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. Author manuscript; available in PMC: 2009 Jan 1.
Published in final edited form as: Brain Res Rev. 2007 Sep 5;57(1):134–146. doi: 10.1016/j.brainresrev.2007.08.006

Fig. 4. Extending the CPG to multiple motoneuron pools.

Fig. 4

A, In the unit burst generator (Grillner, 1981) interconnected half-centers generate the rhythm and control the activity of functional groups of motoneurons. B, Rhythm generation and pattern formation are separated in this architecture with a single RG and multiple, unit pattern formation modules.