Every movement we make requires us to precisely coordinate muscle activity across our body in space and time. In this talk I will describe our efforts to understand how the brain generates flexible, coordinated movement. We have taken a behavior-centric approach to this problem, starting with the development of quantitative frameworks for mouse locomotion (LocoMouse; Machado et al., eLife 2015, 2020) and locomotor learning, in which mice adapt their locomotor symmetry in response to environmental perturbations (Darmohray et al., Neuron 2019). Combined with genetic circuit dissection, these studies reveal specific, cerebellum-dependent features of these complex, whole-body behaviors. This provides a key entry point for understanding how neural computations within the highly stereotyped cerebellar circuit support the precise coordination of muscle activity in space and time. Finally, I will present recent unpublished data that provide surprising insights into how cerebellar circuits flexibly coordinate whole-body movements in dynamic environments.

To effectively move in complex and changing environments, animals must control locomotor speed and gait, while precisely coordinating and adapting limb movements to the terrain. The underlying neuronal control is facilitated by circuits in the spinal cord, which integrate supraspinal commands and afferent feedback signals to produce coordinated rhythmic muscle activations necessary for stable locomotion. I will present a series of computational models investigating dynamics of central neuronal interactions as well as a neuromechanical model that integrates neuronal circuits with a model of the musculoskeletal system. These models closely reproduce speed-dependent gait expression and experimentally observed changes following manipulation of multiple classes of genetically-identified neuronal populations. I will discuss the utility of these models in providing experimentally testable predictions for future studies.

Chronic exercise is a powerful intervention that lowers the incidence of most age-related diseases while promoting healthy metabolism in humans. However, illness, injury or age prevent many humans from consistently exercising. Thus, identification of molecular targets that can mimic the benefits of exercise would be a valuable tool to improve health outcomes of humans with neurodegenerative or mitochondrial diseases, or those with enforced sedentary lifestyles. Using a novel exercise platform for Drosophila, we have identified octopaminergic neurons as a key subset of neurons that are critical for the exercise response, and shown that periodic daily stimulation of these neurons can induce a systemic exercise response in sedentary flies. Octopamine is released into circulation where it signals through various octopamine receptors in target tissues and induces gene expression changes similar to exercise. In particular, we have identified several key molecules that respond to octopamine in skeletal muscle, including the mTOR modulator Sestrin, the PGC-1α homolog Spargel, and the FNDC5/Irisin homolog Iditarod. We are currently testing these molecules as potential therapies for multiple diseases that reduce mobility, including the PolyQ disease SCA2 and the mitochondrial disease Barth syndrome.

It is widely known that motor learning leads to reorganization changes in the motor cortex. Recently, we have shown that using navigated transcranial magnetic stimulation (TMS) allows us to reliably trace interactions among motor cortical representations (MCRs) of different upper limb muscles. Using this approach, we investigate changes in the MCRs after fine finger movement training. Our preliminary results demonstrated that areas of the APB and ADM and their overlaps tended to increase after finger independence training. Considering the behavioral data, hand dexterity increased for both hands, but the amplitudes of voluntary contraction of the muscles for the APB and ADM did not change significantly. The behavioral results correspond with a previously described suggestion that hand strength and hand dexterity are not directly related as well as an increase in overlaps between MCRs of the trained muscles supports the idea that voluntary muscle relaxation is an active physiological process.

Fly Escape Behaviors: Flexible and Modular We have identified a set of escape maneuvers performed by a fly when confronted by a looming object. These escape responses can be divided into distinct behavioral modules. Some of the modules are very stereotyped, as when the fly rapidly extends its middle legs to jump off the ground. Other modules are more complex and require the fly to combine information about both the location of the threat and its own body posture. In response to an approaching object, a fly chooses some varying subset of these behaviors to perform. We would like to understand the neural process by which a fly chooses when to perform a given escape behavior. Beyond an appealing set of behaviors, this system has two other distinct advantages for probing neural circuitry. First, the fly will perform escape behaviors even when tethered such that its head is fixed and neural activity can be imaged or monitored using electrophysiology. Second, using Drosophila as an experimental animal makes available a rich suite of genetic tools to activate, silence, or image small numbers of cells potentially involved in the behaviors. Neural Circuits for Escape Until recently, visually induced escape responses have been considered a hardwired reflex in Drosophila. White-eyed flies with deficient visual pigment will perform a stereotyped middle-leg jump in response to a light-off stimulus, and this reflexive response is known to be coordinated by the well-studied giant fiber (GF) pathway. The GFs are a pair of electrically connected, large-diameter interneurons that traverse the cervical connective. A single GF spike results in a stereotyped pattern of muscle potentials on both sides of the body that extends the fly's middle pair of legs and starts the flight motor. Recently, we have found that a fly escaping a looming object displays many more behaviors than just leg extension. Most of these behaviors could not possibly be coordinated by the known anatomy of the GF pathway. Response to a looming threat thus appears to involve activation of numerous different neural pathways, which the fly may decide if and when to employ. Our goal is to identify the descending pathways involved in coordinating these escape behaviors as well as the central brain circuits, if any, that govern their activation. Automated Single-Fly Screening We have developed a new kind of high-throughput genetic screen to automatically capture fly escape sequences and quantify individual behaviors. We use this system to perform a high-throughput genetic silencing screen to identify cell types of interest. Automation permits analysis at the level of individual fly movements, while retaining the capacity to screen through thousands of GAL4 promoter lines. Single-fly behavioral analysis is essential to detect more subtle changes in behavior during the silencing screen, and thus to identify more specific components of the contributing circuits than previously possible when screening populations of flies. Our goal is to identify candidate neurons involved in coordination and choice of escape behaviors. Measuring Neural Activity During Behavior We use whole-cell patch-clamp electrophysiology to determine the functional roles of any identified candidate neurons. Flies perform escape behaviors even when their head and thorax are immobilized for physiological recording. This allows us to link a neuron's responses directly to an action.

My group pioneered the development of a novel intracortical brain computer interface (iBCI) that decodes muscle activity (EMG) from signals recorded in the motor cortex of animals. We use these synthetic EMG signals to control Functional Electrical Stimulation (FES), which causes the muscles to contract and thereby restores rudimentary voluntary control of the paralyzed limb. In the past few years, there has been much interest in the fact that information from the millions of neurons active during movement can be reduced to a small number of “latent” signals in a low-dimensional manifold computed from the multiple neuron recordings. These signals can be used to provide a stable prediction of the animal’s behavior over many months-long periods, and they may also provide the means to implement methods of transfer learning across individuals, an application that could be of particular importance for paralyzed human users. We have begun to examine the representation within this latent space, of a broad range of behaviors, including well-learned, stereotyped movements in the lab, and more natural movements in the animal’s home cage, meant to better represent a person’s daily activities. We intend to develop an FES-based iBCI that will restore voluntary movement across a broad range of motor tasks without need for intermittent recalibration. However, the nonlinearities and context dependence within this low-dimensional manifold present significant challenges.

During sexual behavior, copulation related sensory information and modulatory signals from the brain must be integrated and converted into the motor and secretory outputs that characterize ejaculation (Lenschow and Lima, Current Opinion in Neurobiology, 2020). Studies in humans and rats suggest the existence of interneurons in the lumbar spinal cord that mediates that step: the spinal ejaculation generator (SEG). My work aimed at gaining mechanistic insights about the neuronal circuits controlling ejaculation thereby applying cutting-edge techniques. More specifically, we mapped anatomically and functionally the spinal circuit for ejaculation starting from the main muscle being involved in sperm expulsion: the bulbospongiosus muscle (BSM). Combining viral tracing strategies with electrophysiology, we specifically show that the BSM motoneurons receive direct synaptic input from a group of interneurons located in between lumbar segment 2 and 3 and expressing the peptide galanin. Electrically and optogenetically activating the galanin positive cells (the SEG) lead to the activation of the motoneurons innervating the BSM and the muscle itself. Finally, inhibition of SEG cells using DREADDs (Designer Receptors Exclusively Activated by Designer Drugs) in sexual behaving animals is currently conducted to reveal whether ejaculation can be prevented.

A central question in motor physiology has been whether motor cortex activity resembles muscle activity, and if not, why not? Over fifty years, extensive observations have failed to provide a concise answer, and the topic remains much debated. To provide a different perspective, we employed a novel behavioral paradigm that affords extensive comparison between time-evolving neural and muscle activity. Single motor-cortex neurons displayed many muscle-like properties, but the structure of population activity was not muscle-like. Unlike muscle activity, neural activity was structured to avoid ’trajectory tangling’: moments where similar activity patterns led to dissimilar future patterns. Avoidance of trajectory tangling was present across tasks and species. Network models revealed a potential reason for this consistent feature: low tangling confers noise robustness. Remarkably, we were able to predict motor cortex activity from muscle activity alone, by leveraging the hypothesis that muscle-like commands are embedded in additional structure that yields low tangling. Our results argue that motor cortex embeds descending commands in additional structure that ensure low tangling, and thus noise-robustness. The dominant structure in motor cortex may thus serve not a representational function (encoding specific variables) but a computational function: ensuring that outgoing commands can be generated reliably. Our results establish the utility of an emerging approach: understanding the structure of neural activity based on properties of population geometry that flow from normative principles such as noise robustness.

My research at the interface of neurobiology, biomechanics, and behavior seeks to understand how the timing precision of sensory input structures locomotor output. My lab studies the flight behavior of the fruit fly, Drosophila melanogaster, combining powerful genetic tools available for labeling and manipulating neural circuits with cutting-edge imaging in awake, behaving animals. This work has the potential to fundamentally reshape understanding of the evolution of insect flight, as well as highlight the tremendous importance of timing in the context of locomotion. Timing is crucial to the nervous system. The ability to rapidly detect and process subtle disturbances in the environment determines whether an animal can attain its next meal or successfully navigate complex, unpredictable terrain. While previous work on various animals has made tremendous strides uncovering the specialized neural circuits used to resolve timing differences with sub-microsecond resolution, it has focused on the detection of timing differences in sensory systems. Understanding of how the timing of motor output is structured by precise sensory input remains poor. My research focuses on an organ unique to fruit flies, called the haltere, that serves as a bridge for detecting and acting on subtle timing differences, helping flies execute rapid maneuvers. Understanding how this relatively simple insect canperform such impressive aerial feats demands an integrative approach that combines physics, muscle mechanics, neuroscience, and behavior. This unique, powerful approach will reveal the general principles that govern sensorimotor processing.

Hydra is a fascinating model organism for neuroscience. It is transparent; new genetic lines allow one to image activity in both neurons (Dupre and Yuste, 2017) and muscle cells (Szymanski and Yuste, 2019) ; it exhibits rich behavior, and it continually rebuilds itself. Hydra’s fairly simply physical structure as a two-layered fluid-filled hydrostat and the accessibility of information about neural and muscle activity opens the possibility of a complete model of neural control of behavior. This requires understanding the transformations that occur in the muscle cell layers and a biomechanical model of the body column. We show that we can use this modeling to reverse engineer how neural activity drives behavior.

Today, considerable information is available on the organization and operation of the neural networks that generate the motor output for animal locomotion, such as swimming, walking, or flying. In recent years, the question of which neural mechanisms are responsible for task-specific and flexible adaptations of locomotor patterns has gained increased attention in the field of motor control. I will report on advances we made with respect to this topic for walking in insects, i.e. the leg muscle control system of phasmids and fruit flies. I will present insights into the neural basis of speed control, heading, walking direction, and the role of ground contact in insect walking, both for local control and intersegmental coordination. For these changes in motor activity modifications in the processing of sensory feedback signals play a pivotal role, for instance for movement and load signals in heading and curve walking or for movement signals that contribute to intersegmental coordination. Our recent findings prompt future investigations that aim to elucidate the mechanisms by which descending and intersegmental signals interact with local networks in the generation of motor flexibility during walking in animals.