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. Author manuscript; available in PMC: 2012 Dec 1.
Published in final edited form as: J Neural Eng. 2011 Nov 4;8(6):065003. doi: 10.1088/1741-2560/8/6/065003

Table 1.

Key Notation

Term Description
d constant supra-spinal drive fed to CPG neurons
Vi voltage drop across the membrane of neuron i
RG - k rhythm generator neuron k; k ∈ {F,E}
In - k inhibitory interneuron k; k ∈ {F,E}
PF - k pattern formation neuron k; k ∈ {F,E}
Mn - k motoneuron k; k ∈ {F,E}
q limb angle with the horizontal
υ limb angular velocity
Ia-F, II - F feedback terms to the flexor side
Ia - E, Ib - E feedback terms to the extensor side
FBi summed feedback to neuron i
FBcrit feedback required to excite an inactive In above threshold; independent of drive
TTC Stance Transition Curve; location in limb phase space where flexor activates
WTC Swing Transition Curve; location in limb phase space where extensor activates
eStance portion of the locomotor phase where Mn - E is active and ground reaction is present
fStance portion of the locomotor phase where Mn - F is active and ground reaction is present
eSwing portion of the locomotor phase where Mn - E is active and ground reaction is absent
fSwing portion of the locomotor phase where Mn - F is active and ground reaction is absent