plasticityof 4. DietzV,ColomboG,JensenL:Locomotoractivityinspinalman. thespinalneuralcircuitryafterinjury.AnnuRevNeurosci2004,27:145–167. Lancet1994,344(8932):1260–1263. 31. BarbeauH,RossignolS:Recoveryoflocomotionafterchronic 5. WernigA,MullerS:Laufbandlocomotionwithbodyweightsupport spinalizationintheadultcat.BrainRes1987,412(1):84–95. improvedwalkinginpersonswithseverespinalcordinjuries.Paraplegia 32. LovelyRG,GregorRJ,RoyRR,EdgertonVR:Effectsoftrainingonthe 1992,30(4):229–238. recoveryoffull-weight-bearingsteppingintheadultspinalcat.Exp 6. GrillnerS:Neurobiologicalbasesofrhythmicmotoractsinvertebrates. Neurol1986,92(2):421–435. Science1985,228(4696):143–149. 33. DeLeonRD,HodgsonJA,RoyRR,EdgertonVR:Fullweight-bearing 7. SherringtonCS:Flexion-reflexofthelimb,crossedextensionreflex,and hindlimbstandingfollowingstandtrainingintheadultspinalcat. reflexsteppingandstanding.JPhysiol(Lond)1910,40:28–121. JNeurophysiol1998,80(1):83–91. 8. Graham-BrownT:Theintrinsicfactorsintheactofprogressioninthe 34. TillakaratneNJ,deLeonRD,HoangTX,RoyRR,EdgertonVR,TobinAJ:Use- mammal.ProcRSopcLondBBiolSci1911,84:308–319. dependentmodulationofinhibitorycapacityinthefelinelumbarspinal 9. RossignolS,DubucR,GossardJP:Dynamicsensorimotorinteractionsin cord.JNeurosci2002,22(8):3130–3143. locomotion.PhysiolRev2006,86(1):89–154. 35. EdgertonVR,CourtineG,GerasimenkoYP,LavrovI,IchiyamaRM,FongAJ, 10. HorakFB,NashnerLM:Centralprogrammingofposturalmovements: CaiLL,OtoshiCK,TillakaratneNJ,BurdickJW,RoyRR:Traininglocomotor adaptationtoalteredsupport-surfaceconfigurations.JNeurophysiol1986, networks.BrainResRev2008,57(1):241–254. 55(6):1369–1381. 36. CaiLL,CourtineG,FongAJ,BurdickJW,RoyRR,EdgertonVR:Plasticityof 11. SchubertM,CurtA,JensenL,DietzV:Corticospinalinputinhumangait: functionalconnectivityintheadultspinalcord.PhilosTransRSocLondB modulationofmagneticallyevokedmotorresponses.ExpBrainRes1997, BiolSci2006,361(1473):1635–1646. 115(2):234–246. 37. HouS,DualeH,CameronAA,AbshireSM,LyttleTS,RabchevskyAG: 12. EdgertonVR,RoyRR,HodgsonJA,ProberRJ,deGuzmanCP,deLeonR: Plasticityoflumbosacralpropriospinalneuronsisassociatedwiththe Potentialofadultmammalianlumbosacralspinalcordtoexecuteand developmentofautonomicdysreflexiaafterthoracicspinalcord acquireimprovedlocomotionintheabsenceofsupraspinalinput. transection.JCompNeurol2008,509(4):382–399. JNeurotrauma1992,9(1):119–128. 38. CourtineG,GerasimenkoY,vandenBrandR,YewA,MusienkoP,ZhongH, 13. MiyaiI,TanabeHC,SaseI,EdaH,OdaI,KonishiI,TsunazawaY,SuzukiT, SongB,AoY,IchiyamaRM,LavrovI,etal:Transformationofnonfunctional YanagidaT,KubotaK:Corticalmappingofgaitinhumans:anear-infrared spinalcircuitsintofunctionalstatesafterthelossofbraininput. spectroscopictopographystudy.Neuroimage2001,14(5):1186–1192. NatNeurosci2009,12(10):1333–1342. 14. FukuyamaH,OuchiY,MatsuzakiS,NagahamaY,YamauchiH,OgawaM, 39. MaegeleM,MullerS,WernigA,EdgertonVR,HarkemaSJ:Recruitmentof KimuraJ,ShibasakiH:Brainfunctionalactivityduringgaitinnormal spinalmotorpoolsduringvoluntarymovementsversussteppingafter subjects:aSPECTstudy.NeurosciLett1997,228(3):183–186. humanspinalcordinjury.JNeurotrauma2002,19(10):1217–1229. 15. SuzukiM,MiyaiI,OnoT,OdaI,KonishiI,KochiyamaT,KubotaK:Prefrontal 40. HubliM,BolligerM,DietzV:Neuronaldysfunctioninchronicspinalcord andpremotorcorticesareinvolvedinadaptingwalkingandrunning injury.SpinalCord2011,49(5):582–587. speedonthetreadmill:anopticalimagingstudy.Neuroimage2004, 41. DietzV:Behaviorofspinalneuronsdeprivedofsupraspinalinput.Nat 23(3):1020–1026. RevNeurol2010,6(3):167–174. 16. SchubertM,CurtA,ColomboG,BergerW,DietzV:Voluntarycontrolof 42. DietzV,GrillnerS,TreppA,HubliM,BolligerM:Changesinspinalreflex humangait:conditioningofmagneticallyevokedmotorresponsesina andlocomotoractivityafteracompletespinalcordinjury:acommon precisionsteppingtask.ExpBrainRes1999,126(4):583–588. mechanism?Brain2009,132(8):2196–2205. 17. ArmstrongDM:Thesupraspinalcontrolofmammalianlocomotion. 43. HubliM,DietzV,BolligerM:Spinalreflexactivity:amarkerforneuronal JPhysiol1988,405:1–37. functionalityafterspinalcordinjury.NeurorehabilNeuralRepair2012, 18. CazaletsJR,BertrandS:Couplingbetweenlumbarandsacralmotor 26(2):188–196. networksintheneonatalratspinalcord.EurJNeurosci2000, 44. BelangerM,DrewT,ProvencherJ,RossignolS:Acomparisonoftreadmill 12(8):2993–3002. locomotioninadultcatsbeforeandafterspinaltransection. 19. NathanPW,SmithM,DeaconP:Vestibulospinal,reticulospinaland JNeurophysiol1996,76(1):471–491. descendingpropriospinalnervefibresinman.Brain1996,119:1809–1833. 45. BarbeauH,RossignolS:Enhancementoflocomotorrecoveryfollowing 20. MichelJ,vanHedelHJ,DietzV:Obstaclesteppinginvolvesspinal spinalcordinjury.CurrOpinNeurol1994,7(6):517–524. anticipatoryactivityassociatedwithquadrupedallimbcoordination. 46. VilenskyJA,O'ConnorBL:Steppinginnonhumanprimateswitha EurJNeurosci2008,27(7):1867–1875. completespinalcordtransection:oldandnewdata,andimplicationsfor 21. DietzV,FouadK,BastiaanseCM:Neuronalcoordinationofarmandleg humans.AnnNYAcadSci1998,860:528–530. movementsduringhumanlocomotion.EurJNeurosci2001,14(11):1906–1914. 47. ForssbergH:Ontogenyofhumanlocomotorcontrol.I.Infantstepping, 22. DietzV:Dohumanbipedsusequadrupedalcoordination?TrendsNeurosci supportedlocomotionandtransitiontoindependentlocomotion.Exp 2002,25(9):462–467. BrainRes1985,57(3):480–493. 23. JurkiewiczMT,MikulisDJ,McIlroyWE,FehlingsMG,VerrierMC: 48. LeeMS,ChoiYC,LeeSH,LeeSB:Sleep-relatedperiodiclegmovements Sensorimotorcorticalplasticityduringrecoveryfollowingspinalcord associatedwithspinalcordlesions.MovDisord1996,11(6):719–722. injury:alongitudinalfMRIstudy.NeurorehabilNeuralRepair2007, 49. DimitrijevicMR,GerasimenkoY,PinterMM:Evidenceforaspinal 21(6):527–538. centralpatterngeneratorinhumans.AnnNYAcadSci1998, 24. WinchesterP,McCollR,QuerryR,ForemanN,MosbyJ,TanseyK,Williamson 860:360–376. J:Changesinsupraspinalactivationpatternsfollowingrobotic 50. RosenfeldJE,SherwoodAM,HalterJA,DimitrijevicMR:Evidenceofa locomotortherapyinmotor-incompletespinalcordinjury.Neurorehabil patterngeneratorinparalyzedsubjectwithspinalcordstimulation. NeuralRepair2005,19(4):313–324. SocNeurosciAbstr1995,21:688. 25. LundellH,ChristensenMS,BarthelemyD,Willerslev-OlsenM,Biering- 51. DietzV,HarkemaSJ:Locomotoractivityinspinalcord-injuredpersons. SorensenF,NielsenJB:Cerebralactivationiscorrelatedtoregional JApplPhysiol2004,96(5):1954–1960. atrophyofthespinalcordandfunctionalmotordisabilityinspinalcord 52. DietzV,MullerR,ColomboG:Locomotoractivityinspinalman: injuredindividuals.Neuroimage2011,54(2):1254–1261. significanceofafferentinputfromjointandloadreceptors.Brain2002, 26. TanseyKE:Neuralplasticityandlocomotorrecoveryafterspinalcord 125(12):2626–2634. injury.PmR2010,2(12):220–226. 53. DietzV,ColomboG,JensenL,BaumgartnerL:Locomotorcapacityof 27. DietzV,SinkjaerT:Spasticmovementdisorder:impairedreflexfunction spinalcordinparaplegicpatients.AnnNeurol1995,37(5):574–582. andalteredmusclemechanics.LancetNeurol2007,6(8):725–733. 54. PearsonKG,CollinsDF:ReversaloftheinfluenceofgroupIbafferents 28. PearsonKG:Neuraladaptationinthegenerationofrhythmicbehavior. fromplantarisonactivityinmedialgastrocnemiusmuscleduring AnnuRevPhysiol2000,62:723–753. locomotoractivity.JNeurophysiol1993,70(3):1009–1017. HubliandDietzJournalofNeuroEngineeringandRehabilitation2013,10:5 Page8of8 http://www.jneuroengrehab.com/content/10/1/5 55. DietzV,ColomboG:Effectsofbodyimmersiononposturaladjustments 79. LapointeNP,GuertinPA:SynergisticeffectsofD1/5and5-HT1A/7 tovoluntaryarmmovementsinhumans:roleofloadreceptorinput. receptoragonistsonlocomotormovementinductionincompletespinal JPhysiol1996,497:849–856. cord-transectedmice.JNeurophysiol2008,100(1):160–168. 56. DietzV,GollhoferA,KleiberM,TrippelM:Regulationofbipedalstance: 80. DomingoA,Al-YahyaAA,AsiriYA,EngJJ,LamT:Asystematicreviewon dependencyon"load"receptors.ExpBrainRes1992,89(1):229–231. theeffectsofpharmacologicalagentsonwalkingfunctioninpeople 57. KwakkelG,vanPeppenR,WagenaarRC,WoodDauphineeS,RichardsC, withspinalcordinjury.JNeurotrauma2012,29(5):865–879. AshburnA,MillerK,LincolnN,PartridgeC,WellwoodI,LanghorneP:Effects 81. CogiamanianF,VergariM,PulecchiF,MarcegliaS,PrioriA:Effectofspinal ofaugmentedexercisetherapytimeafterstroke:ameta-analysis.Stroke transcutaneousdirectcurrentstimulationonsomatosensoryevoked 2004,35(11):2529–2539. potentialsinhumans.ClinNeurophysiol2008,119(11):2636–2640. 58. WirzM,BastiaenenC,deBieR,DietzV:Effectivenessofautomated 82. WinklerT,HeringP,StraubeA:SpinalDCstimulationinhumans locomotortraininginpatientswithacuteincompletespinalcordinjury: modulatespost-activationdepressionoftheH-reflexdependingon arandomizedcontrolledmulticentertrial.BMCNeurol2011,11:60. currentpolarity.ClinNeurophysiol2010,121(6):957–961. 59. PohlM,MehrholzJ,RitschelC,RuckriemS:Speed-dependenttreadmill 83. CogiamanianF,VergariM,SchiaffiE,MarcegliaS,ArdolinoG,BarbieriS, traininginambulatoryhemipareticstrokepatients:arandomized PrioriA:Transcutaneousspinalcorddirectcurrentstimulationinhibits controlledtrial.Stroke2002,33(2):553–558. thelowerlimbnociceptiveflexionreflexinhumanbeings.Pain2010, 60. PearsonKG:Roleofsensoryfeedbackinthecontrolofstancedurationin 152(2):370–375. walkingcats.BrainResRev2008,57(1):222–227. 84. CortesM,ThickbroomGW,Valls-SoleJ,Pascual-LeoneA,EdwardsDJ:Spinal 61. BouyerLJ,RossignolS:Contributionofcutaneousinputsfromthe associativestimulation:anon-invasivestimulationparadigmto hindpawtothecontroloflocomotion.IIntactcatsJNeurophysiol2003, modulatespinalexcitability.ClinNeurophysiol2011,122(11):2254–2259. 90(6):3625–3639. 85. NitscheMA,FrickeK,HenschkeU,SchlitterlauA,LiebetanzD,LangN, 62. ForssbergH:Stumblingcorrectivereaction:aphase-dependent HenningS,TergauF,PaulusW:Pharmacologicalmodulationofcortical compensatoryreactionduringlocomotion.JNeurophysiol1979, excitabilityshiftsinducedbytranscranialdirectcurrentstimulationin 42(4):936–953. humans.JPhysiol2003,553(1):293–301. 63. SchillingsAM,vanWezelBM,MulderT,DuysensJ:Muscularresponsesand 86. LamyJC,HoC,BadelA,ArrigoRT,BoakyeM:ModulationofSoleus movementstrategiesduringstumblingoverobstacles.JNeurophysiol H-reflexbyspinalDCstimulationinhumans.JNeurophysiol2012, 2000,83(4):2093–2102. doi:10.1152/jn.10898.2011. 64. DuysensJ,PearsonKG:Theroleofcutaneousafferentsfromthedistal 87. TruiniA,VergariM,BiasiottaA,LaCesaS,GabrieleM,DiStefanoG,Cambieri hindlimbintheregulationofthestepcycleofthalamiccats.ExpBrain C,CruccuG,InghilleriM,PrioriA:Transcutaneousspinaldirectcurrent Res1976,24:245–255. stimulationinhibitsnociceptivespinalpathwayconductionand 65. FrigonA,SiroisJ,GossardJP:Effectsofankleandhipmuscleafferent increasespaintoleranceinhumans.EurJPain2011,15(10):1023–1027. inputsonrhythmgenerationduringfictivelocomotion.JNeurophysiol 88. WirzM,ZemonDH,RuppR,ScheelA,ColomboG,DietzV,HornbyTG: 2010,103(3):1591–1605. Effectivenessofautomatedlocomotortraininginpatientswithchronic 66. HarkemaSJ,HurleySL,PatelUK,RequejoPS,DobkinBH,EdgertonVR: incompletespinalcordinjury:amulticentertrial.ArchPhysMedRehabil Humanlumbosacralspinalcordinterpretsloadingduringstepping. 2005,86(4):672–680. JNeurophysiol1997,77(2):797–811. 89. MusienkoP,HeutschiJ,FriedliL,vandenBrandR,CourtineG:Multi-system neurorehabilitativestrategiestorestoremotorfunctionsfollowing 67. BastiaanseCM,DuysensJ,DietzV:Modulationofcutaneousreflexesby severespinalcordinjury.ExpNeurol2012,235(1):100–109. loadreceptorinputduringhumanwalking.ExpBrainRes2000, 135(2):189–198. 68. ProchazkaA,GillardD,BennettDJ:Positiveforcefeedbackcontrolof doi:10.1186/1743-0003-10-5 muscles.JNeurophysiol1997,77(6):3226–3236. Citethisarticleas:HubliandDietz:Thephysiologicalbasisof neurorehabilitation-locomotortrainingafterspinalcordinjury.Journal 69. HarkemaSJ:Plasticityofinterneuronalnetworksofthefunctionally isolatedhumanspinalcord.BrainResRev2008,57(1):255–264. ofNeuroEngineeringandRehabilitation201310:5. 70. GurfinkelVS,LevikYS,KazennikovOV,SelionovVA:Locomotor-like movementsevokedbylegmusclevibrationinhumans.EurJNeurosci 1998,10(5):1608–1612. 71. SelionovVA,IvanenkoYP,SolopovaIA,GurfinkelVS:Toniccentraland sensorystimulifacilitateinvoluntaryair-steppinginhumans. JNeurophysiol2009,101(6):2847–2858. 72. GerasimenkoY,GorodnichevR,MachuevaE,PivovarovaE,SemyenovD, SavochinA,RoyRR,EdgertonVR:Novelanddirectaccesstothehuman locomotorspinalcircuitry.JNeurosci2010,30(10):3700–3708. 73. NielsenJF,SinkjaerT,JakobsenJ:Treatmentofspasticitywithrepetitive magneticstimulation;adouble-blindplacebo-controlledstudy.MultScler 1996,2(5):227–232. 74. KrauseP,EdrichT,StraubeA:Lumbarrepetitivemagneticstimulation reducesspastictoneincreaseofthelowerlimbs.SpinalCord2004, 42(2):67–72. 75. NielsenJF,SinkjaerT:Long-lastingdepressionofsoleusmotoneurons Submit your next manuscript to BioMed Central excitabilityfollowingrepetitivemagneticstimuliofthespinalcordin and take full advantage of: multiplesclerosispatients.MultScler1997,3(1):18–30. 76. MinassianK,PersyI,RattayF,PinterMM,KernH,DimitrijevicMR:Human • Convenient online submission lumbarcordcircuitriescanbeactivatedbyextrinsictonicinputto generatelocomotor-likeactivity.HumMovSci2007,26(2):275–295. • Thorough peer review 77. HarkemaS,GerasimenkoY,HodesJ,BurdickJ,AngeliC,ChenY,FerreiraC, • No space constraints or color figure charges WillhiteA,RejcE,GrossmanRG,EdgertonVR:Effectofepiduralstimulation ofthelumbosacralspinalcordonvoluntarymovement,standing,and • Immediate publication on acceptance assistedsteppingaftermotorcompleteparaplegia:acasestudy. • Inclusion in PubMed, CAS, Scopus and Google Scholar Lancet2011,377(9781):1938–1947. • Research which is freely available for redistribution 78. RossignolS,GirouxN,ChauC,MarcouxJ,BrusteinE,ReaderTA: Pharmacologicalaidstolocomotortrainingafterspinalinjuryinthecat. JPhysiol2001,533(1):65–74. Submit your manuscript at www.biomedcentral.com/submit