Central pattern generators and their interaction with sensory feedback

The purpose of this paper is to briefly overview the main characteristics of the neuronal control circuitry responsible for the propulsive rhythmic locomotor movements of the lamprey-a simple vertebrate model system. Particular attention is given to the interaction between the central pattern generator network and sensory feedback systems. It is noteworthy that the control system for the undulatory movements of the trunk, and the system controlling movements of the dorsal fin, utilize separate and specialized sensory feedback mechanisms. Both of these share, however, common organizational features with the sensory feedback control system, involving muscle spindles and stretch reflex-mediated load compensation, of higher vertebrates including man